diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl000.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db8c976d777591f0a25f6691b65b15956cf11d53
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl010.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac8126a521de69a5fc9500be637ac0ab5caa30b4
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl017.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..114f5103bdd70852257e1659dc7a2c67b64e1d89
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl022.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6ae5bb7387da67239b6d6836e148af0bd3ae28
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl057.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl057.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f81213222865fe4059f4f042c8fd28fed0bbdd9c
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug001.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e74715f76471f2cf94c2805428182740bc60e9b8
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug005.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7a9ed4a0b2116cef5071c14193f94f239586d64
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug006.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6723d475473095b2dcaeec78111220309909e5ab
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug006.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug010.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b2b5d2e7e1e25d9a0f148e6c6a709460da7ef2c
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug017.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad0a95d00869c23cfeb75227494f8ac25e5d6d9
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug021.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a55e108a03055565ee473e56e2eded36866e6c0
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug024.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..513c8b8096bc48d3f878063295c0ae91f0d17f21
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug029.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cb6d38b8989e3331d73751717ced53e93740ed6
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug029.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug031.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fca10d9bc3f77d0b36fac3425c7edc57976654b
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug034.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aea50991e8de9ea8774106fbbd0efac7fdb5f48f
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug035.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd2a8372e8677f0654b4c0f3db361606af6a2430
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug039.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd889c2369c2ccb8a7a5776b5664c321b1dafb70
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug041.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug041.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10aff8334c0527c6170ceabcaf1867329c83e566
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug042.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug042.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a4171d61807c970b1ce51ce9cb5fd57dc55c20e
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug042.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug044.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug044.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aedaebece22fed0fc78996ea2fad937a6821255d
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug044.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug045.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug045.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df7923fa50cc261e55559ba3463220b38fe38cab
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug045.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug048.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug048.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3ba0076bfb73f84b24830ec6ca2793be5d3e6e0
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug052.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug052.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4299816cb6ce116c9df28ae9f833462b7d0259a7
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug063.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug063.obj
new file mode 100644
index 0000000000000000000000000000000000000000..813e7a4743e234ac61427b981329f31aa933f834
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug063.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate003.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73bc5e6a8742a716dcb3341c80661c3c9db594c9
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate005.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bc1c6b0fc1b2253f148d88ce3e440f4da800412
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate006.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate006.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate007.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9cf2ab05def1cee221b4378df35f92e359578e6
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate008.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d276c0cb00a6540a60f7e3238d39371a801e0986
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate010.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f73aa133f19bf10e9ce9ddbf813c72677203a75
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate012.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4904e6b76299e80f57d9b7a439e7f83c44727783
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate013.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb1e295b835225adba5feb2631b50885cc5a7c14
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate017.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate017.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate018.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate018.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate020.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..372e33379c86b9717858c5c7af275c19b4cd1955
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate022.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97351f6dd650e162909581338099b3bc7be81e9e
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate024.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a592c3a137f4404be29a166782f700f5f9851113
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate025.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate025.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate028.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate028.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate030.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0b7460f36fefcf42e257b9033ccf9ba62a8723c
