diff --git a/.gitattributes b/.gitattributes
index 7721dbdb25f1f3e6b55efc9dacbb8ca445d64866..5d02f8130b190677c64dacb0eb5d93a38bdfc491 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -822,3 +822,61 @@ assets/articulated/artvip/oven_7/usd/model.usd filter=lfs diff=lfs merge=lfs -te
 assets/articulated/artvip/oven_8/meshes/visual/E_body_9/E_body_9_7.obj filter=lfs diff=lfs merge=lfs -text
 assets/articulated/artvip/oven_8/usd/model.usd filter=lfs diff=lfs merge=lfs -text
 assets/articulated/artvip/refrigerator_1/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_base.usd filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_base.usd filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/right/configuration/wujihand_base.usd filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/right_simplified/configuration/wujihand_base.usd filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link1__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_palm_link__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link1__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_palm_link__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger1_tip.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger2_tip.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger3_tip.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger4_tip.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger5_tip.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger1_tip.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger2_tip.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger3_tip.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger4_tip.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger5_tip.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
+robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
diff --git a/robots/tianji_wuji/tianji_wuji.usd b/robots/tianji_wuji/tianji_wuji.usd
index 39809879092ed0cc12e3a816629d69cb76314e29..9eec2bd9dc1ba8ab4387c9d66ce86168a476fe6a 100644
--- a/robots/tianji_wuji/tianji_wuji.usd
+++ b/robots/tianji_wuji/tianji_wuji.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ee9de1ab9c220fab5a3681854cd976a7517a59ac1985636fdbeb35b1730a3870
-size 59327608
+oid sha256:5b1f270a480a6ccc239da0f6e756059bf7efe5f65029441dca7e32ef096299a1
+size 63987895
diff --git a/robots/tianji_wuji/tianji_wuji.xml b/robots/tianji_wuji/tianji_wuji.xml
index 4f440c7190bb2c233eba7e02c4ae398236687a7e..cd9243d763b557099b8ab0e5199bfc02b5f8fac8 100644
--- a/robots/tianji_wuji/tianji_wuji.xml
+++ b/robots/tianji_wuji/tianji_wuji.xml
@@ -142,6 +142,60 @@
     <mesh name="right_hand_finger5_link4_simplified" content_type="model/stl" file="../wuji-description/hand/body-with-soft/meshes/right/right_finger5_link4_simplified.STL"/>
     <mesh name="right_hand_finger5_tip_link" content_type="model/stl" file="../wuji-description/hand/body-with-soft/meshes/right/right_finger5_tip_link.STL"/>
     <mesh name="right_hand_direct_adapter_mount" content_type="model/stl" file="../wuji-description/hand/attachment/direct-adapter/meshes/right_direct_adapter_mount.STL"/>
+    <mesh name="fv_left_hand_palm_link__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_palm_link__BlackGlove.stl" />
+    <mesh name="fv_left_hand_palm_link__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_palm_link__SilverNail.stl" />
+    <mesh name="fv_left_hand_finger1_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link1__SilverNail.stl" />
+    <mesh name="fv_left_hand_finger1_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link2__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger1_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link3__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger1_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link4__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger1_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link4__SilverNail.stl" />
+    <mesh name="fv_left_hand_finger2_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link1__SilverNail.stl" />
+    <mesh name="fv_left_hand_finger2_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link2__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger2_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link3__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger2_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link4__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger2_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link4__SilverNail.stl" />
+    <mesh name="fv_left_hand_finger3_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link1__SilverNail.stl" />
+    <mesh name="fv_left_hand_finger3_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link2__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger3_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link3__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger3_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link4__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger3_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link4__SilverNail.stl" />
+    <mesh name="fv_left_hand_finger4_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link1__SilverNail.stl" />
+    <mesh name="fv_left_hand_finger4_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link2__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger4_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link3__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger4_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link4__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger4_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link4__SilverNail.stl" />
+    <mesh name="fv_left_hand_finger5_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link1__SilverNail.stl" />
+    <mesh name="fv_left_hand_finger5_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link2__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger5_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link3__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger5_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link4__BlackGlove.stl" />
+    <mesh name="fv_left_hand_finger5_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link4__SilverNail.stl" />
+    <mesh name="fv_right_hand_palm_link__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_palm_link__BlackGlove.stl" />
+    <mesh name="fv_right_hand_palm_link__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_palm_link__SilverNail.stl" />
+    <mesh name="fv_right_hand_finger1_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link1__SilverNail.stl" />
+    <mesh name="fv_right_hand_finger1_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link2__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger1_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link3__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger1_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link4__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger1_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link4__SilverNail.stl" />
+    <mesh name="fv_right_hand_finger2_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link1__SilverNail.stl" />
+    <mesh name="fv_right_hand_finger2_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link2__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger2_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link3__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger2_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link4__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger2_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link4__SilverNail.stl" />
+    <mesh name="fv_right_hand_finger3_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link1__SilverNail.stl" />
