jc-bao commited on Dec 22, 2025

Commit

44128e5

1 Parent(s): a9149f7

:zap: update update human object interaction

Browse files

This view is limited to 50 files because it contains too many changes. See raw diff

Files changed (50) hide show

processed/lafan/assets/robots/unitree_g1/scene.xml +52 -25
processed/lafan/assets/robots/unitree_g1/scene_full_collision.xml +555 -0
processed/lafan/assets/robots/unitree_g1/scene_simple.xml +4 -0
processed/lafan/unitree_g1/humanoid/getup/0/trajectory_ik.npz +1 -1
processed/lafan/unitree_g1/humanoid/getup/0/visualization_ik.mp4 +3 -0
processed/lafan/unitree_g1/humanoid/getup/0/visualization_kinematic.mp4 +3 -0
processed/oakink/allegro/bimanual/lift_board/0/trajectory_ikrollout.npz +2 -2
processed/oakink/allegro/bimanual/lift_board/0/trajectory_kinematic.npz +2 -2
processed/oakink/allegro/bimanual/lift_board/0/visualization_ik.mp4 +3 -0
processed/oakink/allegro/bimanual/lift_board/scene.xml +360 -12
processed/oakink/allegro/bimanual/lift_board/scene_eq.xml +360 -12
processed/oakink/allegro/bimanual/lift_board/task_info.json +2 -1
processed/oakink/assets/objects/C12001/convex/0.obj +2 -2
processed/oakink/assets/objects/C12001/convex/1.obj +2 -2
processed/oakink/assets/objects/C12001/convex/2.obj +2 -2
processed/oakink/assets/objects/C12001/convex/3.obj +2 -2
processed/oakink/assets/objects/C12001/convex/4.obj +2 -2
processed/oakink/assets/objects/C12001/convex/5.obj +2 -2
processed/oakink/assets/objects/C12001/convex/6.obj +2 -2
processed/oakink/assets/objects/C12001/convex/7.obj +2 -2
processed/oakink/assets/objects/C12001/convex/8.obj +3 -0
processed/oakink/assets/objects/O02@0018@00001/convex/0.obj +2 -2
processed/oakink/assets/objects/O02@0018@00001/convex/1.obj +2 -2
processed/oakink/assets/objects/O02@0018@00001/convex/10.obj +3 -0
processed/oakink/assets/objects/O02@0018@00001/convex/11.obj +3 -0
processed/oakink/assets/objects/O02@0018@00001/convex/12.obj +3 -0
processed/oakink/assets/objects/O02@0018@00001/convex/13.obj +3 -0
processed/oakink/assets/objects/O02@0018@00001/convex/14.obj +3 -0
processed/oakink/assets/objects/O02@0018@00001/convex/15.obj +3 -0
processed/oakink/assets/objects/O02@0018@00001/convex/16.obj +3 -0
processed/oakink/assets/objects/O02@0018@00001/convex/2.obj +2 -2
processed/oakink/assets/objects/O02@0018@00001/convex/3.obj +2 -2
processed/oakink/assets/objects/O02@0018@00001/convex/4.obj +2 -2
processed/oakink/assets/objects/O02@0018@00001/convex/5.obj +3 -0
processed/oakink/assets/objects/O02@0018@00001/convex/6.obj +3 -0
processed/oakink/assets/objects/O02@0018@00001/convex/7.obj +3 -0
processed/oakink/assets/objects/O02@0018@00001/convex/8.obj +3 -0
processed/oakink/assets/objects/O02@0018@00001/convex/9.obj +3 -0
processed/oakink/assets/objects/O02@0030@00002/convex/0.obj +2 -2
processed/oakink/assets/objects/O02@0030@00002/convex/1.obj +2 -2
processed/oakink/assets/objects/O02@0030@00002/convex/10.obj +3 -0
processed/oakink/assets/objects/O02@0030@00002/convex/2.obj +2 -2
processed/oakink/assets/objects/O02@0030@00002/convex/3.obj +3 -0
processed/oakink/assets/objects/O02@0030@00002/convex/4.obj +3 -0
processed/oakink/assets/objects/O02@0030@00002/convex/5.obj +3 -0
processed/oakink/assets/objects/O02@0030@00002/convex/6.obj +3 -0
processed/oakink/assets/objects/O02@0030@00002/convex/7.obj +3 -0
processed/oakink/assets/objects/O02@0030@00002/convex/8.obj +3 -0
processed/oakink/assets/objects/O02@0030@00002/convex/9.obj +3 -0
processed/oakink/assets/objects/O02@0030@00002/visual.obj +1 -1