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate033.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a0b69f33f8824b811edb5161a0c538deb4b1ba9
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate034.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate034.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate037.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5e9f7083322076f94b0b28039e4447f58c46e5c
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate038.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad6f22623c5f380e257e8e47b57a80d3529c8e46
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate039.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate039.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate041.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate041.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate044.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate044.obj
new file mode 100644
index 0000000000000000000000000000000000000000..112773ae9fc7eb604015dbc096bef2ed74fb8fcf
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate048.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate048.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate049.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate049.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate050.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate050.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate051.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate051.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate056.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate056.obj
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack009.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack009.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack010.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack010.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack011.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack011.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack013.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f5180599c8e2d281ccdc3f196673db0660c443
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack014.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec687c37894e6fd942e0708037b9b495ee043d74
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack015.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81f12c55d252cc208a83f0459ac13b50e2341f36
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack016.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack016.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack017.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f40839620b66ccbc759ddeaf27052e211b07d6b
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack018.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba67a78d9d94ac289968268c5d3ecded4a234f2
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack022.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack022.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack024.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e96bb302ecdd5a9f18e1c88c6893a42e5490273
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack027.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f56073d9da98431171d1f9353d529fbaea806d70
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack028.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b64597715952c97c2b5a8732b5fa54e32dda3bd0
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack032.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c46adbc1839abb8580ce7f43367511f6f94779b0
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack037.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack037.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack038.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack038.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack039.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack039.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack040.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c518792c75fc87d9fc29805a36aaa66ba1f83c95
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack042.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack042.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack043.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack043.obj
new file mode 100644
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new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack046.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack046.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8946d69189447c3a21b35b85ce8c3ad5e827852
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack050.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack050.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack053.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack053.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack054.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack054.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack055.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack055.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c9373743f8ed7a97304b74399f6c256ada37b1
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack055.obj
@@ -0,0 +1,44 @@
+v 0.069092130 0.033043647 0.069013630
+v 0.069092130 0.025770844 0.069013630
+v 0.069092130 0.018498041 0.018104008
+v 0.051604380 0.036345522 0.017722699
+v 0.047273720 0.040316450 0.069013630
+v 0.060875332 0.038428968 0.017966639
+v 0.047273720 0.018498041 0.047195221
+v 0.069092130 0.040316450 0.061740827
+v 0.065292518 0.027816499 0.017807518
+v 0.061819326 0.018498041 0.061740827
+v 0.047273720 0.018498041 0.018104008
+v 0.061819326 0.040316450 0.069013630
+v 0.063956500 0.035604657 0.024894397
+v 0.069092130 0.018498041 0.047195221
+v 0.047273720 0.025770844 0.069013630
+v 0.054546523 0.018498041 0.061740827
+f 1 2 3
+f 5 2 1
+f 6 4 5
+f 8 1 3
+f 8 6 5
+f 9 4 6
+f 10 7 3
+f 11 7 5
+f 11 5 4
+f 11 3 7
+f 11 9 3
+f 11 4 9
+f 12 8 5
+f 12 5 1
+f 12 1 8
+f 13 8 3
+f 13 3 9
+f 13 9 6
+f 13 6 8
+f 14 10 3
+f 14 3 2
+f 14 2 10
+f 15 10 2
+f 15 2 5
+f 15 5 7
+f 16 15 7
+f 16 7 10
+f 16 10 15
diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack058.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack058.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6ae4533d758d2e843a91e5b6c33250d79a5b9d0
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack058.obj