+    <mesh name="fv_right_hand_finger3_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link2__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger3_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link3__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger3_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link4__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger3_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link4__SilverNail.stl" />
+    <mesh name="fv_right_hand_finger4_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link1__SilverNail.stl" />
+    <mesh name="fv_right_hand_finger4_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link2__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger4_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link3__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger4_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link4__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger4_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link4__SilverNail.stl" />
+    <mesh name="fv_right_hand_finger5_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link1__SilverNail.stl" />
+    <mesh name="fv_right_hand_finger5_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link2__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger5_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link3__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger5_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link4__BlackGlove.stl" />
+    <mesh name="fv_right_hand_finger5_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link4__SilverNail.stl" />
   </asset>
 
   <worldbody>
@@ -236,31 +290,41 @@
                              = (0, -0.126, -0.0006). Replaces the old 'fine-tune against CAD' placeholder. -->
                         <body name="left_hand_palm_link" pos="0 -0.126 -0.0006" quat="0 0 -0.70710678 0.70710678" childclass="wuji_hand">
                           <inertial pos="0.00152445269 -0.00264234622 0.0376699164" mass="0.16914" quat="-0.01772809 0.04274722 0.09308295 -0.9945823" diaginertia="1.40677446e-04 9.58896475e-05 5.81329061e-05"/>
-                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_palm_link"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_palm_link__BlackGlove"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_palm_link__SilverNail"/>
                           <geom name="left_hand_palm_collision" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_palm_link_collision" contype="1" conaffinity="1"/>
+                          <geom name="left_hand_rootplug_finger1" type="box" size="0.003 0.0040000002 0.0040000002" pos="0.0045 -0.037 0.034" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
+                          <geom name="left_hand_rootplug_finger1_collision" type="box" size="0.003 0.0040000002 0.0040000002" pos="0.0045 -0.037 0.034" quat="1 0 0 0" contype="1" conaffinity="1"/>
+                          <geom name="left_hand_rootplug_finger2" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.016545435 -0.029433863 0.078566882" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
+                          <geom name="left_hand_rootplug_finger2_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.016545435 -0.029433863 0.078566882" quat="1 0 0 0" contype="1" conaffinity="1"/>
+                          <geom name="left_hand_rootplug_finger3" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017551884 -0.0074614603 0.076417752" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
+                          <geom name="left_hand_rootplug_finger3_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017551884 -0.0074614603 0.076417752" quat="1 0 0 0" contype="1" conaffinity="1"/>
+                          <geom name="left_hand_rootplug_finger4" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017581274 0.013712239 0.07097451" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
+                          <geom name="left_hand_rootplug_finger4_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017581274 0.013712239 0.07097451" quat="1 0 0 0" contype="1" conaffinity="1"/>
+                          <geom name="left_hand_rootplug_finger5" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.010894634 0.034001112 0.060402748" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
+                          <geom name="left_hand_rootplug_finger5_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.010894634 0.034001112 0.060402748" quat="1 0 0 0" contype="1" conaffinity="1"/>
                           <body name="left_hand_finger1_link1" pos="0.0085244 -0.020575 0.028712" quat="0.682219 0.617669 0.0805047 0.382859">
                             <inertial pos="-0.0099171 0.0059845 0.00152324" quat="0.904243 -0.21652 0.0443878 0.365368" mass="0.0075" diaginertia="3.37599e-07 3.01198e-07 2.11203e-07"/>
                             <joint name="left_hand_finger1_joint1" pos="0 -0 0" axis="-0 1 -0" range="0.0475 1.6033" actuatorfrcrange="-0.4452 0.4452" armature="0.0005"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger1_link1__SilverNail"/>
                             <geom name="left_hand_finger1_link1_collision" type="mesh" mesh="left_hand_finger1_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
                             <body name="left_hand_finger1_link2" pos="-0.0047549 0.00601914 0.0141321" quat="0.616957 0.0855876 -0.29085 -0.726254">
                               <inertial pos="-0.00136057 8.49029e-05 0.0150056" quat="0.922053 -0.00470413 0.0434721 -0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06"/>
                               <joint name="left_hand_finger1_joint2" pos="0 -0 0" axis="0 -1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger1_link2__BlackGlove"/>
                               <geom name="left_hand_finger1_link2_col" type="capsule" size="0.00661572 0.0135192" pos="0 -0 0.0170004" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link2_softbody"/>
                               <geom name="left_hand_finger1_link2_softbody_col" type="mesh" rgba="0.9 0.8 0.6 1" mesh="left_hand_finger1_link2_softbody_simplified" contype="2" conaffinity="2"/>
                               <body name="left_hand_finger1_link3" pos="0.000188722 0.000991601 0.0346636" quat="0.577836 -0.0212382 -0.0150036 0.815739">
                                 <inertial pos="0.000775215 0.000210057 0.0127726" quat="0.999951 -0 0.00989566 -0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07"/>
                                 <joint name="left_hand_finger1_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link3"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger1_link3__BlackGlove"/>
                                 <geom name="left_hand_finger1_link3_col" type="capsule" size="0.0110676 0.0081727" pos="0 -0 0.0140091" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger1_link4" pos="0 -0.0002 0.0295">
                                   <inertial pos="3.12489e-05 0.0001544 0.0148945" quat="0.705239 0.0513648 -0.0513648 -0.705239" mass="0.0206" diaginertia="1.78779e-06 1.75044e-06 7.77343e-07"/>
                                   <joint name="left_hand_finger1_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468"/>
-                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link4"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger1_link4__BlackGlove"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger1_link4__SilverNail"/>
                                   <geom name="left_hand_finger1_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger1_link4_simplified" contype="1" conaffinity="1"/>
-                                  <geom pos="0 0 0.0328135" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_tip_link"/>
                                   <site name="left_hand_finger1_tip" pos="0.00026399 0.00020119 0.032808" group="4"/>
                                 </body>
                               </body>
@@ -269,24 +333,24 @@
