ShadowHand can grasp object but object slips during lifting

[LiYu-code-x]

Intro

Hi everyone,

I am using MuJoCo with a ShadowHand for dexterous grasping research.

Currently, the hand can successfully make contact and grasp the object, but during the lifting phase the object slowly slips out of the fingers.

Current observations:

• Initial grasp works correctly
• Contact points are stable before lifting
• Once the hand starts moving upward, the object begins sliding downward
• The fingers do not visibly open
• The issue becomes worse with heavier objects or faster lifting speeds

I have already tried:

• Increasing friction values
• Reducing object mass
• Slowing down lifting speed
• Increasing actuator kp / force
• Adjusting solref and solimp
• Keeping grasp control active during lifting

My setup

Python3.12.12
x86_64
mujoco3.4.0
Windows 10 Professional 22H2

My question

Currently, the hand can successfully make contact and grasp the object, but during the lifting phase the object slowly slips out of the fingers.

Current observations:

• Initial grasp works correctly
• Contact points are stable before lifting
• Once the hand starts moving upward, the object begins sliding downward
• The fingers do not visibly open
• The issue becomes worse with heavier objects or faster lifting speeds

I have already tried:

• Increasing friction values
• Reducing object mass
• Slowing down lifting speed
• Increasing actuator kp / force
• Adjusting solref and solimp
• Keeping grasp control active during lifting

Minimal model and/or code that explain my question

<default class="right_hand">
  <mesh scale="0.001 0.001 0.001"/>
  <joint axis="1 0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/>
  <position forcerange="-20 20"/> 
  <default class="wrist">
    <joint damping="0.5"/>
    <default class="wrist_y">
      <joint axis="0 1 0" range="-0.523599 0.174533"/>
      <position kp="20" ctrlrange="-0.523599 0.174533" forcerange="-10 10"/>
    </default>
    <default class="wrist_x">
      <joint range="-0.698132 0.488692"/>
      <position kp="20" ctrlrange="-0.698132 0.488692" forcerange="-10 10"/>
    </default>
  </default>

  <default class="thumb">
    <default class="thbase">
      <joint axis="0 0 -1" range="-1.0472 1.0472"/>
      <position kp="20" ctrlrange="-1.0472 1.0472" forcerange="-10 10"/>
    </default>
    <default class="thproximal">
      <joint range="0 1.22173"/>
      <position ctrlrange="0 1.22173" forcerange="-10 10"/>
    </default>
    <default class="thhub">
      <joint range="-0.20944 0.20944"/>
      <position kp="20" ctrlrange="-0.20944 0.20944"/>
    </default>
    <default class="thmiddle">
      <joint axis="0 -1 0" range="-0.698132 0.698132"/>
      <position kp="20" ctrlrange="-0.698132 0.698132"/>
    </default>
    <default class="thdistal">
      <joint range="-0.261799 1.5708"/>
      <position ctrlrange="-0.261799 1.5708"/>
    </default>
  </default>

  <default class="metacarpal">
    <joint axis="0.573576 0 0.819152" range="0 0.785398"/>
    <position ctrlrange="0 0.785398"/>
  </default>
  <default class="knuckle">
    <joint axis="0 -1 0" range="-1.0 1.0"/>
    <position ctrlrange="-1.0 1.0"/>
  </default>
  <default class="proximal">
    <joint range="-0.261799 1.5708"/>
    <position ctrlrange="-0.261799 1.5708"/>
  </default>
  <default class="middle_distal">
    <joint range="0 1.5708"/>
    <position kp="25" ctrlrange="0 3.1415"/> 
  </default>

  <default class="plastic">
    <geom solimp="0.9 0.95 0.01" solref="0.01 1" friction="1.5 0.5 0.01" condim="4"/>
    <default class="plastic_visual">
      <geom type="mesh" material="black_shadow" contype="0" conaffinity="0" group="2"/>
    </default>
    <default class="plastic_collision">
      <geom group="3" condim="6"/> 
    </default>
  </default>
</default>