@@ -0,0 +1,29 @@
+v -0.234792445 -0.032394504 0.054862461
+v -0.231026235 -0.048072472 0.054625559
+v -0.229092801 -0.032411582 0.018104008
+v -0.229092801 -0.039684385 -0.003714402
+v -0.243638408 -0.046957188 0.047195221
+v -0.243638408 -0.039684385 0.054468024
+v -0.234573241 -0.049392954 0.000157000
+v -0.240002006 -0.032411582 -0.000078000
+v -0.243638408 -0.032411582 0.054468024
+v -0.238594994 -0.032411582 -0.000078000
+v -0.237890756 -0.044944910 -0.000078000
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 7 4 2
+f 7 2 5
+f 9 6 1
+f 9 1 8
+f 9 8 5
+f 9 5 6
+f 10 3 4
+f 10 4 8
+f 10 8 1
+f 10 1 3
+f 11 8 4
+f 11 4 7
+f 11 7 5
+f 11 5 8
diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack059.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack059.obj
new file mode 100644
index 0000000000000000000000000000000000000000..100582e9160478d5aa6434baeef3df21f053d52d
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack059.obj
@@ -0,0 +1,20 @@
+v 0.214548193 0.076680466 0.032649614
+v 0.216022598 0.057811236 0.029209218
+v 0.214548193 0.076680466 0.018104008
+v -0.149085898 0.071286964 0.017787902
+v -0.149091966 0.054862057 0.032649614
+v 0.214695556 0.055088023 0.018090685
+v -0.149091966 0.076680466 0.032649614
+v -0.149091966 0.059593373 0.017788587
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 6 5
+f 8 4 6
+f 8 7 4
+f 8 5 7
diff --git a/maniskill3_environment_assets/robots/ability_hand/ability_hand_left.urdf b/maniskill3_environment_assets/robots/ability_hand/ability_hand_left.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..41889e5c94bb065103834c566121ddc4ad8da7b8
--- /dev/null
+++ b/maniskill3_environment_assets/robots/ability_hand/ability_hand_left.urdf
@@ -0,0 +1,475 @@
+<robot name="ability_hand">
+  <link name="base_link"/>
+  <joint name="base_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base"/>
+    <origin xyz="0 0 0" rpy="0 0 -1.57079"/>
+  </joint>
+  <link name="base">
+    <visual name="wrist_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/wristmesh.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/wristmesh_C.obj"/>
+      </geometry>
+    </collision>
+    <inertial>  <!-- the mass and inertia here are NOT correct -->
+      <mass value="0.200"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="wrist2thumb" type="fixed">
+    <parent link="base"/>
+    <child link="thumb_base"/>
+    <origin xyz="24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 0.08848813 3.14036612"/>
+  </joint>
+  <link name="thumb_base">
+    <inertial>
+      <mass value="0.400"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="palm_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/FB_palm_ref.obj"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- thumb_base -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/FB_palm_ref.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L1">
+    <inertial>
+      <mass value="0.00268342"/>
+      <inertia ixx="0.16931e-4" ixy="-0.076214e-4" ixz="-0.16959148e-4" iyy="0.77769934e-4" iyz="0.0156622e-4" izz="0.7249122e-4"/>
+      <origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_1">
+      <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- thumb_L1 -->
+      <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F1_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L2">
+    <inertial>
+      <mass value="0.0055"/>
+      <inertia ixx="4.4789082e-4" ixy="4.4789082e-4" ixz="-0.62144934e-4" iyy="15.600996e-4" iyz="-0.07466143e-4" izz="17.908554e-4"/>
+      <origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_2">
+      <origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- thumb_L2 -->
+      <origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F2_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="thumb_L1"/>
+    <origin xyz="0 0 0" rpy="0 0 3.330437"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+  </joint>
+  <joint name="thumb_q2" type="revolute">
+    <parent link="thumb_L1"/>
+    <child link="thumb_L2"/>
+    <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+  </joint>
+  <link name="thumb_tip"/>
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="thumb_L2"/>
+    <child link="thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.065 0.016 0"/>
+  </joint>
+  <link name="index_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="index_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- index_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="index_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="index_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- index_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="index_L1"/>
+    <origin xyz="-9.49e-3 -13.04e-3 -62.95e-3" rpy="-1.982050 1.284473 -2.090591"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+  </joint>
+  <joint name="index_q2" type="revolute">
+    <parent link="index_L1"/>
+    <child link="index_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="index_tip"/>
+  <joint name="index_tip_joint" type="fixed">
+    <parent link="index_L2"/>
+    <child link="index_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="middle_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="middle_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- middle_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="middle_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="middle_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- middle_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="middle_L1"/>
+    <origin xyz="9.653191e-3 -15.310271e-3 -67.853949e-3" rpy="-1.860531 1.308458 -1.896217"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="middle_q2" type="revolute">
+    <parent link="middle_L1"/>
+    <child link="middle_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="middle_tip"/>
+  <joint name="middle_tip_joint" type="fixed">
+    <parent link="middle_L2"/>
+    <child link="middle_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="ring_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="ring_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- ring_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="ring_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="ring_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- ring_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="ring_L1"/>
+    <origin xyz="29.954260e-3 -14.212492e-3 -67.286105e-3" rpy="-1.716598 1.321452 -1.675862"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="ring_q2" type="revolute">
+    <parent link="ring_L1"/>
+    <child link="ring_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="ring_tip"/>