processed/lafan/assets/robots/unitree_g1/scene.xml CHANGED Viewed

@@ -26,7 +26,7 @@
         <geom group="2" type="mesh" density="0" material="silver" />
       </default>
       <default class="collision">
-        <geom group="3" rgba="0 1 0 1" type="sphere" />
         <default class="hand_collision">
           <geom type="sphere" pos="0.1 0.0 0.0" size="0.05" />
         </default>
@@ -165,8 +165,8 @@
       <freejoint name="floating_base_joint" />
       <geom class="visual" material="black" mesh="pelvis" />
       <geom class="visual" mesh="pelvis_contour_link" />
-      <!-- <geom name="pelvis_collision" class="collision" type="sphere" size="0.07" pos="0 0 -0.08"
-      /> -->
       <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
       <site name="trace_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
       <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
@@ -181,16 +181,16 @@
             diaginertia="0.00254986 0.00241169 0.00148755" />
           <joint name="left_hip_roll_joint" class="hip_roll" />
           <geom class="visual" mesh="left_hip_roll_link" />
-          <!-- <geom name="left_hip_collision" class="collision" size="0.06"
-            fromto="0.02 0 0 0.02 0 -0.08" /> -->
           <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
             <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
               mass="1.702"
               diaginertia="0.00776166 0.00717575 0.00160139" />
             <joint name="left_hip_yaw_joint" class="hip_yaw" />
             <geom class="visual" mesh="left_hip_yaw_link" />
-            <!-- <geom name="left_thigh_collision" class="collision" size="0.055"
-              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
             <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
               quat="0.996179 0 0.0873386 0">
               <inertial pos="0.005457 0.003964 -0.12074"
@@ -198,10 +198,10 @@
                 diaginertia="0.0113804 0.0112778 0.00146458" />
               <joint name="left_knee_joint" class="knee" />
               <geom class="visual" mesh="left_knee_link" />
-              <!-- <geom name="left_shin_collision" class="collision" size="0.045"
                 fromto="0.01 0 0 0.01 0 -0.15" />
               <geom name="left_linkage_brace_collision" class="collision" size="0.03"
-                fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
               <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
                 <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
                   mass="0.074"
@@ -239,16 +239,16 @@
             diaginertia="0.00254986 0.00241169 0.00148755" />
           <joint name="right_hip_roll_joint" class="hip_roll" />
           <geom class="visual" mesh="right_hip_roll_link" />
-          <!-- <geom name="right_hip_collision" class="collision" size="0.06"
-            fromto="0.02 0 0 0.02 0 -0.08" /> -->
           <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
             <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
               mass="1.702"
               diaginertia="0.00776166 0.00717575 0.00160139" />
             <joint name="right_hip_yaw_joint" class="hip_yaw" />
             <geom class="visual" mesh="right_hip_yaw_link" />
-            <!-- <geom name="right_thigh_collision" class="collision" size="0.055"
-              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
             <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
               quat="0.996179 0 0.0873386 0">
               <inertial pos="0.005457 -0.003964 -0.12074"
@@ -256,10 +256,10 @@
                 diaginertia="0.011374 0.0112843 0.00146452" />
               <joint name="right_knee_joint" class="knee" />
               <geom class="visual" mesh="right_knee_link" />
-              <!-- <geom name="right_shin_collision" class="collision" size="0.045"
                 fromto="0.01 0 0 0.01 0 -0.15" />
               <geom name="right_linkage_brace_collision" class="collision" size="0.03"
-                fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
               <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
                 <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
                   mass="0.074"
@@ -305,9 +305,9 @@
             <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" class="visual" material="black"
               mesh="logo_link" />
             <geom pos="0.0039635 0 -0.044" class="visual" material="black" mesh="head_link" />
-            <!-- <geom name="torso_collision" class="collision" size="0.09"
               fromto="0.01 0 0.08 0.01 0 0.2" />
-            <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0 0 .43" /> -->
             <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792" />
             <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
               quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
@@ -329,16 +329,16 @@
                     mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
                   <joint name="left_shoulder_yaw_joint" class="shoulder_yaw" />
                   <geom class="visual" mesh="left_shoulder_yaw_link" />
-                  <!-- <geom name="left_shoulder_yaw_collision" class="collision" size="0.035"
-                    fromto="0 0 -0.08 0 0 0.05" /> -->
                   <body name="left_elbow_link" pos="0.015783 0 -0.080518">
                     <inertial pos="0.064956 0.004454 -0.010062"
                       quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
                       diaginertia="0.000443035 0.000421612 0.000259353" />
                     <joint name="left_elbow_joint" class="elbow" />
                     <geom class="visual" mesh="left_elbow_link" />
-                    <!-- <geom name="left_elbow_yaw_collision" class="collision" size="0.035"
-                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
                     <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
                       <inertial pos="0.0171394 0.000537591 4.8864e-07"
                         quat="0.575338 0.411667 -0.574906 0.411094"
@@ -395,16 +395,16 @@
                     mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
                   <joint name="right_shoulder_yaw_joint" class="shoulder_yaw" />
                   <geom class="visual" mesh="right_shoulder_yaw_link" />
-                  <!-- <geom name="right_shoulder_yaw_collision" class="collision" size="0.035"
-                    fromto="0 0 -0.08 0 0 0.05" /> -->
                   <body name="right_elbow_link" pos="0.015783 0 -0.080518">
                     <inertial pos="0.064956 -0.004454 -0.010062"
                       quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
                       diaginertia="0.000443035 0.000421612 0.000259353" />
                     <joint name="right_elbow_joint" class="elbow" />
                     <geom class="visual" mesh="right_elbow_link" />
-                    <!-- <geom name="right_elbow_yaw_collision" class="collision" size="0.035"
-                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
                     <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
                       <inertial pos="0.0171394 -0.000537591 4.8864e-07"
                         quat="0.411667 0.575338 -0.411094 0.574906"
@@ -524,5 +524,32 @@
       friction="1 1" condim="3" />
     <pair name="right_hand_floor" geom1="rh" geom2="floor" solref="0.008 1"
       friction="1 1" condim="3" />
   </contact>
 </mujoco>