                           <body name="left_hand_finger2_link1" pos="-0.0058701 -0.029434 0.091917" quat="0.991689 0.0588295 -0.0292755 0.110614">
                             <inertial pos="-0.00132914 2.06891e-08 0.000319815" quat="0.92388 -0 0.382683 -0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
                             <joint name="left_hand_finger2_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1585 1.5604" actuatorfrcrange="-0.6188 0.6188" armature="0.0005"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger2_link1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger2_link1__SilverNail"/>
                             <geom name="left_hand_finger2_link1_collision" type="mesh" mesh="left_hand_finger2_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
                             <body name="left_hand_finger2_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
                               <inertial pos="1.85614e-06 -0.00370979 0.0184837" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="left_hand_finger2_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger2_link2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger2_link2__BlackGlove"/>
                               <geom name="left_hand_finger2_link2_col" type="capsule" size="0.010221 0.0169968" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="left_hand_finger2_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000342045 -1.41767e-05 0.0134814" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="left_hand_finger2_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger2_link3"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger2_link3__BlackGlove"/>
                                 <geom name="left_hand_finger2_link3_col" type="capsule" size="0.010221 0.0108889" pos="0 -0 0.0136213" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger2_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676323 0.000125288 0.0107855" quat="0.995657 0.0073755 -0.0927682 0.00265853" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06444e-07"/>
                                   <joint name="left_hand_finger2_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217"/>
-                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger2_link4"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger2_link4__BlackGlove"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger2_link4__SilverNail"/>
                                   <geom name="left_hand_finger2_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger2_link4_simplified" contype="1" conaffinity="1"/>
-                                  <geom pos="0 0 0.024" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger2_tip_link"/>
                                   <site name="left_hand_finger2_tip" pos="-0.000749345 -0 0.024" group="4"/>
                                 </body>
                               </body>
@@ -295,24 +359,24 @@
                           <body name="left_hand_finger3_link1" pos="-0.01046 -0.0074615 0.089544" quat="0.999048 1.26848e-05 -0.0436192 -0.000290547">
                             <inertial pos="-0.00132908 -3.41333e-09 0.000319983" quat="0.92388 -0 0.382683 -0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
                             <joint name="left_hand_finger3_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1644 1.5516" actuatorfrcrange="-0.6494 0.6494" armature="0.0005"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger3_link1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger3_link1__SilverNail"/>
                             <geom name="left_hand_finger3_link1_collision" type="mesh" mesh="left_hand_finger3_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
                             <body name="left_hand_finger3_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
                               <inertial pos="1.86459e-06 -0.0037098 0.0184837" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="left_hand_finger3_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger3_link2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger3_link2__BlackGlove"/>
                               <geom name="left_hand_finger3_link2_col" type="capsule" size="0.010184 0.0170338" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="left_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.00033388 -1.06802e-05 0.0134865" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="left_hand_finger3_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger3_link3"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger3_link3__BlackGlove"/>
                                 <geom name="left_hand_finger3_link3_col" type="capsule" size="0.010184 0.0109259" pos="0 -0 0.0136212" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger3_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676528 0.00012547 0.0107852" quat="0.995657 0.00737867 -0.0927683 0.00263311" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06449e-07"/>
                                   <joint name="left_hand_finger3_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018"/>
-                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger3_link4"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger3_link4__BlackGlove"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger3_link4__SilverNail"/>
                                   <geom name="left_hand_finger3_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger3_link4_simplified" contype="1" conaffinity="1"/>
-                                  <geom pos="0 0 0.024" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger3_tip_link"/>
                                   <site name="left_hand_finger3_tip" pos="-0.00075 -0 0.024" group="4"/>
                                 </body>
                               </body>
@@ -321,24 +385,24 @@
                           <body name="left_hand_finger4_link1" pos="-0.0076649 0.013712 0.084429" quat="0.997789 -0.0461019 -0.0405884 -0.0254002">
                             <inertial pos="-0.00132912 -1.24361e-09 0.000319884" quat="0.92388 -0 0.382683 -0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
                             <joint name="left_hand_finger4_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1554 1.5585" actuatorfrcrange="-0.6389 0.6389" armature="0.0005"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger4_link1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger4_link1__SilverNail"/>
                             <geom name="left_hand_finger4_link1_collision" type="mesh" mesh="left_hand_finger4_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
                             <body name="left_hand_finger4_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
                               <inertial pos="1.84945e-06 -0.00370375 0.0185161" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="left_hand_finger4_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger4_link2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger4_link2__BlackGlove"/>
                               <geom name="left_hand_finger4_link2_col" type="capsule" size="0.0101786 0.0170048" pos="0 0.003 0.021669" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="left_hand_finger4_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000319082 -1.04411e-05 0.0135409" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="left_hand_finger4_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger4_link3"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger4_link3__BlackGlove"/>
                                 <geom name="left_hand_finger4_link3_col" type="capsule" size="0.0101786 0.0108995" pos="0 -0 0.0136532" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger4_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000714949 0.000139909 0.0108406" quat="0.995656 0.00751973 -0.0927913 0.00151388" mass="0.01718" diaginertia="1.17803e-06 1.07186e-06 4.06933e-07"/>