+  <joint name="ring_tip_joint" type="fixed">
+    <parent link="ring_L2"/>
+    <child link="ring_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="pinky_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="pinky_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- pinky_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="pinky_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="pinky_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- pinky_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="pinky_L1"/>
+    <origin xyz="49.521293e-3 -11.004583e-3 -63.029065e-3" rpy="-1.765110 1.322220 -1.658383"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="pinky_q2" type="revolute">
+    <parent link="pinky_L1"/>
+    <child link="pinky_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+    <mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="pinky_tip"/>
+  <joint name="pinky_tip_joint" type="fixed">
+    <parent link="pinky_L2"/>
+    <child link="pinky_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+</robot>
diff --git a/maniskill3_environment_assets/robots/ability_hand/ability_hand_left_glb.urdf b/maniskill3_environment_assets/robots/ability_hand/ability_hand_left_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f885f05ad3a069828af738111427b167d438c5da
--- /dev/null
+++ b/maniskill3_environment_assets/robots/ability_hand/ability_hand_left_glb.urdf
@@ -0,0 +1,475 @@
+<robot name="ability_hand">
+  <link name="base_link"/>
+  <joint name="base_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base"/>
+    <origin xyz="0 0 0" rpy="0 0 -1.57079"/>
+  </joint>
+  <link name="base">
+    <visual name="wrist_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/wristmesh.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/wristmesh_C.obj"/>
+      </geometry>
+    </collision>
+    <inertial>  <!-- the mass and inertia here are NOT correct -->
+      <mass value="0.200"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="wrist2thumb" type="fixed">
+    <parent link="base"/>
+    <child link="thumb_base"/>
+    <origin xyz="24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 0.08848813 3.14036612"/>
+  </joint>
+  <link name="thumb_base">
+    <inertial>
+      <mass value="0.400"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="palm_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/FB_palm_ref.glb"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- thumb_base -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/FB_palm_ref.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L1">
+    <inertial>
+      <mass value="0.00268342"/>
+      <inertia ixx="0.16931e-4" ixy="-0.076214e-4" ixz="-0.16959148e-4" iyy="0.77769934e-4" iyz="0.0156622e-4" izz="0.7249122e-4"/>
+      <origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_1">
+      <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F1.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- thumb_L1 -->
+      <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F1_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L2">
+    <inertial>
+      <mass value="0.0055"/>
+      <inertia ixx="4.4789082e-4" ixy="4.4789082e-4" ixz="-0.62144934e-4" iyy="15.600996e-4" iyz="-0.07466143e-4" izz="17.908554e-4"/>
+      <origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_2">
+      <origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- thumb_L2 -->
+      <origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F2_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="thumb_L1"/>
+    <origin xyz="0 0 0" rpy="0 0 3.330437"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+  </joint>
+  <joint name="thumb_q2" type="revolute">
+    <parent link="thumb_L1"/>
+    <child link="thumb_L2"/>
+    <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+  </joint>
+  <link name="thumb_tip"/>
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="thumb_L2"/>
+    <child link="thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.065 0.016 0"/>
+  </joint>
+  <link name="index_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="index_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.glb"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- index_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="index_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="index_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- index_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="index_L1"/>
+    <origin xyz="-9.49e-3 -13.04e-3 -62.95e-3" rpy="-1.982050 1.284473 -2.090591"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+  </joint>
+  <joint name="index_q2" type="revolute">
+    <parent link="index_L1"/>
+    <child link="index_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="index_tip"/>
+  <joint name="index_tip_joint" type="fixed">
+    <parent link="index_L2"/>
+    <child link="index_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="middle_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="middle_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.glb"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- middle_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="middle_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="middle_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- middle_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="middle_L1"/>
+    <origin xyz="9.653191e-3 -15.310271e-3 -67.853949e-3" rpy="-1.860531 1.308458 -1.896217"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="middle_q2" type="revolute">
+    <parent link="middle_L1"/>
+    <child link="middle_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="middle_tip"/>
+  <joint name="middle_tip_joint" type="fixed">
+    <parent link="middle_L2"/>
+    <child link="middle_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="ring_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="ring_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.glb"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- ring_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="ring_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="ring_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- ring_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="ring_L1"/>
+    <origin xyz="29.954260e-3 -14.212492e-3 -67.286105e-3" rpy="-1.716598 1.321452 -1.675862"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="ring_q2" type="revolute">
+    <parent link="ring_L1"/>
+    <child link="ring_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="ring_tip"/>
+  <joint name="ring_tip_joint" type="fixed">
+    <parent link="ring_L2"/>