<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/base_0.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/base_1.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/shoulder_0.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/shoulder_1.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/shoulder_2.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/upperarm_0.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/upperarm_1.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/upperarm_2.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/upperarm_3.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/forearm_0.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/forearm_1.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/forearm_2.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/forearm_3.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/wrist1_0.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/wrist1_1.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/wrist1_2.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/wrist2_0.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/wrist2_1.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/wrist2_2.obj"/>
<mesh file="../mujoco_menagerie/universal_robots_ur5e/assets/wrist3.obj"/>

<material name="black_shadow" specular="0.5" shininess="0.25" rgba="0.16355 0.16355 0.16355 1"/>
<material name="gray" specular="0.0" shininess="0.25" rgba="0.80848 0.80848 0.80848 1"/>
<material name="metallic" specular="0" shininess="0.25" rgba="0.9 0.9 0.9 1"/>

<mesh class="right_hand" file="../mujoco_menagerie/shadow_hand/assets/forearm_0.obj" name="sh_forearm_0"/>
<mesh class="right_hand" file="../mujoco_menagerie/shadow_hand/assets/forearm_1.obj" name="sh_forearm_1"/>
<mesh class="right_hand" file="../mujoco_menagerie/shadow_hand/assets/forearm_collision.obj" name="sh_forearm_collision"/>
<mesh class="right_hand" file="../mujoco_menagerie/shadow_hand/assets/wrist.obj" name="sh_wrist"/>
<mesh class="right_hand" file="../mujoco_menagerie/shadow_hand/assets/palm.obj" name="sh_palm"/>
<mesh class="right_hand" file="../mujoco_menagerie/shadow_hand/assets/f_knuckle.obj" name="sh_f_knuckle"/>
<mesh class="right_hand" file="../mujoco_menagerie/shadow_hand/assets/f_proximal.obj" name="sh_f_proximal"/>
<mesh class="right_hand" file="../mujoco_menagerie/shadow_hand/assets/f_middle.obj" name="sh_f_middle"/>
<mesh class="right_hand" file="../mujoco_menagerie/shadow_hand/assets/f_distal_pst.obj" name="sh_f_distal_pst"/>
<mesh class="right_hand" file="../mujoco_menagerie/shadow_hand/assets/lf_metacarpal.obj" name="sh_lf_metacarpal"/>
<mesh class="right_hand" file="../mujoco_menagerie/shadow_hand/assets/th_proximal.obj" name="sh_th_proximal"/>
<mesh class="right_hand" file="../mujoco_menagerie/shadow_hand/assets/th_middle.obj" name="sh_th_middle"/>
<mesh class="right_hand" file="../mujoco_menagerie/shadow_hand/assets/th_distal_pst.obj" name="sh_th_distal_pst"/>

<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1="0.2 0.3 0.4" rgb2="0.3 0.4 0.5"/>
<material name="grid_mat" texture="grid" texrepeat="2 2" texuniform="true" reflectance="0.2"/>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0.0 0.0 0.0" width="512" height="3072"/>
<material name="glass_clear" rgba="1 1 1 0.15" specular="1" shininess="0.9" reflectance="0.3"/>

<body name="test_object" pos="-0.82 -0.28 0.06">
  <freejoint name="glass_freejoint"/>
  
  <geom type="cylinder" size="0.025 0.06" material="glass_clear" mass="0.05"
        contype="1" conaffinity="1" group="3"
        condim="6" 
        solref="0.005 1.0" 
        solimp="0.99 0.999 0.0001" 
        friction="20.0 10.0 1.0"/>
        
  <geom type="cylinder" size="0.025 0.06" material="glass_clear" group="1" contype="0" conaffinity="0" mass="0"/>
</body>