                                   <joint name="left_hand_finger4_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044"/>
-                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger4_link4"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger4_link4__BlackGlove"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger4_link4__SilverNail"/>
                                   <geom name="left_hand_finger4_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger4_link4_simplified" contype="1" conaffinity="1"/>
-                                  <geom pos="0 0 0.024" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger4_tip_link"/>
                                   <site name="left_hand_finger4_tip" pos="-0.000811164 -0 0.0239995" group="4"/>
                                 </body>
                               </body>
@@ -347,24 +411,24 @@
                           <body name="left_hand_finger5_link1" pos="-0.00226865 0.0340011 0.0742813" quat="0.990869 -0.0993173 -0.0383255 -0.0827362">
                             <inertial pos="-0.00132913 -1.08611e-08 0.000319899" quat="0.92388 -0 0.382683 -0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
                             <joint name="left_hand_finger5_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1626 1.5585" actuatorfrcrange="-0.6441 0.6441" armature="0.0005"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger5_link1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger5_link1__SilverNail"/>
                             <geom name="left_hand_finger5_link1_collision" type="mesh" mesh="left_hand_finger5_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
                             <body name="left_hand_finger5_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
                               <inertial pos="1.84966e-06 -0.0037023 0.0193362" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="left_hand_finger5_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger5_link2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger5_link2__BlackGlove"/>
                               <geom name="left_hand_finger5_link2_col" type="capsule" size="0.0101586 0.016917" pos="0 0.003 0.0217777" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="left_hand_finger5_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000328501 -5.05492e-06 0.0142853" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="left_hand_finger5_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger5_link3"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger5_link3__BlackGlove"/>
                                 <geom name="left_hand_finger5_link3_col" type="capsule" size="0.0101586 0.00992035" pos="0 -0 0.0146523" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger5_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000754828 0.000172322 0.0122784" quat="0.995656 0.00756106 -0.0927979 0.00118593" mass="0.01718" diaginertia="1.1781e-06 1.07193e-06 4.07074e-07"/>
                                   <joint name="left_hand_finger5_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866"/>
-                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger5_link4"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger5_link4__BlackGlove"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger5_link4__SilverNail"/>
                                   <geom name="left_hand_finger5_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger5_link4_simplified" contype="1" conaffinity="1"/>
-                                  <geom pos="0 0 0.026" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger5_tip_link"/>
                                   <site name="left_hand_finger5_tip" pos="-0.000828016 -0 0.0259994" group="4"/>
                                 </body>
                               </body>
@@ -452,31 +516,41 @@
                              = (0, -0.126, -0.0006). Replaces the old 'fine-tune against CAD' placeholder. -->
                         <body name="right_hand_palm_link" pos="0 -0.126 -0.0006" quat="0.70710678 0.70710678 0 0" childclass="wuji_hand">
                           <inertial pos="0.0015244526948108 0.0026423462207805 0.0376699164153404" mass="0.16914" quat="-0.01772809 -0.04274722 0.09308295 0.99458230" diaginertia="1.40677446e-04 9.58896475e-05 5.81329061e-05"/>
-                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_palm_link"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_palm_link__BlackGlove"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_palm_link__SilverNail"/>
                           <geom name="right_hand_palm_collision" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_palm_link_collision" contype="1" conaffinity="1"/>
+                          <geom name="right_hand_rootplug_finger1" type="box" size="0.003 0.0040000002 0.0040000002" pos="0.0045 0.037 0.034" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
+                          <geom name="right_hand_rootplug_finger1_collision" type="box" size="0.003 0.0040000002 0.0040000002" pos="0.0045 0.037 0.034" quat="1 0 0 0" contype="1" conaffinity="1"/>
+                          <geom name="right_hand_rootplug_finger2" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.016456473 0.029433999 0.078579524" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
+                          <geom name="right_hand_rootplug_finger2_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.016456473 0.029433999 0.078579524" quat="1 0 0 0" contype="1" conaffinity="1"/>
+                          <geom name="right_hand_rootplug_finger3" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017551884 0.0074614999 0.076418204" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
+                          <geom name="right_hand_rootplug_finger3_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017551884 0.0074614999 0.076418204" quat="1 0 0 0" contype="1" conaffinity="1"/>
+                          <geom name="right_hand_rootplug_finger4" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017675639 -0.013712 0.070989334" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
+                          <geom name="right_hand_rootplug_finger4_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017675639 -0.013712 0.070989334" quat="1 0 0 0" contype="1" conaffinity="1"/>
+                          <geom name="right_hand_rootplug_finger5" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.010813845 -0.034001108 0.060419022" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
+                          <geom name="right_hand_rootplug_finger5_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.010813845 -0.034001108 0.060419022" quat="1 0 0 0" contype="1" conaffinity="1"/>
                           <body name="right_hand_finger1_link1" pos="0.0085244 0.020575 0.028712" quat="0.682219 -0.617669 0.0805047 -0.382859">
                             <inertial pos="-0.0099171 -0.0059845 0.00152324" quat="0.904243 0.21652 0.0443878 -0.365368" mass="0.0075" diaginertia="3.37599e-07 3.01198e-07 2.11203e-07"/>
                             <joint name="right_hand_finger1_joint1" pos="0 0 0" axis="0 1 0" range="0.0475 1.6033" actuatorfrcrange="-0.4452 0.4452" armature="0.0005"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger1_link1__SilverNail"/>
                             <geom name="right_hand_finger1_link1_collision" type="mesh" mesh="right_hand_finger1_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
                             <body name="right_hand_finger1_link2" pos="-0.0047549 -0.0060191 0.014132" quat="0.726252 0.290851 -0.0855912 -0.616958">
                               <inertial pos="-0.00136057 -8.49029e-05 0.0150056" quat="0.922053 0.00470413 0.0434721 0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06"/>
                               <joint name="right_hand_finger1_joint2" pos="0 0 0" axis="0 1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger1_link2__BlackGlove"/>