         <geom group="2" type="mesh" density="0" material="silver" />
       </default>
       <default class="collision">
+        <geom group="3" rgba="0 1 0 1" type="capsule" />
         <default class="hand_collision">
           <geom type="sphere" pos="0.1 0.0 0.0" size="0.05" />
         </default>
       <freejoint name="floating_base_joint" />
       <geom class="visual" material="black" mesh="pelvis" />
       <geom class="visual" mesh="pelvis_contour_link" />
+      <geom name="pelvis_collision" class="collision" type="sphere" size="0.07" pos="0 0 -0.08"
+      />
       <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
       <site name="trace_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
       <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
             diaginertia="0.00254986 0.00241169 0.00148755" />
           <joint name="left_hip_roll_joint" class="hip_roll" />
           <geom class="visual" mesh="left_hip_roll_link" />
+          <geom name="left_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" />
           <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
             <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
               mass="1.702"
               diaginertia="0.00776166 0.00717575 0.00160139" />
             <joint name="left_hip_yaw_joint" class="hip_yaw" />
             <geom class="visual" mesh="left_hip_yaw_link" />
+            <geom name="left_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" />
             <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
               quat="0.996179 0 0.0873386 0">
               <inertial pos="0.005457 0.003964 -0.12074"
                 diaginertia="0.0113804 0.0112778 0.00146458" />
               <joint name="left_knee_joint" class="knee" />
               <geom class="visual" mesh="left_knee_link" />
+              <geom name="left_shin_collision" class="collision" size="0.045"
                 fromto="0.01 0 0 0.01 0 -0.15" />
               <geom name="left_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" />
               <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
                 <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
                   mass="0.074"
             diaginertia="0.00254986 0.00241169 0.00148755" />
           <joint name="right_hip_roll_joint" class="hip_roll" />
           <geom class="visual" mesh="right_hip_roll_link" />
+          <geom name="right_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" />
           <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
             <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
               mass="1.702"
               diaginertia="0.00776166 0.00717575 0.00160139" />
             <joint name="right_hip_yaw_joint" class="hip_yaw" />
             <geom class="visual" mesh="right_hip_yaw_link" />
+            <geom name="right_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" />
             <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
               quat="0.996179 0 0.0873386 0">
               <inertial pos="0.005457 -0.003964 -0.12074"
                 diaginertia="0.011374 0.0112843 0.00146452" />
               <joint name="right_knee_joint" class="knee" />
               <geom class="visual" mesh="right_knee_link" />
+              <geom name="right_shin_collision" class="collision" size="0.045"
                 fromto="0.01 0 0 0.01 0 -0.15" />
               <geom name="right_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" />
               <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
                 <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
                   mass="0.074"
             <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" class="visual" material="black"
               mesh="logo_link" />
             <geom pos="0.0039635 0 -0.044" class="visual" material="black" mesh="head_link" />
+            <geom name="torso_collision" class="collision" size="0.09"
               fromto="0.01 0 0.08 0.01 0 0.2" />
+            <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0 0 .43" />
             <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792" />
             <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
               quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
                     mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
                   <joint name="left_shoulder_yaw_joint" class="shoulder_yaw" />
                   <geom class="visual" mesh="left_shoulder_yaw_link" />
+                  <geom name="left_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" />
                   <body name="left_elbow_link" pos="0.015783 0 -0.080518">
                     <inertial pos="0.064956 0.004454 -0.010062"
                       quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
                       diaginertia="0.000443035 0.000421612 0.000259353" />
                     <joint name="left_elbow_joint" class="elbow" />
                     <geom class="visual" mesh="left_elbow_link" />
+                    <geom name="left_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" />
                     <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
                       <inertial pos="0.0171394 0.000537591 4.8864e-07"
                         quat="0.575338 0.411667 -0.574906 0.411094"
                     mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
                   <joint name="right_shoulder_yaw_joint" class="shoulder_yaw" />
                   <geom class="visual" mesh="right_shoulder_yaw_link" />
+                  <geom name="right_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" />
                   <body name="right_elbow_link" pos="0.015783 0 -0.080518">
                     <inertial pos="0.064956 -0.004454 -0.010062"
                       quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
                       diaginertia="0.000443035 0.000421612 0.000259353" />
                     <joint name="right_elbow_joint" class="elbow" />
                     <geom class="visual" mesh="right_elbow_link" />
+                    <geom name="right_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" />
                     <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
                       <inertial pos="0.0171394 -0.000537591 4.8864e-07"
                         quat="0.411667 0.575338 -0.411094 0.574906"
       friction="1 1" condim="3" />
     <pair name="right_hand_floor" geom1="rh" geom2="floor" solref="0.008 1"
       friction="1 1" condim="3" />
+    <pair name="pelvis_floor" geom1="pelvis_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_hip_collision_floor" geom1="left_hip_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_hip_collision_floor" geom1="right_hip_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_thigh_collision_floor" geom1="left_thigh_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_thigh_collision_floor" geom1="right_thigh_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_shin_collision_floor" geom1="left_shin_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_shin_collision_floor" geom1="right_shin_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_linkage_brace_collision_floor" geom1="left_linkage_brace_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_linkage_brace_collision_floor" geom1="right_linkage_brace_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_shoulder_yaw_collision_floor" geom1="left_shoulder_yaw_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_shoulder_yaw_collision_floor" geom1="right_shoulder_yaw_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_elbow_yaw_collision_floor" geom1="left_elbow_yaw_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_elbow_yaw_collision_floor" geom1="right_elbow_yaw_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
   </contact>
 </mujoco>