+    <child link="ring_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="pinky_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="pinky_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.glb"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- pinky_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="pinky_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="pinky_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- pinky_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="pinky_L1"/>
+    <origin xyz="49.521293e-3 -11.004583e-3 -63.029065e-3" rpy="-1.765110 1.322220 -1.658383"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="pinky_q2" type="revolute">
+    <parent link="pinky_L1"/>
+    <child link="pinky_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+    <mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="pinky_tip"/>
+  <joint name="pinky_tip_joint" type="fixed">
+    <parent link="pinky_L2"/>
+    <child link="pinky_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+</robot>
diff --git a/maniskill3_environment_assets/robots/ability_hand/ability_hand_right.urdf b/maniskill3_environment_assets/robots/ability_hand/ability_hand_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..28ba84687f1d3fbeef2ec199c085764298f9b8c8
--- /dev/null
+++ b/maniskill3_environment_assets/robots/ability_hand/ability_hand_right.urdf
@@ -0,0 +1,475 @@
+<robot name="ability_hand">
+  <link name="base_link"/>
+  <joint name="base_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base"/>
+    <origin xyz="0 0 0" rpy="0 0 -1.57079"/>
+  </joint>
+  <link name="base">
+    <visual name="wrist_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/wristmesh.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/wristmesh_C.obj"/>
+      </geometry>
+    </collision>
+    <inertial>  <!-- the mass and inertia here are NOT correct -->
+      <mass value="0.200"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="wrist2thumb" type="fixed">
+    <parent link="base"/>
+    <child link="thumb_base"/>
+    <origin xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 -0.08848813 -3.14036612"/>
+  </joint>
+  <link name="thumb_base">
+    <inertial>
+      <mass value="0.200"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="palm_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/FB_palm_ref_MIR.obj"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- thumb_base -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/FB_palm_ref_MIR.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L1">
+    <inertial>
+      <mass value="0.00268342"/>
+      <inertia ixx="0.16931e-4" ixy="-0.076214e-4" ixz="-0.16959148e-4" iyy="0.77769934e-4" iyz="0.0156622e-4" izz="0.7249122e-4"/>
+      <origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_1">
+      <origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F1-MIR.obj"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- thumb_L1 -->
+      <origin xyz="27.8283501e-3 1.7436510745838653e-19 14.7507e-3" rpy="1.832595714594045 -0.0 5.366520605522463e-18"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F1-MIR_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L2">
+    <inertial>
+      <mass value="0.0055"/>
+      <inertia ixx="4.4789082e-4" ixy="4.4789082e-4" ixz="-0.62144934e-4" iyy="15.600996e-4" iyz="-0.07466143e-4" izz="17.908554e-4"/>
+      <origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_2">
+      <origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- thumb_L2 -->
+      <origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F2_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="thumb_L1"/>
+    <origin xyz=" 0.0 0.0 0.0 " rpy=" 3.141592653589793 -0.0 -0.18884434641020664 "/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+  </joint>
+  <joint name="thumb_q2" type="revolute">
+    <parent link="thumb_L1"/>
+    <child link="thumb_L2"/>
+    <origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+  </joint>
+  <link name="thumb_tip"/>
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="thumb_L2"/>
+    <child link="thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.065 0.016 0"/>
+  </joint>
+  <link name="index_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="index_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- index_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="index_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="index_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- index_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="index_L1"/>
+    <origin xyz=" 9.49e-3 -13.04e-3 -62.95e-3 " rpy=" -1.1595426535897932 1.284473 -1.0510016535897932 "/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+  </joint>
+  <joint name="index_q2" type="revolute">
+    <parent link="index_L1"/>
+    <child link="index_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="index_tip"/>
+  <joint name="index_tip_joint" type="fixed">
+    <parent link="index_L2"/>
+    <child link="index_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="middle_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="middle_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- middle_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="middle_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="middle_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- middle_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="middle_L1"/>
+    <origin xyz=" -9.653191e-3 -15.310271e-3 -67.853949e-3 " rpy=" -1.2810616535897934 1.308458 -1.2453756535897933 "/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="middle_q2" type="revolute">
+    <parent link="middle_L1"/>
+    <child link="middle_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="middle_tip"/>
+  <joint name="middle_tip_joint" type="fixed">
+    <parent link="middle_L2"/>
+    <child link="middle_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="ring_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="ring_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- ring_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="ring_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="ring_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- ring_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="ring_L1"/>
+    <origin xyz=" -29.95426e-3 -14.212492e-3 -67.286105e-3 " rpy=" -1.424994653589793 1.321452 -1.4657306535897934 "/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="ring_q2" type="revolute">
+    <parent link="ring_L1"/>
+    <child link="ring_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="ring_tip"/>