<light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2"/>

<body name="base" quat="0 0 0 -1" childclass="ur5e">
  <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072"/>
  <geom mesh="base_0" material="black" class="visual"/>
  <geom mesh="base_1" material="jointgray" class="visual"/>
  <body name="shoulder_link" pos="0 0 0.163">
    <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666"/>
    <joint name="shoulder_pan_joint" class="size3" axis="0 0 1"/>
    <geom mesh="shoulder_0" material="urblue" class="visual"/>
    <geom mesh="shoulder_1" material="black" class="visual"/>
    <geom mesh="shoulder_2" material="jointgray" class="visual"/>
    <geom class="collision" size="0.06 0.06" pos="0 0 -0.04"/>
    <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
      <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074"/>
      <joint name="shoulder_lift_joint" class="size3"/>
      <geom mesh="upperarm_0" material="linkgray" class="visual"/>
      <geom mesh="upperarm_1" material="black" class="visual"/>
      <geom mesh="upperarm_2" material="jointgray" class="visual"/>
      <geom mesh="upperarm_3" material="urblue" class="visual"/>
      <geom class="collision" pos="0 -0.04 0" quat="1 1 0 0" size="0.06 0.06"/>
      <geom class="collision" size="0.05 0.2" pos="0 0 0.2"/>
      <body name="forearm_link" pos="0 -0.131 0.425">
        <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095"/>
        <joint name="elbow_joint" class="size3_limited"/>
        <geom mesh="forearm_0" material="urblue" class="visual"/>
        <geom mesh="forearm_1" material="linkgray" class="visual"/>
        <geom mesh="forearm_2" material="black" class="visual"/>
        <geom mesh="forearm_3" material="jointgray" class="visual"/>
        <geom class="collision" pos="0 0.08 0" quat="1 1 0 0" size="0.055 0.06"/>
        <geom class="collision" size="0.038 0.19" pos="0 0 0.2"/>
        <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
          <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942"/>
          <joint name="wrist_1_joint" class="size1"/>
          <geom mesh="wrist1_0" material="black" class="visual"/>
          <geom mesh="wrist1_1" material="urblue" class="visual"/>
          <geom mesh="wrist1_2" material="jointgray" class="visual"/>
          <geom class="collision" pos="0 0.05 0" quat="1 1 0 0" size="0.04 0.07"/>
          <body name="wrist_2_link" pos="0 0.127 0">
            <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942"/>
            <joint name="wrist_2_joint" axis="0 0 1" class="size1"/>
            <geom mesh="wrist2_0" material="black" class="visual"/>
            <geom mesh="wrist2_1" material="urblue" class="visual"/>
            <geom mesh="wrist2_2" material="jointgray" class="visual"/>
            <geom class="collision" size="0.04 0.06" pos="0 0 0.04"/>
            <geom class="collision" pos="0 0.02 0.1" quat="1 1 0 0" size="0.04 0.04"/>
            <body name="wrist_3_link" pos="0 0 0.1">
              <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1"
                diaginertia="0.000132134 9.90863e-05 9.90863e-05"/>
              <joint name="wrist_3_joint" class="size1"/>
              <geom material="linkgray" mesh="wrist3" class="visual"/>
              <geom class="eef_collision" pos="0 0.08 0" quat="1 1 0 0" size="0.04 0.02"/>
              <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0"/>