processed/lafan/assets/robots/unitree_g1/scene_full_collision.xml ADDED Viewed

	@@ -0,0 +1,555 @@

+<mujoco model="g1 scene">
+  <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
+  <!-- performance options -->
+  <option timestep="0.02" iterations="2" ls_iterations="10">
+    <flag eulerdamp="disable" />
+  </option>
+  <visual>
+    <global azimuth="135" elevation="-25" offwidth="1920" offheight="1080" />
+    <quality shadowsize="8192" />
+    <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0" />
+    <scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5"
+      framewidth="0.3" />
+    <rgba haze="0.15 0.25 0.35 1" force="1 0 0 1" />
+  </visual>
+  <custom>
+    <numeric data="15" name="max_contact_points" />
+    <numeric data="15" name="max_geom_pairs" />
+  </custom>
+  <default>
+    <default class="g1">
+      <default class="visual">
+        <geom group="2" type="mesh" density="0" material="silver" />
+      </default>
+      <default class="collision">
+        <geom group="3" rgba="0 1 0 1" type="sphere" />
+        <default class="hand_collision">
+          <geom type="sphere" pos="0.1 0.0 0.0" size="0.05" />
+        </default>
+        <default class="foot_collision">
+          <geom type="sphere" size="0.005" priority="1" friction="2.0" condim="3" />
+        </default>
+      </default>
+      <site group="5" rgba="1 0 0 1" />
+      <!-- Disable all contacts and use explicit contact pairs. -->
+      <geom condim="1" contype="0" conaffinity="0" />
+      <position kp="500" dampratio="1" inheritrange="1" />
+      <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+      <default class="hip">
+        <default class="hip_pitch">
+          <joint axis="0 1 0" range="-2.5307 2.8798" />
+        </default>
+        <default class="hip_roll">
+          <joint axis="1 0 0" range="-0.5236 2.9671" />
+        </default>
+        <default class="hip_yaw">
+          <joint axis="0 0 1" range="-2.7576 2.7576" />
+        </default>
+      </default>
+      <default class="knee">
+        <joint axis="0 1 0" range="-0.087267 2.8798" />
+      </default>
+      <default class="ankle">
+        <position kp="500" dampratio="1" inheritrange="1" />
+        <default class="ankle_pitch">
+          <joint axis="0 1 0" range="-0.87267 0.5236" />
+        </default>
+        <default class="ankle_roll">
+          <joint axis="1 0 0" range="-0.2618 0.2618" />
+        </default>
+      </default>
+      <default class="waist_yaw">
+        <joint axis="0 0 1" range="-2.618 2.618" />
+      </default>
+      <default class="waist_pitch">
+        <joint axis="0 1 0" range="-0.52 0.52" />
+      </default>
+      <default class="waist_roll">
+        <joint axis="1 0 0" range="-0.52 0.52" />
+      </default>
+      <default class="shoulder">
+        <default class="shoulder_pitch">
+          <joint axis="0 1 0" range="-3.0892 2.6704" />
+        </default>
+        <default class="shoulder_roll">
+          <joint axis="1 0 0" />
+        </default>
+        <default class="shoulder_yaw">
+          <joint axis="0 0 1" range="-2.618 2.618" />
+        </default>
+      </default>
+      <default class="elbow">
+        <joint axis="0 1 0" range="-1.0472 2.0944" />
+      </default>
+      <default class="wrist">
+        <position kp="500" dampratio="1" inheritrange="1" />
+        <default class="wrist_roll">
+          <joint axis="1 0 0" range="-1.97222 1.97222" />
+        </default>
+        <default class="wrist_pitch">
+          <joint axis="0 1 0" range="-1.61443 1.61443" />
+        </default>
+        <default class="wrist_yaw">
+          <joint axis="0 0 1" range="-1.61443 1.61443" />
+        </default>
+      </default>
+    </default>
+  </default>
+  <asset>
+    <texture type="skybox" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="3072" height="3072" />
+    <texture type="2d" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
+      rgb1="1 1 1" rgb2="1.0 1.0 1.0" markrgb="1.0 1.0 1.0" width="300" height="300" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="4 4" />
+    <material name="silver" rgba="0.7 0.7 0.7 1" />
+    <material name="black" rgba="0.2 0.2 0.2 1" />
+    <mesh name="pelvis" file="pelvis.STL" />
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
+    <mesh name="left_knee_link" file="left_knee_link.STL" />
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
+    <mesh name="right_knee_link" file="right_knee_link.STL" />
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
+    <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL" />
+    <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL" />
+    <mesh name="torso_link" file="torso_link_rev_1_0.STL" />
+    <mesh name="logo_link" file="logo_link.STL" />
+    <mesh name="head_link" file="head_link.STL" />
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
+    <mesh name="left_elbow_link" file="left_elbow_link.STL" />
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
+    <mesh name="left_rubber_hand" file="left_rubber_hand.STL" />
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
+    <mesh name="right_elbow_link" file="right_elbow_link.STL" />
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
+    <mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
+  </asset>
+  <worldbody>
+    <light pos="0 0 5" dir="0 0 -1" type="directional" />
+    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" />
+    <body name="pelvis" pos="0 0 0.793" childclass="g1">
+      <camera name="track" pos="1.734 -1.135 .35" xyaxes="0.552 0.834 -0.000 -0.170 0.112 0.979"
+        mode="trackcom" />
+      <camera name="track2" pos="1.489 1.189 1.174" xyaxes="-0.609 0.793 -0.000 -0.221 -0.169 0.961"
+        mode="trackcom" />
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
+        diaginertia="0.010549 0.0093089 0.0079184" />
+      <freejoint name="floating_base_joint" />
+      <geom class="visual" material="black" mesh="pelvis" />
+      <geom class="visual" mesh="pelvis_contour_link" />
+      <geom name="pelvis_collision" class="collision" type="sphere" size="0.07" pos="0 0 -0.08"
+      />
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
+      <site name="trace_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
+          mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="left_hip_pitch_joint" class="hip_pitch" />
+        <geom class="visual" material="black" mesh="left_hip_pitch_link" />
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934"
+            quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="left_hip_roll_joint" class="hip_roll" />
+          <geom class="visual" mesh="left_hip_roll_link" />
+          <geom name="left_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" />
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
+              mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="left_hip_yaw_joint" class="hip_yaw" />
+            <geom class="visual" mesh="left_hip_yaw_link" />
+            <geom name="left_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" />
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074"
+                quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
+                diaginertia="0.0113804 0.0112778 0.00146458" />
+              <joint name="left_knee_joint" class="knee" />
+              <geom class="visual" mesh="left_knee_link" />
+              <geom name="left_shin_collision" class="collision" size="0.045"
+                fromto="0.01 0 0 0.01 0 -0.15" />
+              <geom name="left_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" />
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="left_ankle_pitch_joint" class="ankle_pitch" />
+                <geom class="visual" mesh="left_ankle_pitch_link" />
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="left_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="left_ankle_roll_joint" class="ankle_roll" />
+                  <geom class="visual" material="black" mesh="left_ankle_roll_link" />
+                  <geom name="lf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