                               <geom name="right_hand_finger1_link2_col" type="capsule" size="0.00661572 0.0135192" pos="0 0 0.0170004" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link2_softbody"/>
                               <geom name="right_hand_finger1_link2_softbody_col" type="mesh" rgba="0.9 0.8 0.6 1" mesh="right_hand_finger1_link2_softbody_simplified" contype="2" conaffinity="2"/>
                               <body name="right_hand_finger1_link3" pos="-0.00037714 0.001058 0.034673" quat="0.815725 0.015003 0.0212383 0.577855">
                                 <inertial pos="0.000775215 -0.000210057 0.0127726" quat="0.999951 0 0.00989566 0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07"/>
                                 <joint name="right_hand_finger1_joint3" pos="0 0 0" axis="0 1 0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link3"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger1_link3__BlackGlove"/>
                                 <geom name="right_hand_finger1_link3_col" type="capsule" size="0.0110676 0.0081727" pos="0 0 0.0140091" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger1_link4" pos="0 0 0.0295">
                                   <inertial pos="3.12489e-05 -0.0001544 0.0148945" quat="0.705239 -0.0513648 -0.0513648 0.705239" mass="0.0206" diaginertia="1.78779e-06 1.75044e-06 7.77343e-07"/>
                                   <joint name="right_hand_finger1_joint4" pos="0 0 0" axis="0 1 0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468"/>
-                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link4"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger1_link4__BlackGlove"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger1_link4__SilverNail"/>
                                   <geom name="right_hand_finger1_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger1_link4_simplified" contype="1" conaffinity="1"/>
-                                  <geom pos="0.00026399 -0.00020119 0.032808" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_tip_link"/>
                                   <site name="right_hand_finger1_tip" pos="0.00026399 -0.00020119 0.032808" group="4"/>
                                 </body>
                               </body>
@@ -485,24 +559,24 @@
                           <body name="right_hand_finger2_link1" pos="-0.0058701 0.029434 0.091917" quat="0.991689 -0.0588295 -0.0292755 -0.110614">
                             <inertial pos="-0.00132914 -2.06891e-08 0.000319815" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
                             <joint name="right_hand_finger2_joint1" pos="0 0 0" axis="0 1 0" range="-0.1585 1.5604" actuatorfrcrange="-0.6188 0.6188" armature="0.0005"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger2_link1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger2_link1__SilverNail"/>
                             <geom name="right_hand_finger2_link1_collision" type="mesh" mesh="right_hand_finger2_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
                             <body name="right_hand_finger2_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
                               <inertial pos="1.85614e-06 0.00370979 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="right_hand_finger2_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger2_link2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger2_link2__BlackGlove"/>
                               <geom name="right_hand_finger2_link2_col" type="capsule" size="0.010221 0.0169968" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="right_hand_finger2_link3" pos="0 0.00475028 0.0436177" quat="0.707012 0 0 -0.707202">
                                 <inertial pos="0.000342045 1.41767e-05 0.0134814" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="right_hand_finger2_joint3" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger2_link3"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger2_link3__BlackGlove"/>
                                 <geom name="right_hand_finger2_link3_col" type="capsule" size="0.010221 0.0108889" pos="0 0 0.0136213" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger2_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676323 -0.000125288 0.0107855" quat="0.995657 -0.0073755 -0.0927682 -0.00265853" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06444e-07"/>
                                   <joint name="right_hand_finger2_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217"/>
-                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger2_link4"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger2_link4__BlackGlove"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger2_link4__SilverNail"/>
                                   <geom name="right_hand_finger2_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger2_link4_simplified" contype="1" conaffinity="1"/>
-                                  <geom pos="-0.000749345 0 0.024" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger2_tip_link"/>
                                   <site name="right_hand_finger2_tip" pos="-0.000749345 0 0.024" group="4"/>
                                 </body>
                               </body>
@@ -511,24 +585,24 @@
                           <body name="right_hand_finger3_link1" pos="-0.01046 0.0074615 0.089544" quat="0.999048 -1.26848e-05 -0.0436192 0.000290547">
                             <inertial pos="-0.00132908 3.41333e-09 0.000319983" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
                             <joint name="right_hand_finger3_joint1" pos="0 0 0" axis="0 1 0" range="-0.1644 1.5516" actuatorfrcrange="-0.6494 0.6494" armature="0.0005"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger3_link1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger3_link1__SilverNail"/>
                             <geom name="right_hand_finger3_link1_collision" type="mesh" mesh="right_hand_finger3_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
                             <body name="right_hand_finger3_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
                               <inertial pos="1.86459e-06 0.0037098 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="right_hand_finger3_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger3_link2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger3_link2__BlackGlove"/>
                               <geom name="right_hand_finger3_link2_col" type="capsule" size="0.010184 0.0170338" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="right_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707012 0 0 -0.707202">
                                 <inertial pos="0.00033388 1.06802e-05 0.0134865" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="right_hand_finger3_joint3" pos="0 0 0" axis="0 1 0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger3_link3"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger3_link3__BlackGlove"/>
                                 <geom name="right_hand_finger3_link3_col" type="capsule" size="0.010184 0.0109259" pos="0 0 0.0136212" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger3_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676528 -0.00012547 0.0107852" quat="0.995657 -0.00737867 -0.0927683 -0.00263311" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06449e-07"/>
                                   <joint name="right_hand_finger3_joint4" pos="0 0 0" axis="0 1 0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018"/>
-                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger3_link4"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger3_link4__BlackGlove"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger3_link4__SilverNail"/>
                                   <geom name="right_hand_finger3_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger3_link4_simplified" contype="1" conaffinity="1"/>