              <body name="shadow_hand_mount" pos="0 0.1 0" quat="1 1 1 1">
                <body name="rh_forearm" childclass="right_hand" quat="-1 -1 -1 -1">
                  <inertial mass="3" pos="0 0 0.09" diaginertia="0.0138 0.0138 0.00744"/>
                  <geom class="plastic_visual" mesh="sh_forearm_0" material="gray"/>
                  <geom class="plastic_visual" mesh="sh_forearm_1"/>
                  <geom class="plastic_collision" type="mesh" mesh="sh_forearm_collision"/>
                  <geom class="plastic_collision" size="0.035 0.035 0.035" pos="0.01 0.0 0.181" quat="0.380188 0.924909 0 0"
                    type="box"/>
                  <body name="rh_wrist" pos="0.01 0 0.21301" quat="1 0 0 1">
                    <inertial mass="0.1" pos="0 0 0.029" quat="0.5 0.5 0.5 0.5" diaginertia="6.4e-05 4.38e-05 3.5e-05"/>
                    <joint class="wrist_y" name="rh_WRJ2"/>
                    <geom class="plastic_visual" mesh="sh_wrist" material="metallic"/>
                    <geom size="0.0135 0.015" quat="0.499998 0.5 0.5 -0.500002" type="cylinder" class="plastic_collision"/>
                    <geom size="0.011 0.005" pos="-0.026 0 0.034" quat="1 0 1 0" type="cylinder" class="plastic_collision"/>
                    <geom size="0.011 0.005" pos="0.031 0 0.034" quat="1 0 1 0" type="cylinder" class="plastic_collision"/>
                    <geom size="0.0135 0.009 0.005" pos="-0.021 0 0.011" quat="0.923879 0 0.382684 0" type="box"
                      class="plastic_collision"/>
                    <geom size="0.0135 0.009 0.005" pos="0.026 0 0.01" quat="0.923879 0 -0.382684 0" type="box"
                      class="plastic_collision"/>
                    <body name="rh_palm" pos="0 0 0.034">
                      <inertial mass="0.3" pos="0 0 0.035" quat="1 0 0 1" diaginertia="0.0005287 0.0003581 0.000191"/>
                      <joint class="wrist_x" name="rh_WRJ1"/>
                      <site name="grasp_site" pos="0 -.035 0.09" group="4"/>
                      <geom class="plastic_visual" mesh="sh_palm"/>
                      <geom size="0.031 0.0035 0.049" pos="0.011 0.0085 0.038" type="box" class="plastic_collision"/>
                      <geom size="0.018 0.0085 0.049" pos="-0.002 -0.0035 0.038" type="box" class="plastic_collision"/>
                      <geom size="0.013 0.0085 0.005" pos="0.029 -0.0035 0.082" type="box" class="plastic_collision"/>
                      <geom size="0.013 0.007 0.009" pos="0.0265 -0.001 0.07" quat="0.987241 0.0990545 0.0124467 0.124052"
                        type="box" class="plastic_collision"/>
                      <geom size="0.0105 0.0135 0.012" pos="0.0315 -0.0085 0.001" type="box" class="plastic_collision"/>
                      <geom size="0.011 0.0025 0.015" pos="0.0125 -0.015 0.004" quat="0.971338 0 0 -0.237703" type="box"
                        class="plastic_collision"/>
                      <geom size="0.009 0.012 0.002" pos="0.011 0 0.089" type="box" class="plastic_collision"/>
                      <geom size="0.01 0.012 0.02" pos="-0.03 0 0.009" type="box" class="plastic_collision"/>
                      
                      <body name="rh_ffknuckle" pos="0.033 0 0.095">
                        <joint name="rh_FFJ4" class="knuckle"/>
                        <geom pos="0 0 0.0005" class="plastic_visual" mesh="sh_f_knuckle" material="metallic"/>
                        <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision"/>
                        <body name="rh_ffproximal">
                          <joint name="rh_FFJ3" class="proximal"/>
                          <geom class="plastic_visual" mesh="sh_f_proximal"/>
                          <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
                          <body name="rh_ffmiddle" pos="0 0 0.045">
                            <joint name="rh_FFJ2" class="middle_distal"/>
                            <geom class="plastic_visual" mesh="sh_f_middle"/>
                            <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
                            <body name="rh_ffdistal" pos="0 0 0.025">
                              <joint name="rh_FFJ1" class="middle_distal"/>
                              <geom class="plastic_visual" mesh="sh_f_distal_pst"/>
                              <geom class="plastic_collision" type="mesh" mesh="sh_f_distal_pst" friction="2.0 0.5 0.01"/>
                              <geom name="ff_tip_geom" type="sphere" size="0.008" pos="0 0 0.018"
                                    contype="1" conaffinity="1" condim="6" group="3"
                                    solref="0.005 0.5" solimp="0.98 0.999 0.001" friction="5.0 2.0 0.1"/>
                              <site name="ff_tip_site" pos="0 0 0.026" size="0.002" rgba="1 0 0 0.5"/>
                            </body>
                          </body>
                        </body>
                      </body>