+                  <geom name="lf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
+                  <geom name="lf2" class="foot_collision" pos="0.12 0.03 -0.03" />
+                  <geom name="lf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
+                  <site name="trace_left_foot" size="0.01" pos="0.04 0 -0.037" />
+                  <site name="contact_left_foot" size="0.01" pos="0.04 0 -0.037" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
+          mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="right_hip_pitch_joint" class="hip_pitch" />
+        <geom class="visual" material="black" mesh="right_hip_pitch_link" />
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
+            mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="right_hip_roll_joint" class="hip_roll" />
+          <geom class="visual" mesh="right_hip_roll_link" />
+          <geom name="right_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" />
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
+              mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="right_hip_yaw_joint" class="hip_yaw" />
+            <geom class="visual" mesh="right_hip_yaw_link" />
+            <geom name="right_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" />
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074"
+                quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
+                diaginertia="0.011374 0.0112843 0.00146452" />
+              <joint name="right_knee_joint" class="knee" />
+              <geom class="visual" mesh="right_knee_link" />
+              <geom name="right_shin_collision" class="collision" size="0.045"
+                fromto="0.01 0 0 0.01 0 -0.15" />
+              <geom name="right_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" />
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="right_ankle_pitch_joint" class="ankle_pitch" />
+                <geom class="visual" mesh="right_ankle_pitch_link" />
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="right_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="right_ankle_roll_joint" class="ankle_roll" />
+                  <geom class="visual" material="black" mesh="right_ankle_roll_link" />
+                  <geom name="rf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
+                  <geom name="rf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
+                  <geom name="rf2" class="foot_collision" pos="0.12 0.03 -0.03" />
+                  <geom name="rf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
+                  <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
+                  <site name="contact_right_foot" size="0.01" pos="0.04 0 -0.037" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821"
+          mass="0.214"
+          diaginertia="0.000163531 0.000107714 0.000102205" />
+        <joint name="waist_yaw_joint" class="waist_yaw" />
+        <geom class="visual" mesh="waist_yaw_link" />
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086"
+            diaginertia="8.245e-06 7.079e-06 6.339e-06" />
+          <joint name="waist_roll_joint" class="waist_roll" />
+          <geom class="visual" mesh="waist_roll_link" />
+          <body name="torso_link">
+            <inertial pos="0.00203158 0.000339683 0.184568"
+              quat="0.999803 -6.03319e-05 0.0198256 0.00131986"
+              mass="7.818" diaginertia="0.121847 0.109825 0.0273735" />
+            <joint name="waist_pitch_joint" class="waist_pitch" />
+            <geom class="visual" mesh="torso_link" />
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" class="visual" material="black"
+              mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.044" class="visual" material="black" mesh="head_link" />
+            <geom name="torso_collision" class="collision" size="0.09"
+              fromto="0.01 0 0.08 0.01 0 0.2" />
+            <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0 0 .43" />
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792" />
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
+              quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
+                mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="left_shoulder_pitch_joint" class="shoulder_pitch" />
+              <geom class="visual" mesh="left_shoulder_pitch_link" />
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
+                quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243"
+                  quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="left_shoulder_roll_joint" range="-1.5882 2.2515" class="shoulder_roll" />
+                <geom class="visual" mesh="left_shoulder_roll_link" />
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009"
+                    quat="0.716879 -0.0964829 -0.0679942 0.687134"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="left_shoulder_yaw_joint" class="shoulder_yaw" />
+                  <geom class="visual" mesh="left_shoulder_yaw_link" />
+                  <geom name="left_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" />
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062"
+                      quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="left_elbow_joint" class="elbow" />
+                    <geom class="visual" mesh="left_elbow_link" />
+                    <geom name="left_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" />
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07"
+                        quat="0.575338 0.411667 -0.574906 0.411094"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="left_wrist_roll_joint" class="wrist_roll" />
+                      <geom class="visual" mesh="left_wrist_roll_link" />
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658"
+                          quat="0.249998 0.661363 0.293036 0.643608"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="left_wrist_pitch_joint" class="wrist_pitch" />
+                        <geom class="visual" mesh="left_wrist_pitch_link" />
+                        <!-- <geom name="left_wrist_collision" class="collision" size="0.035"
+                          fromto="-0.01 0 0 0.06 0 0" /> -->
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742"
+                            quat="0.510571 0.526295 0.468078 0.493188"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="left_wrist_yaw_joint" class="wrist_yaw" />
+                          <geom class="visual" mesh="left_wrist_yaw_link" />
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" class="visual"
+                            mesh="left_rubber_hand" />
+                          <site name="left_palm" pos="0.08 0 0" size="0.01" />
+                          <!-- <geom name="left_hand_collision" class="collision" size="0.035"
+                            rgba=".2 .6 .2 .2"
+                            fromto="0.07 0 0 0.15 -0.02 0" /> -->
+                          <geom name="lh" class="hand_collision" />
+                          <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
+                          <site name="contact_left_hand" size="0.01" pos="0.08 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778"
+              quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
+                mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="right_shoulder_pitch_joint" class="shoulder_pitch" />
+              <geom class="visual" mesh="right_shoulder_pitch_link" />
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
+                quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243"
+                  quat="0.712604 -0.00710317 -0.0196223 0.701256"
+                  mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="right_shoulder_roll_joint" range="-2.2515 1.5882" class="shoulder_roll" />
+                <geom class="visual" mesh="right_shoulder_roll_link" />
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009"
+                    quat="0.687134 -0.0679942 -0.0964829 0.716879"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="right_shoulder_yaw_joint" class="shoulder_yaw" />