-                                  <geom pos="-0.00075 0 0.024" quat="1 0 0 -0.000156524" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger3_tip_link"/>
                                   <site name="right_hand_finger3_tip" pos="-0.00075 0 0.024" group="4"/>
                                 </body>
                               </body>
@@ -537,24 +611,24 @@
                           <body name="right_hand_finger4_link1" pos="-0.0076649 -0.013712 0.084429" quat="0.997789 0.0461019 -0.0405884 0.0254002">
                             <inertial pos="-0.00132912 1.24361e-09 0.000319884" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
                             <joint name="right_hand_finger4_joint1" pos="0 0 0" axis="0 1 0" range="-0.1554 1.5585" actuatorfrcrange="-0.6389 0.6389" armature="0.0005"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger4_link1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger4_link1__SilverNail"/>
                             <geom name="right_hand_finger4_link1_collision" type="mesh" mesh="right_hand_finger4_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
                             <body name="right_hand_finger4_link2" pos="0.0022 0 0.00400001" quat="0.707107 -0.000213851 -0.000213851 0.707107">
                               <inertial pos="1.84945e-06 0.00370375 0.0185161" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="right_hand_finger4_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger4_link2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger4_link2__BlackGlove"/>
                               <geom name="right_hand_finger4_link2_col" type="capsule" size="0.0101786 0.0170048" pos="0 0.003 0.021669" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="right_hand_finger4_link3" pos="0 0.00472362 0.0436206" quat="0.707012 0.00021388 0.000213823 -0.707202">
                                 <inertial pos="0.000319082 1.04411e-05 0.0135409" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="right_hand_finger4_joint3" pos="0 0 0" axis="0 1 0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger4_link3"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger4_link3__BlackGlove"/>
                                 <geom name="right_hand_finger4_link3_col" type="capsule" size="0.0101786 0.0108995" pos="0 0 0.0136532" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger4_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000714949 -0.000139909 0.0108406" quat="0.995656 -0.00751973 -0.0927913 -0.00151388" mass="0.01718" diaginertia="1.17803e-06 1.07186e-06 4.06933e-07"/>
                                   <joint name="right_hand_finger4_joint4" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044"/>
-                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger4_link4"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger4_link4__BlackGlove"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger4_link4__SilverNail"/>
                                   <geom name="right_hand_finger4_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger4_link4_simplified" contype="1" conaffinity="1"/>
-                                  <geom pos="-0.000811164 0 0.0239995" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger4_tip_link"/>
                                   <site name="right_hand_finger4_tip" pos="-0.000811164 0 0.0239995" group="4"/>
                                 </body>
                               </body>
@@ -563,24 +637,24 @@
                           <body name="right_hand_finger5_link1" pos="-0.00226865 -0.0340011 0.0742813" quat="0.990869 0.0993173 -0.0383255 0.0827362">
                             <inertial pos="-0.00132913 1.08611e-08 0.000319899" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
                             <joint name="right_hand_finger5_joint1" pos="0 0 0" axis="0 1 0" range="-0.1626 1.5585" actuatorfrcrange="-0.6441 0.6441" armature="0.0005"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger5_link1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger5_link1__SilverNail"/>
                             <geom name="right_hand_finger5_link1_collision" type="mesh" mesh="right_hand_finger5_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
                             <body name="right_hand_finger5_link2" pos="0.0022 0 0.00400001" quat="0.707107 -0.00026748 -0.00026748 0.707107">
                               <inertial pos="1.84966e-06 0.0037023 0.0193362" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="right_hand_finger5_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger5_link2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger5_link2__BlackGlove"/>
                               <geom name="right_hand_finger5_link2_col" type="capsule" size="0.0101586 0.016917" pos="0 0.003 0.0217777" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="right_hand_finger5_link3" pos="0 0.004717 0.0436213" quat="0.707012 0.000267516 0.000267444 -0.707202">
                                 <inertial pos="0.000328501 5.05492e-06 0.0142853" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="right_hand_finger5_joint3" pos="0 0 0" axis="0 1 0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger5_link3"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger5_link3__BlackGlove"/>
                                 <geom name="right_hand_finger5_link3_col" type="capsule" size="0.0101586 0.00992035" pos="0 0 0.0146523" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger5_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000754828 -0.000172322 0.0122784" quat="0.995656 -0.00756106 -0.0927979 -0.00118593" mass="0.01718" diaginertia="1.1781e-06 1.07193e-06 4.07074e-07"/>
                                   <joint name="right_hand_finger5_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866"/>
-                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger5_link4"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger5_link4__BlackGlove"/>
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger5_link4__SilverNail"/>
                                   <geom name="right_hand_finger5_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger5_link4_simplified" contype="1" conaffinity="1"/>
-                                  <geom pos="-0.000828016 0 0.0259994" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger5_tip_link"/>
                                   <site name="right_hand_finger5_tip" pos="-0.000828016 0 0.0259994" group="4"/>
                                 </body>
                               </body>
diff --git a/robots/tianji_wuji/wuji_hand/fused/left/.asset_hash b/robots/tianji_wuji/wuji_hand/fused/left/.asset_hash
new file mode 100644
index 0000000000000000000000000000000000000000..9caaa5d590c22fef2a0f33843341fadca622c89f
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/left/.asset_hash
@@ -0,0 +1 @@
+3d396fb7393cb689680971fb9d8e37b0
\ No newline at end of file
diff --git a/robots/tianji_wuji/wuji_hand/fused/left/config.yaml b/robots/tianji_wuji/wuji_hand/fused/left/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dd8aa57729a40387f6e0da90c00d385a59c1ee6d
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/left/config.yaml
@@ -0,0 +1,28 @@
+asset_path: ../output/robots/wh110_soft_8/urdf/left.urdf
+usd_dir: ../output/robots/wh110_soft_8/_work/usd_physics/left
+usd_file_name: wujihand
+force_usd_conversion: true
+make_instanceable: true
+fix_base: true
+root_link_name: left_palm_link
+link_density: 1
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness:
+      left_finger(1|2|3|4|5)_joint(1|2): 2
+      left_finger(1|2|3|4|5)_joint3: 1
+      left_finger(1|2|3|4|5)_joint4: 0.8
+    damping:
+      left_finger.*_joint(1|2): 0.05
+      left_finger.*_joint(3|4): 0.03
+collider_type: convex_hull
+self_collision: true
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-05-21 at 15:40:00.