                      <body name="rh_mfknuckle" pos="0.011 0 0.099">
                        <joint name="rh_MFJ4" class="knuckle"/>
                        <geom pos="0 0 0.0005" class="plastic_visual" mesh="sh_f_knuckle" material="metallic"/>
                        <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision"/>
                        <body name="rh_mfproximal">
                          <joint name="rh_MFJ3" class="proximal"/>
                          <geom class="plastic_visual" mesh="sh_f_proximal"/>
                          <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
                          <body name="rh_mfmiddle" pos="0 0 0.045">
                            <joint name="rh_MFJ2" class="middle_distal"/>
                            <geom class="plastic_visual" mesh="sh_f_middle"/>
                            <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
                            <body name="rh_mfdistal" pos="0 0 0.025">
                              <joint name="rh_MFJ1" class="middle_distal"/>
                              <geom class="plastic_visual" mesh="sh_f_distal_pst"/>
                              <geom class="plastic_collision" type="mesh" mesh="sh_f_distal_pst" friction="2.0 0.5 0.01"/>
                              <geom name="mf_tip_geom" type="sphere" size="0.008" pos="0 0 0.018"
                                    contype="1" conaffinity="1" condim="6" group="3"
                                    solref="0.02 1" solimp="0.9 0.95 0.001" friction="3.0 0.5 0.02"/>
                              <site name="mf_tip_site" pos="0 0 0.026" size="0.002" rgba="0 1 0 0.5"/>
                            </body>
                          </body>
                        </body>
                      </body>

                      <body name="rh_rfknuckle" pos="-0.011 0 0.095">
                        <joint name="rh_RFJ4" class="knuckle" axis="0 1 0"/>
                        <geom pos="0 0 0.0005" class="plastic_visual" mesh="sh_f_knuckle" material="metallic"/>
                        <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision"/>
                        <body name="rh_rfproximal">
                          <joint name="rh_RFJ3" class="proximal"/>
                          <geom class="plastic_visual" mesh="sh_f_proximal"/>
                          <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
                          <body name="rh_rfmiddle" pos="0 0 0.045">
                            <joint name="rh_RFJ2" class="middle_distal"/>
                            <geom class="plastic_visual" mesh="sh_f_middle"/>
                            <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
                            <body name="rh_rfdistal" pos="0 0 0.025">
                              <joint name="rh_RFJ1" class="middle_distal"/>
                              <geom class="plastic_visual" mesh="sh_f_distal_pst"/>
                              <geom class="plastic_collision" type="mesh" mesh="sh_f_distal_pst" friction="2.0 0.5 0.01"/>
                              <geom name="rf_tip_geom" type="sphere" size="0.008" pos="0 0 0.018"
                                    contype="1" conaffinity="1" condim="6" group="3"
                                    solref="0.02 1" solimp="0.9 0.95 0.001" friction="3.0 0.5 0.02"/>
                              <site name="rf_tip_site" pos="0 0 0.026" size="0.002" rgba="0 0 1 0.5"/>
                            </body>
                          </body>
                        </body>
                      </body>

                      <body name="rh_lfmetacarpal" pos="-0.033 0 0.02071">
                        <joint name="rh_LFJ5" class="metacarpal"/>
                        <geom class="plastic_visual" mesh="sh_lf_metacarpal"/>
                        <geom size="0.011 0.012 0.025" pos="0.002 0 0.033" type="box" class="plastic_collision"/>
                        <body name="rh_lfknuckle" pos="0 0 0.06579">
                          <joint name="rh_LFJ4" class="knuckle" axis="0 1 0"/>
                          <geom pos="0 0 0.0005" class="plastic_visual" mesh="sh_f_knuckle" material="metallic"/>
                          <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision"/>
                          <body name="rh_lfproximal">
                            <joint name="rh_LFJ3" class="proximal"/>
                            <geom class="plastic_visual" mesh="sh_f_proximal"/>
                            <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
                            <body name="rh_lfmiddle" pos="0 0 0.045">
                              <joint name="rh_LFJ2" class="middle_distal"/>
                              <geom class="plastic_visual" mesh="sh_f_middle"/>
                              <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
                              <body name="rh_lfdistal" pos="0 0 0.025">
                                <joint name="rh_LFJ1" class="middle_distal"/>
                                <geom class="plastic_visual" mesh="sh_f_distal_pst"/>
                                <geom class="plastic_collision" type="mesh" mesh="sh_f_distal_pst" friction="2.0 0.5 0.01"/>
                                <geom name="lf_tip_geom" type="sphere" size="0.008" pos="0 0 0.018"
                                      contype="1" conaffinity="1" condim="6" group="3"
                                      solref="0.02 1" solimp="0.9 0.95 0.001" friction="3.0 0.5 0.02"/>
                                <site name="lf_tip_site" pos="0 0 0.026" size="0.002" rgba="1 1 0 0.5"/>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>