+                  <geom class="visual" mesh="right_shoulder_yaw_link" />
+                  <geom name="right_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" />
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062"
+                      quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="right_elbow_joint" class="elbow" />
+                    <geom class="visual" mesh="right_elbow_link" />
+                    <geom name="right_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" />
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07"
+                        quat="0.411667 0.575338 -0.411094 0.574906"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="right_wrist_roll_joint" class="wrist_roll" />
+                      <geom class="visual" mesh="right_wrist_roll_link" />
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658"
+                          quat="0.643608 0.293036 0.661363 0.249998"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="right_wrist_pitch_joint" class="wrist_pitch" />
+                        <geom class="visual" mesh="right_wrist_pitch_link" />
+                        <!-- <geom name="right_wrist_collision" class="collision" size="0.035"
+                          fromto="-0.01 0 0 0.06 0 0" /> -->
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742"
+                            quat="0.493188 0.468078 0.526295 0.510571"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="right_wrist_yaw_joint" class="wrist_yaw" />
+                          <geom class="visual" mesh="right_wrist_yaw_link" />
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" class="visual"
+                            mesh="right_rubber_hand" />
+                          <site name="right_palm" pos="0.08 0 0" size="0.01" />
+                          <!-- <geom name="right_hand_collision" class="collision" size="0.035"
+                            rgba=".2 .6 .2 .2"
+                            fromto="0.07 0 0 0.15 0.02 0" /> -->
+                          <geom name="rh" class="hand_collision" />
+                          <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
+                          <site name="contact_right_hand" size="0.01" pos="0.08 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position class="hip_pitch" name="left_hip_pitch_joint" joint="left_hip_pitch_joint" />
+    <position class="hip_roll" name="left_hip_roll_joint" joint="left_hip_roll_joint" />
+    <position class="hip_yaw" name="left_hip_yaw_joint" joint="left_hip_yaw_joint" />
+    <position class="knee" name="left_knee_joint" joint="left_knee_joint" />
+    <position class="ankle_pitch" name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" />
+    <position class="ankle_roll" name="left_ankle_roll_joint" joint="left_ankle_roll_joint" />
+    <position class="hip_pitch" name="right_hip_pitch_joint" joint="right_hip_pitch_joint" />
+    <position class="hip_roll" name="right_hip_roll_joint" joint="right_hip_roll_joint" />
+    <position class="hip_yaw" name="right_hip_yaw_joint" joint="right_hip_yaw_joint" />
+    <position class="knee" name="right_knee_joint" joint="right_knee_joint" />
+    <position class="ankle_pitch" name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" />
+    <position class="ankle_roll" name="right_ankle_roll_joint" joint="right_ankle_roll_joint" />
+    <position class="waist_yaw" name="waist_yaw_joint" joint="waist_yaw_joint" />
+    <position class="waist_roll" name="waist_roll_joint" joint="waist_roll_joint" />
+    <position class="waist_pitch" name="waist_pitch_joint" joint="waist_pitch_joint" />
+    <position class="shoulder_pitch" name="left_shoulder_pitch_joint"
+      joint="left_shoulder_pitch_joint" />
+    <position class="shoulder_roll" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" />
+    <position class="shoulder_yaw" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" />
+    <position class="elbow" name="left_elbow_joint" joint="left_elbow_joint" />
+    <position class="wrist_roll" name="left_wrist_roll_joint" joint="left_wrist_roll_joint" />
+    <position class="wrist_pitch" name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint" />
+    <position class="wrist_yaw" name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint" />
+    <position class="shoulder_pitch" name="right_shoulder_pitch_joint"
+      joint="right_shoulder_pitch_joint" />
+    <position class="shoulder_roll" name="right_shoulder_roll_joint"
+      joint="right_shoulder_roll_joint" />
+    <position class="shoulder_yaw" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" />
+    <position class="elbow" name="right_elbow_joint" joint="right_elbow_joint" />
+    <position class="wrist_roll" name="right_wrist_roll_joint" joint="right_wrist_roll_joint" />
+    <position class="wrist_pitch" name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint" />
+    <position class="wrist_yaw" name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint" />
+  </actuator>
+  <!-- <sensor>
+    <velocimeter site="imu_in_torso" name="local_linvel_torso" />
+    <velocimeter site="imu_in_pelvis" name="local_linvel_pelvis" />
+    <accelerometer site="imu_in_torso" name="accelerometer_torso" />
+    <accelerometer site="imu_in_pelvis" name="accelerometer_pelvis" />
+    <gyro site="imu_in_torso" name="gyro_torso" />
+    <gyro site="imu_in_pelvis" name="gyro_pelvis" />
+    <framezaxis objtype="site" objname="imu_in_torso" name="upvector_torso" />
+    <framezaxis objtype="site" objname="imu_in_pelvis" name="upvector_pelvis" />
+    <framequat objtype="site" objname="imu_in_torso" name="orientation_torso" />
+    <framequat objtype="site" objname="imu_in_pelvis" name="orientation_pelvis" />
+    <framelinvel objtype="site" objname="imu_in_torso" name="global_linvel_torso" />
+    <framelinvel objtype="site" objname="imu_in_pelvis" name="global_linvel_pelvis" />
+    <frameangvel objtype="site" objname="imu_in_torso" name="global_angvel_torso" />
+    <frameangvel objtype="site" objname="imu_in_pelvis" name="global_angvel_pelvis" />
+  </sensor> -->
+  <contact>
+    <pair name="left_foot_floor0" geom1="lf0" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor1" geom1="lf1" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor2" geom1="lf2" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor3" geom1="lf3" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor0" geom1="rf0" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor1" geom1="rf1" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor2" geom1="rf2" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor3" geom1="rf3" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_hand_floor" geom1="lh" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_hand_floor" geom1="rh" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="pelvis_floor" geom1="pelvis_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_hip_collision_floor" geom1="left_hip_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_hip_collision_floor" geom1="right_hip_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_thigh_collision_floor" geom1="left_thigh_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_thigh_collision_floor" geom1="right_thigh_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_shin_collision_floor" geom1="left_shin_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_shin_collision_floor" geom1="right_shin_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_linkage_brace_collision_floor" geom1="left_linkage_brace_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_linkage_brace_collision_floor" geom1="right_linkage_brace_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_shoulder_yaw_collision_floor" geom1="left_shoulder_yaw_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_shoulder_yaw_collision_floor" geom1="right_shoulder_yaw_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_elbow_yaw_collision_floor" geom1="left_elbow_yaw_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_elbow_yaw_collision_floor" geom1="right_elbow_yaw_collision" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+  </contact>
+</mujoco>