+  <joint name="ring_tip_joint" type="fixed">
+    <parent link="ring_L2"/>
+    <child link="ring_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="pinky_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="pinky_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- pinky_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="pinky_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="pinky_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- pinky_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="pinky_L1"/>
+    <origin xyz=" -49.521293e-3 -11.004583e-3 -63.029065e-3 " rpy=" -1.3764826535897934 1.32222 -1.4832096535897932 "/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="pinky_q2" type="revolute">
+    <parent link="pinky_L1"/>
+    <child link="pinky_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+    <mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="pinky_tip"/>
+  <joint name="pinky_tip_joint" type="fixed">
+    <parent link="pinky_L2"/>
+    <child link="pinky_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+</robot>
diff --git a/maniskill3_environment_assets/robots/ability_hand/ability_hand_right_glb.urdf b/maniskill3_environment_assets/robots/ability_hand/ability_hand_right_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ede5cfaf0884d98ec7a2359c8f522b87f847984
--- /dev/null
+++ b/maniskill3_environment_assets/robots/ability_hand/ability_hand_right_glb.urdf
@@ -0,0 +1,475 @@
+<robot name="ability_hand">
+  <link name="base_link"/>
+  <joint name="base_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base"/>
+    <origin xyz="0 0 0" rpy="0 0 -1.57079"/>
+  </joint>
+  <link name="base">
+    <visual name="wrist_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/wristmesh.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/wristmesh_C.obj"/>
+      </geometry>
+    </collision>
+    <inertial>  <!-- the mass and inertia here are NOT correct -->
+      <mass value="0.200"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="wrist2thumb" type="fixed">
+    <parent link="base"/>
+    <child link="thumb_base"/>
+    <origin xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 -0.08848813 -3.14036612"/>
+  </joint>
+  <link name="thumb_base">
+    <inertial>
+      <mass value="0.200"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="palm_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/FB_palm_ref_MIR.glb"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- thumb_base -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/FB_palm_ref_MIR.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L1">
+    <inertial>
+      <mass value="0.00268342"/>
+      <inertia ixx="0.16931e-4" ixy="-0.076214e-4" ixz="-0.16959148e-4" iyy="0.77769934e-4" iyz="0.0156622e-4" izz="0.7249122e-4"/>
+      <origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_1">
+      <origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F1-MIR.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- thumb_L1 -->
+      <origin xyz="27.8283501e-3 1.7436510745838653e-19 14.7507e-3" rpy="1.832595714594045 -0.0 5.366520605522463e-18"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F1-MIR_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L2">
+    <inertial>
+      <mass value="0.0055"/>
+      <inertia ixx="4.4789082e-4" ixy="4.4789082e-4" ixz="-0.62144934e-4" iyy="15.600996e-4" iyz="-0.07466143e-4" izz="17.908554e-4"/>
+      <origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_2">
+      <origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- thumb_L2 -->
+      <origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F2_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="thumb_L1"/>
+    <origin xyz=" 0.0 0.0 0.0 " rpy=" 3.141592653589793 -0.0 -0.18884434641020664 "/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+  </joint>
+  <joint name="thumb_q2" type="revolute">
+    <parent link="thumb_L1"/>
+    <child link="thumb_L2"/>
+    <origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+  </joint>
+  <link name="thumb_tip"/>
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="thumb_L2"/>
+    <child link="thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.065 0.016 0"/>
+  </joint>
+  <link name="index_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="index_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.glb"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- index_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="index_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="index_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- index_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="index_L1"/>
+    <origin xyz=" 9.49e-3 -13.04e-3 -62.95e-3 " rpy=" -1.1595426535897932 1.284473 -1.0510016535897932 "/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+  </joint>
+  <joint name="index_q2" type="revolute">
+    <parent link="index_L1"/>
+    <child link="index_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="index_tip"/>
+  <joint name="index_tip_joint" type="fixed">
+    <parent link="index_L2"/>
+    <child link="index_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="middle_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="middle_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.glb"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- middle_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="middle_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="middle_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- middle_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="middle_L1"/>
+    <origin xyz=" -9.653191e-3 -15.310271e-3 -67.853949e-3 " rpy=" -1.2810616535897934 1.308458 -1.2453756535897933 "/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="middle_q2" type="revolute">
+    <parent link="middle_L1"/>
+    <child link="middle_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="middle_tip"/>
+  <joint name="middle_tip_joint" type="fixed">
+    <parent link="middle_L2"/>
+    <child link="middle_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="ring_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="ring_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.glb"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- ring_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="ring_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="ring_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- ring_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="ring_L1"/>
+    <origin xyz=" -29.95426e-3 -14.212492e-3 -67.286105e-3 " rpy=" -1.424994653589793 1.321452 -1.4657306535897934 "/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="ring_q2" type="revolute">