+##
diff --git a/robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_base.usd b/robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_base.usd
new file mode 100644
index 0000000000000000000000000000000000000000..26147cbaa10b667d7a529f36ef10d2269c53684c
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_base.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0657785bbad5304c5cfe417b3e014ca7673b2a59c74ae7a6a497df276b34f6fb
+size 16004306
diff --git a/robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_physics.usd b/robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_physics.usd
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diff --git a/robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_robot.usd b/robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_robot.usd
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diff --git a/robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_sensor.usd b/robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_sensor.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1057a441d786c899ab6dce7876c3c28e40f49104
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diff --git a/robots/tianji_wuji/wuji_hand/fused/left/textures/wuji_logo_placeholder.png b/robots/tianji_wuji/wuji_hand/fused/left/textures/wuji_logo_placeholder.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ce7c492391a9296eb1f8776c7c0983d5648c6af
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/left/textures/wuji_logo_placeholder.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de652bb54b803f3e55193219522700d7b8df84decaf270cf0a03096dedf32786
+size 23968
diff --git a/robots/tianji_wuji/wuji_hand/fused/left/wujihand.usd b/robots/tianji_wuji/wuji_hand/fused/left/wujihand.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f01f2430e8e9f280d95a8656948fe673b0c3137c
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diff --git a/robots/tianji_wuji/wuji_hand/fused/left_simplified/.asset_hash b/robots/tianji_wuji/wuji_hand/fused/left_simplified/.asset_hash
new file mode 100644
index 0000000000000000000000000000000000000000..6e9ad70f085c0f25e4c5c6bf199d9ca8f8ad4e81
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/left_simplified/.asset_hash
@@ -0,0 +1 @@
+c2f131466c3c26b238f4a888bfc82d4d
\ No newline at end of file
diff --git a/robots/tianji_wuji/wuji_hand/fused/left_simplified/config.yaml b/robots/tianji_wuji/wuji_hand/fused/left_simplified/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1119de8617fd97f4c80905921a11cb6a83449778
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/left_simplified/config.yaml
@@ -0,0 +1,28 @@
+asset_path: ../output/robots/wh110_soft_8/urdf/left_simplified.urdf
+usd_dir: ../output/robots/wh110_soft_8/_work_simplified/usd_physics/left_simplified
+usd_file_name: wujihand
+force_usd_conversion: true
+make_instanceable: true
+fix_base: true
+root_link_name: left_palm_link
+link_density: 1
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness:
+      left_finger(1|2|3|4|5)_joint(1|2): 2
+      left_finger(1|2|3|4|5)_joint3: 1
+      left_finger(1|2|3|4|5)_joint4: 0.8
+    damping:
+      left_finger.*_joint(1|2): 0.05
+      left_finger.*_joint(3|4): 0.03
+collider_type: convex_hull
+self_collision: true
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-05-21 at 15:40:28.