processed/lafan/assets/robots/unitree_g1/scene_simple.xml CHANGED Viewed

@@ -220,6 +220,7 @@
                   <geom name="lf2" class="foot_collision" pos="0.12 0.03 -0.03" />
                   <geom name="lf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
                   <site name="trace_left_foot" size="0.01" pos="0.04 0 -0.037" />
                 </body>
               </body>
             </body>
@@ -277,6 +278,7 @@
                   <geom name="rf2" class="foot_collision" pos="0.12 0.03 -0.03" />
                   <geom name="rf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
                   <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
                 </body>
               </body>
             </body>
@@ -365,6 +367,7 @@
                             fromto="0.07 0 0 0.15 -0.02 0" /> -->
                           <geom name="lh" class="hand_collision" />
                           <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
                         </body>
                       </body>
                     </body>
@@ -430,6 +433,7 @@
                             fromto="0.07 0 0 0.15 0.02 0" /> -->
                           <geom name="rh" class="hand_collision" />
                           <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
                         </body>
                       </body>
                     </body>

                   <geom name="lf2" class="foot_collision" pos="0.12 0.03 -0.03" />
                   <geom name="lf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
                   <site name="trace_left_foot" size="0.01" pos="0.04 0 -0.037" />
+                  <site name="contact_left_foot" size="0.01" pos="0.04 0 -0.037" />
                 </body>
               </body>
             </body>
                   <geom name="rf2" class="foot_collision" pos="0.12 0.03 -0.03" />
                   <geom name="rf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
                   <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
+                  <site name="contact_right_foot" size="0.01" pos="0.04 0 -0.037" />
                 </body>
               </body>
             </body>
                             fromto="0.07 0 0 0.15 -0.02 0" /> -->
                           <geom name="lh" class="hand_collision" />
                           <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
+                          <site name="contact_left_hand" size="0.01" pos="0.08 0 0" />
                         </body>
                       </body>
                     </body>
                             fromto="0.07 0 0 0.15 0.02 0" /> -->
                           <geom name="rh" class="hand_collision" />
                           <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
+                          <site name="contact_right_hand" size="0.01" pos="0.08 0 0" />
                         </body>
                       </body>
                     </body>

processed/lafan/unitree_g1/humanoid/getup/0/trajectory_ik.npz CHANGED Viewed

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processed/lafan/unitree_g1/humanoid/getup/0/visualization_ik.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

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+size 9254074

processed/lafan/unitree_g1/humanoid/getup/0/visualization_kinematic.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

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processed/oakink/allegro/bimanual/lift_board/0/trajectory_ikrollout.npz CHANGED Viewed

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processed/oakink/allegro/bimanual/lift_board/0/trajectory_kinematic.npz CHANGED Viewed

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processed/oakink/allegro/bimanual/lift_board/0/visualization_ik.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
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processed/oakink/allegro/bimanual/lift_board/scene.xml CHANGED Viewed

@@ -268,9 +268,21 @@
     <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <mesh name="right_0" file="objects/O02@0018@00001/convex/0.obj"/>
     <mesh name="right_1" file="objects/O02@0018@00001/convex/1.obj"/>
     <mesh name="right_2" file="objects/O02@0018@00001/convex/2.obj"/>
     <mesh name="right_3" file="objects/O02@0018@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0018@00001/convex/4.obj"/>
     <mesh name="right_visual" file="objects/O02@0018@00001/visual.obj"/>
   </asset>
@@ -505,22 +517,34 @@
     </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" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
       <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_right_thumb_tip" mocap="true">
       <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -581,9 +605,21 @@
   <contact>
     <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
@@ -599,14 +635,38 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -614,9 +674,21 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
@@ -631,14 +703,38 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -646,9 +742,21 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -662,14 +770,38 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -677,9 +809,21 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
@@ -692,14 +836,38 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -707,9 +875,21 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -721,84 +901,252 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
   </contact>
   <actuator>

     <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <mesh name="right_0" file="objects/O02@0018@00001/convex/0.obj"/>
     <mesh name="right_1" file="objects/O02@0018@00001/convex/1.obj"/>
+    <mesh name="right_10" file="objects/O02@0018@00001/convex/10.obj"/>
+    <mesh name="right_11" file="objects/O02@0018@00001/convex/11.obj"/>
+    <mesh name="right_12" file="objects/O02@0018@00001/convex/12.obj"/>
+    <mesh name="right_13" file="objects/O02@0018@00001/convex/13.obj"/>
+    <mesh name="right_14" file="objects/O02@0018@00001/convex/14.obj"/>
+    <mesh name="right_15" file="objects/O02@0018@00001/convex/15.obj"/>
+    <mesh name="right_16" file="objects/O02@0018@00001/convex/16.obj"/>
     <mesh name="right_2" file="objects/O02@0018@00001/convex/2.obj"/>
     <mesh name="right_3" file="objects/O02@0018@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0018@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0018@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0018@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0018@00001/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0018@00001/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02@0018@00001/convex/9.obj"/>
     <mesh name="right_visual" file="objects/O02@0018@00001/visual.obj"/>
   </asset>
     </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" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_11" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_15"/>
+      <geom name="right_object_16" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_16"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_9"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
       <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0475256 0.0992082 -0.141567" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.000322079 0.0841274 -0.176095" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0024399 0.0708744 -0.184502" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0179018 0.0673458 -0.188854" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.0346916 0.0966582 0.171445" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="-0.019677 0.0715001 0.187798" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.00359232 0.0669317 0.188805" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_right_thumb_tip" mocap="true">
       <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
   <contact>
     <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_16" name="floor_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_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_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_16" name="collision_hand_right_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_10" name="collision_hand_right_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_11" name="collision_hand_right_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_12" name="collision_hand_right_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_13" name="collision_hand_right_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_14" name="collision_hand_right_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_15" name="collision_hand_right_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_16" name="collision_hand_right_index_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_8" name="collision_hand_right_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_9" name="collision_hand_right_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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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"/>
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+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_11" name="collision_hand_right_middle_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_12" name="collision_hand_right_middle_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_13" name="collision_hand_right_middle_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_14" name="collision_hand_right_middle_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_15" name="collision_hand_right_middle_2_right_object_15" friction="1 1 0.1 0 0"/>
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     <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="right_object_8" name="collision_hand_right_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_9" name="collision_hand_right_middle_2_right_object_9" 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"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
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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_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
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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_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
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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"/>
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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="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_10" name="collision_hand_right_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_11" name="collision_hand_right_ring_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_12" name="collision_hand_right_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_13" name="collision_hand_right_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_14" name="collision_hand_right_ring_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_15" name="collision_hand_right_ring_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_16" name="collision_hand_right_ring_2_right_object_16" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_8" name="collision_hand_right_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_9" name="collision_hand_right_ring_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_16" name="collision_hand_right_ring_1_right_object_16" friction="1 1 0.1 0 0"/>
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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="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_16" name="collision_hand_right_ring_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_10" name="collision_hand_right_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_11" name="collision_hand_right_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_12" name="collision_hand_right_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_13" name="collision_hand_right_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_14" name="collision_hand_right_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_15" name="collision_hand_right_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_16" name="collision_hand_right_thumb_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_9" name="collision_hand_right_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
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     <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_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_16" name="collision_hand_right_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_10" name="collision_hand_right_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_16" name="collision_hand_right_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_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_10" name="collision_hand_left_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_11" name="collision_hand_left_ring_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_12" name="collision_hand_left_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_13" name="collision_hand_left_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_14" name="collision_hand_left_ring_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_15" name="collision_hand_left_ring_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_16" name="collision_hand_left_ring_2_right_object_16" 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="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_9" name="collision_hand_left_ring_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_16" name="collision_hand_left_ring_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_16" name="collision_hand_left_thumb_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_16" name="collision_hand_left_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_16" name="collision_hand_left_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
   </contact>
   <actuator>