                      <body name="rh_thbase" pos="0.034 -0.00858 0.029" quat="0.92388 0 0.382683 0">
                        <joint name="rh_THJ5" class="thbase"/>
                        <geom class="plastic_collision" size="0.013"/>
                        <body name="rh_thproximal">
                          <joint name="rh_THJ4" class="thproximal"/>
                          <geom class="plastic_visual" mesh="sh_th_proximal"/>
                          <geom class="plastic_collision" size="0.0105 0.009" pos="0 0 0.02" type="capsule"/>
                          <body name="rh_thhub" pos="0 0 0.038">
                            <joint name="rh_THJ3" class="thhub"/>
                            <geom size="0.011" class="plastic_collision"/>
                            <body name="rh_thmiddle">
                              <joint name="rh_THJ2" class="thmiddle"/>
                              <geom class="plastic_visual" mesh="sh_th_middle"/>
                              <geom size="0.009 0.009" pos="0 0 0.012" type="capsule" class="plastic_collision"/>
                              <body name="rh_thdistal" pos="0 0 0.032" quat="1 0 0 -1">
                                <joint name="rh_THJ1" class="thdistal"/>
                                <geom class="plastic_visual" mesh="sh_th_distal_pst"/>
                                <geom class="plastic_collision" type="mesh" mesh="sh_th_distal_pst" friction="2.0 0.5 0.01"/>
                                <geom name="th_tip_geom" type="sphere" size="0.008" pos="0 0 0.018"
                                      contype="1" conaffinity="1" condim="6" group="3"
                                      solref="0.02 1" solimp="0.9 0.95 0.001" friction="3.0 0.5 0.02"/>
                                <site name="th_tip_site" pos="0 0 0.026" size="0.002" rgba="1 0 1 0.5"/>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </body>
</body>

<position name="rh_A_WRJ2" joint="rh_WRJ2" class="wrist_y"/>
<position name="rh_A_WRJ1" joint="rh_WRJ1" class="wrist_x"/>
<position name="rh_A_THJ5" joint="rh_THJ5" class="thbase"/>
<position name="rh_A_THJ4" joint="rh_THJ4" class="thproximal"/>
<position name="rh_A_THJ3" joint="rh_THJ3" class="thhub"/>
<position name="rh_A_THJ2" joint="rh_THJ2" class="thmiddle"/>
<position name="rh_A_THJ1" joint="rh_THJ1" class="thdistal"/>
<position name="rh_A_FFJ4" joint="rh_FFJ4" class="knuckle"/>
<position name="rh_A_FFJ3" joint="rh_FFJ3" class="proximal"/>
<position name="rh_A_FFJ0" tendon="rh_FFJ0" class="middle_distal"/>
<position name="rh_A_MFJ4" joint="rh_MFJ4" class="knuckle"/>
<position name="rh_A_MFJ3" joint="rh_MFJ3" class="proximal"/>
<position name="rh_A_MFJ0" tendon="rh_MFJ0" class="middle_distal"/>
<position name="rh_A_RFJ4" joint="rh_RFJ4" class="knuckle"/>
<position name="rh_A_RFJ3" joint="rh_RFJ3" class="proximal"/>
<position name="rh_A_RFJ0" tendon="rh_RFJ0" class="middle_distal"/>
<position name="rh_A_LFJ5" joint="rh_LFJ5" class="metacarpal"/>
<position name="rh_A_LFJ4" joint="rh_LFJ4" class="knuckle"/>
<position name="rh_A_LFJ3" joint="rh_LFJ3" class="proximal"/>
<position name="rh_A_LFJ0" tendon="rh_LFJ0" class="middle_distal"/>

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.