+##
diff --git a/robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_base.usd b/robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_base.usd
new file mode 100644
index 0000000000000000000000000000000000000000..25b44b7da83400c21659600c7f0c78ae877f8e90
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_base.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a195ae373c9482d2b654bf32058388f8fe6462b6dab90cb0c6bde3d59ac4659d
+size 16761004
diff --git a/robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_physics.usd b/robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_physics.usd
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diff --git a/robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_sensor.usd b/robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_sensor.usd
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diff --git a/robots/tianji_wuji/wuji_hand/fused/left_simplified/textures/wuji_logo_placeholder.png b/robots/tianji_wuji/wuji_hand/fused/left_simplified/textures/wuji_logo_placeholder.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ce7c492391a9296eb1f8776c7c0983d5648c6af
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/left_simplified/textures/wuji_logo_placeholder.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de652bb54b803f3e55193219522700d7b8df84decaf270cf0a03096dedf32786
+size 23968
diff --git a/robots/tianji_wuji/wuji_hand/fused/left_simplified/wujihand.usd b/robots/tianji_wuji/wuji_hand/fused/left_simplified/wujihand.usd
new file mode 100644
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diff --git a/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger1_tip.stl b/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger1_tip.stl
new file mode 100644
index 0000000000000000000000000000000000000000..05528f04e08e572182880871790852a4577dc322
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger1_tip.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07eb2af06d5a19bf346040ae3e43cd7f3e074f31af4840fb3419fbc7b1cc007
+size 526084
diff --git a/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger2_tip.stl b/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger2_tip.stl
new file mode 100644
index 0000000000000000000000000000000000000000..7cb38cd4de5ad5b47ad7eb817847cebba14a89f4
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger2_tip.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56aa6e45cbec8f46c9a2ad476251899a3380ca7f77c6b379e9c5ac3296d22686
+size 512884
diff --git a/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger3_tip.stl b/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger3_tip.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0628746cd8ef0ddcca48342321c159d09f41d1c3
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger3_tip.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 520584
diff --git a/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger4_tip.stl b/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger4_tip.stl
new file mode 100644
index 0000000000000000000000000000000000000000..f7aba47f83eff6289d537c98b00a20ace0840088
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger4_tip.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d1e472b33963f1987bb75967f8b0d233f4ec777cdbaa49325473d4afd5516ba
+size 513384
diff --git a/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger5_tip.stl b/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger5_tip.stl
new file mode 100644
index 0000000000000000000000000000000000000000..975f9e94d493693ff1ccd5a6c6b54f15f00813c5
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger5_tip.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 529584
diff --git a/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger1_tip.stl b/robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger1_tip.stl
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+asset_path: ../output/robots/wh110_soft_8/urdf/right.urdf
+usd_dir: ../output/robots/wh110_soft_8/_work/usd_physics/right
+usd_file_name: wujihand
+force_usd_conversion: true
+make_instanceable: true
+fix_base: true
+root_link_name: right_palm_link
+link_density: 1
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness:
+      right_finger(1|2|3|4|5)_joint(1|2): 2
+      right_finger(1|2|3|4|5)_joint3: 1
+      right_finger(1|2|3|4|5)_joint4: 0.8
+    damping:
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+      right_finger.*_joint(3|4): 0.03
+collider_type: convex_hull
+self_collision: true
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-05-21 at 15:39:48.
+##
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de652bb54b803f3e55193219522700d7b8df84decaf270cf0a03096dedf32786
+size 23968
diff --git a/robots/tianji_wuji/wuji_hand/fused/right/wujihand.usd b/robots/tianji_wuji/wuji_hand/fused/right/wujihand.usd
new file mode 100644
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diff --git a/robots/tianji_wuji/wuji_hand/fused/right_simplified/.asset_hash b/robots/tianji_wuji/wuji_hand/fused/right_simplified/.asset_hash
new file mode 100644
index 0000000000000000000000000000000000000000..791fc183848e44342037b629277acdf0b7e7c3b9
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/right_simplified/.asset_hash
@@ -0,0 +1 @@
+8eeeacaf9731d982c7802e7eac767e01
\ No newline at end of file
diff --git a/robots/tianji_wuji/wuji_hand/fused/right_simplified/config.yaml b/robots/tianji_wuji/wuji_hand/fused/right_simplified/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3337a23fb0e6dbbb43116c5ffab63b7a7db10c31
--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/right_simplified/config.yaml
@@ -0,0 +1,28 @@
+asset_path: ../output/robots/wh110_soft_8/urdf/right_simplified.urdf
+usd_dir: ../output/robots/wh110_soft_8/_work_simplified/usd_physics/right_simplified
+usd_file_name: wujihand
+force_usd_conversion: true
+make_instanceable: true
+fix_base: true
+root_link_name: right_palm_link
+link_density: 1
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness:
+      right_finger(1|2|3|4|5)_joint(1|2): 2
+      right_finger(1|2|3|4|5)_joint3: 1
+      right_finger(1|2|3|4|5)_joint4: 0.8
+    damping:
+      right_finger.*_joint(1|2): 0.05
+      right_finger.*_joint(3|4): 0.03
+collider_type: convex_hull
+self_collision: true
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-05-21 at 15:40:15.
+##
diff --git a/robots/tianji_wuji/wuji_hand/fused/right_simplified/configuration/wujihand_base.usd b/robots/tianji_wuji/wuji_hand/fused/right_simplified/configuration/wujihand_base.usd
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--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/right_simplified/configuration/wujihand_base.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:986df4652e86b008ccffa6b2bf32601586da8987c496d36f5309edd840bb328a
+size 17608024
diff --git a/robots/tianji_wuji/wuji_hand/fused/right_simplified/configuration/wujihand_physics.usd b/robots/tianji_wuji/wuji_hand/fused/right_simplified/configuration/wujihand_physics.usd
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diff --git a/robots/tianji_wuji/wuji_hand/fused/right_simplified/configuration/wujihand_sensor.usd b/robots/tianji_wuji/wuji_hand/fused/right_simplified/configuration/wujihand_sensor.usd
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diff --git a/robots/tianji_wuji/wuji_hand/fused/right_simplified/textures/wuji_logo_placeholder.png b/robots/tianji_wuji/wuji_hand/fused/right_simplified/textures/wuji_logo_placeholder.png
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--- /dev/null
+++ b/robots/tianji_wuji/wuji_hand/fused/right_simplified/textures/wuji_logo_placeholder.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de652bb54b803f3e55193219522700d7b8df84decaf270cf0a03096dedf32786
+size 23968
diff --git a/robots/tianji_wuji/wuji_hand/fused/right_simplified/wujihand.usd b/robots/tianji_wuji/wuji_hand/fused/right_simplified/wujihand.usd
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