processed/oakink/allegro/bimanual/lift_board/scene_eq.xml CHANGED Viewed

@@ -268,9 +268,21 @@
     <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <mesh name="right_0" file="objects/O02@0018@00001/convex/0.obj"/>
     <mesh name="right_1" file="objects/O02@0018@00001/convex/1.obj"/>
     <mesh name="right_2" file="objects/O02@0018@00001/convex/2.obj"/>
     <mesh name="right_3" file="objects/O02@0018@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0018@00001/convex/4.obj"/>
     <mesh name="right_visual" file="objects/O02@0018@00001/visual.obj"/>
   </asset>
@@ -505,22 +517,34 @@
     </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" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
       <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_right_thumb_tip" mocap="true">
       <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -581,9 +605,21 @@
   <contact>
     <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
@@ -599,14 +635,38 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -614,9 +674,21 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
@@ -631,14 +703,38 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -646,9 +742,21 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -662,14 +770,38 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -677,9 +809,21 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
@@ -692,14 +836,38 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -707,9 +875,21 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -721,84 +901,252 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
   </contact>
   <equality>

     <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <mesh name="right_0" file="objects/O02@0018@00001/convex/0.obj"/>
     <mesh name="right_1" file="objects/O02@0018@00001/convex/1.obj"/>
+    <mesh name="right_10" file="objects/O02@0018@00001/convex/10.obj"/>
+    <mesh name="right_11" file="objects/O02@0018@00001/convex/11.obj"/>
+    <mesh name="right_12" file="objects/O02@0018@00001/convex/12.obj"/>
+    <mesh name="right_13" file="objects/O02@0018@00001/convex/13.obj"/>
+    <mesh name="right_14" file="objects/O02@0018@00001/convex/14.obj"/>
+    <mesh name="right_15" file="objects/O02@0018@00001/convex/15.obj"/>
+    <mesh name="right_16" file="objects/O02@0018@00001/convex/16.obj"/>
     <mesh name="right_2" file="objects/O02@0018@00001/convex/2.obj"/>
     <mesh name="right_3" file="objects/O02@0018@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0018@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0018@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0018@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0018@00001/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0018@00001/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02@0018@00001/convex/9.obj"/>
     <mesh name="right_visual" file="objects/O02@0018@00001/visual.obj"/>
   </asset>
     </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" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_11" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_15"/>
+      <geom name="right_object_16" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_16"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_9"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
       <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0475256 0.0992082 -0.141567" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.000322079 0.0841274 -0.176095" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0024399 0.0708744 -0.184502" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0179018 0.0673458 -0.188854" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.0346916 0.0966582 0.171445" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="-0.019677 0.0715001 0.187798" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.00359232 0.0669317 0.188805" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_right_thumb_tip" mocap="true">
       <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
   <contact>
     <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_16" name="floor_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_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_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_16" name="collision_hand_right_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_10" name="collision_hand_right_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_11" name="collision_hand_right_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_12" name="collision_hand_right_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_13" name="collision_hand_right_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_14" name="collision_hand_right_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_15" name="collision_hand_right_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_16" name="collision_hand_right_index_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_8" name="collision_hand_right_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_9" name="collision_hand_right_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_16" name="collision_hand_right_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_16" name="collision_hand_right_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_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_10" name="collision_hand_right_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_11" name="collision_hand_right_middle_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_12" name="collision_hand_right_middle_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_13" name="collision_hand_right_middle_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_14" name="collision_hand_right_middle_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_15" name="collision_hand_right_middle_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_16" name="collision_hand_right_middle_2_right_object_16" 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="right_object_8" name="collision_hand_right_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_9" name="collision_hand_right_middle_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_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="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
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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="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_16" name="collision_hand_right_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
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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"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_10" name="collision_hand_right_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_11" name="collision_hand_right_ring_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_12" name="collision_hand_right_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_13" name="collision_hand_right_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_14" name="collision_hand_right_ring_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_15" name="collision_hand_right_ring_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_16" name="collision_hand_right_ring_2_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_8" name="collision_hand_right_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_9" name="collision_hand_right_ring_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_16" name="collision_hand_right_ring_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
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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="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_16" name="collision_hand_right_ring_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_10" name="collision_hand_right_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_11" name="collision_hand_right_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_12" name="collision_hand_right_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_13" name="collision_hand_right_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_14" name="collision_hand_right_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_15" name="collision_hand_right_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_16" name="collision_hand_right_thumb_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_9" name="collision_hand_right_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_16" name="collision_hand_right_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
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     <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"/>
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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"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
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     <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_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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     <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"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
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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_10" name="collision_hand_left_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_11" name="collision_hand_left_ring_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_12" name="collision_hand_left_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_13" name="collision_hand_left_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_14" name="collision_hand_left_ring_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_15" name="collision_hand_left_ring_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_16" name="collision_hand_left_ring_2_right_object_16" 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"/>
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     <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="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_9" name="collision_hand_left_ring_2_right_object_9" 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_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_16" name="collision_hand_left_ring_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_16" name="collision_hand_left_ring_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_10" name="collision_hand_left_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_11" name="collision_hand_left_middle_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_12" name="collision_hand_left_middle_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_13" name="collision_hand_left_middle_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_14" name="collision_hand_left_middle_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_15" name="collision_hand_left_middle_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_16" name="collision_hand_left_middle_2_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_9" name="collision_hand_left_middle_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
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   </contact>
   <equality>

processed/oakink/allegro/bimanual/lift_board/task_info.json CHANGED Viewed

@@ -2,9 +2,10 @@
   "task": "lift_board",
   "dataset_name": "oakink",
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 }

   "task": "lift_board",
   "dataset_name": "oakink",
   "robot_type": "allegro",
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   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0018@00001",
   "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex"
 }

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