+    <parent link="ring_L1"/>
+    <child link="ring_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="ring_tip"/>
+  <joint name="ring_tip_joint" type="fixed">
+    <parent link="ring_L2"/>
+    <child link="ring_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="pinky_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="pinky_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.glb"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- pinky_L1 -->
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="pinky_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="pinky_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- pinky_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="pinky_L1"/>
+    <origin xyz=" -49.521293e-3 -11.004583e-3 -63.029065e-3 " rpy=" -1.3764826535897934 1.32222 -1.4832096535897932 "/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="pinky_q2" type="revolute">
+    <parent link="pinky_L1"/>
+    <child link="pinky_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>    <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+    <dynamics damping="0.001" friction="0.001"/>  <!-- Friction coefficient is not from quantitative measurement -->
+    <axis xyz="0 0 1"/>
+    <mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="pinky_tip"/>
+  <joint name="pinky_tip_joint" type="fixed">
+    <parent link="pinky_L2"/>
+    <child link="pinky_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+</robot>
diff --git a/maniskill3_environment_assets/robots/ability_hand/meshes/collision/FB_palm_ref.obj b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/FB_palm_ref.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccadbd5f5beb9b3bc6b7ab4df482c42248247f32
--- /dev/null
+++ b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/FB_palm_ref.obj
@@ -0,0 +1,1639 @@
+# Blender 4.0.1
+# www.blender.org
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diff --git a/maniskill3_environment_assets/robots/ability_hand/meshes/collision/FB_palm_ref_MIR.obj b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/FB_palm_ref_MIR.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e3905cb0fdaf8de9b447a0c4234c53a5f9c378
--- /dev/null
+++ b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/FB_palm_ref_MIR.obj
@@ -0,0 +1,1696 @@
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diff --git a/maniskill3_environment_assets/robots/ability_hand/meshes/collision/idx-F2_C.obj b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/idx-F2_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddbe84a82251cfe5640efd28ed3c31a4faf79623
--- /dev/null
+++ b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/idx-F2_C.obj
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diff --git a/maniskill3_environment_assets/robots/ability_hand/meshes/collision/thumb-F1-MIR_C.obj b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/thumb-F1-MIR_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..125b47ba03e0ffd9164ed8960aaa1b193926dab9
--- /dev/null
+++ b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/thumb-F1-MIR_C.obj
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diff --git a/maniskill3_environment_assets/robots/ability_hand/meshes/collision/thumb-F1_C.obj b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/thumb-F1_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57ea50cff9b3673de10b7de23bd5184dc54e6eb6
--- /dev/null
+++ b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/thumb-F1_C.obj
@@ -0,0 +1,185 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/maniskill3_environment_assets/robots/ability_hand/meshes/collision/thumb-F2_C.obj b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/thumb-F2_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9b01c22275ff61b7adabb20f920886cab55dac6
--- /dev/null
+++ b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/thumb-F2_C.obj
@@ -0,0 +1,407 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/maniskill3_environment_assets/robots/ability_hand/meshes/collision/wristmesh_C.obj b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/wristmesh_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..173b13bda16213a8edebfaa59971634213c6800a
--- /dev/null
+++ b/maniskill3_environment_assets/robots/ability_hand/meshes/collision/wristmesh_C.obj
@@ -0,0 +1,532 @@
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diff --git a/maniskill3_environment_assets/robots/allegro/meshes/collision/link_tip.obj b/maniskill3_environment_assets/robots/allegro/meshes/collision/link_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12933ea39d6799c0664005412637a6d78f6242e0
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/meshes/collision/link_tip.obj
@@ -0,0 +1,2102 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/maniskill3_environment_assets/robots/allegro/meshes/visual/base_link_left.mtl b/maniskill3_environment_assets/robots/allegro/meshes/visual/base_link_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a2dc7e79f8e99788db30b5b34b2ac26ae517563
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/meshes/visual/base_link_left.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/maniskill3_environment_assets/robots/allegro/meshes/visual/link_0.0.obj b/maniskill3_environment_assets/robots/allegro/meshes/visual/link_0.0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfdcd255426dbcc73c419b70dd68ca7e4bc115bc
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/meshes/visual/link_0.0.obj
@@ -0,0 +1,2169 @@
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diff --git a/maniskill3_environment_assets/robots/allegro/meshes/visual/link_12.0_right.mtl b/maniskill3_environment_assets/robots/allegro/meshes/visual/link_12.0_right.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a2dc7e79f8e99788db30b5b34b2ac26ae517563
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/meshes/visual/link_12.0_right.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+
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diff --git a/maniskill3_environment_assets/robots/allegro/meshes/visual/link_13.0.mtl b/maniskill3_environment_assets/robots/allegro/meshes/visual/link_13.0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a2dc7e79f8e99788db30b5b34b2ac26ae517563
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/meshes/visual/link_13.0.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
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diff --git a/maniskill3_environment_assets/robots/allegro/meshes/visual/link_2.0.obj b/maniskill3_environment_assets/robots/allegro/meshes/visual/link_2.0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c0bf37b554f05dcc28d94e49813e5e6612435f3
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/meshes/visual/link_2.0.obj
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+# Blender v3.6.4 OBJ File: ''
+# www.blender.org
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diff --git a/maniskill3_environment_assets/robots/allegro/meshes/visual/link_3.0.glb b/maniskill3_environment_assets/robots/allegro/meshes/visual/link_3.0.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b0bb33bd1846787dea58ada2dfc4fa7c5ed15a61
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diff --git a/maniskill3_environment_assets/robots/allegro/meshes/visual/link_3.0.mtl b/maniskill3_environment_assets/robots/allegro/meshes/visual/link_3.0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a2dc7e79f8e99788db30b5b34b2ac26ae517563
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/meshes/visual/link_3.0.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/maniskill3_environment_assets/robots/allegro/meshes/visual/link_tip.obj b/maniskill3_environment_assets/robots/allegro/meshes/visual/link_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..645badd05f3dd62d066abe68286419d9c329b019
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/meshes/visual/link_tip.obj
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+# Blender v3.6.4 OBJ File: ''
+# www.blender.org
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diff --git a/maniskill3_environment_assets/robots/allegro/variation/allegro_hand_right_fsr.urdf b/maniskill3_environment_assets/robots/allegro/variation/allegro_hand_right_fsr.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6b26b4b7d5815275ba61c255b76f9af62345823c
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/variation/allegro_hand_right_fsr.urdf
@@ -0,0 +1,829 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="allegro_right">
+  <link name="base_link">
+    <inertial>
+      <mass value="0.4154"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/base_link.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
+      <geometry>
+        <box size="0.0414 0.112 0.0448"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 -0.0253 -0.0667"/>
+      <geometry>
+        <box size="0.0414 0.0538 0.0428"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 -0.00557 -0.08874"/>
+      <geometry>
+        <box size="0.0414 0.0720 0.013"/>
+      </geometry>
+    </collision>
+  </link> <!--  virtual link-->
+  <link name="palm"/>
+  <joint name="palm_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="palm"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
+  </joint> <!--  virtual link-->
+  <link name="wrist"/>
+  <joint name="wrist_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.03"/>
+    <parent link="palm"/>
+    <child link="wrist"/>
+  </joint>
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_1.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_1.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_1.0_fsr" type="fixed">
+    <parent link="link_1.0"/>
+    <child link="link_1.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_2.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_2.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_1.0"/>
+    <child link="link_2.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_2.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_2.0_fsr" type="fixed">
+    <parent link="link_2.0"/>
+    <child link="link_2.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_3.0">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+  </link>
+  <joint name="joint_3.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_3.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_3.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip_fsr" type="fixed">
+    <parent link="link_3.0_tip"/>
+    <child link="link_3.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <link name="link_4.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_5.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_5.0_fsr" type="fixed">
+    <parent link="link_5.0"/>
+    <child link="link_5.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_6.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_6.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_6.0_fsr" type="fixed">
+    <parent link="link_6.0"/>
+    <child link="link_6.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_7.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_7.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip_fsr" type="fixed">
+    <parent link="link_7.0_tip"/>
+    <child link="link_7.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <link name="link_8.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_9.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_9.0_fsr" type="fixed">
+    <parent link="link_9.0"/>
+    <child link="link_9.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_10.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_10.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_10.0_fsr" type="fixed">
+    <parent link="link_10.0"/>
+    <child link="link_10.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_11.0">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_11.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip_fsr" type="fixed">
+    <parent link="link_11.0_tip"/>
+    <child link="link_11.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <!-- THUMB -->
+  <link name="link_12.0">
+    <inertial>
+      <mass value="0.0176"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_12.0_right.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+  </joint>
+  <link name="link_13.0">
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_13.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <origin xyz="-0.027 0.005 0.0399"/>
+  </joint>
+  <link name="link_14.0">
+    <inertial>
+      <mass value="0.038"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_14.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_14.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_14.0_fsr" type="fixed">
+    <parent link="link_14.0"/>
+    <child link="link_14.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_15.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_15.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.04"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01125"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_fsr" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.075"/>
+  </joint>
+  <link name="link_15.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip_fsr" type="fixed">
+    <parent link="link_15.0_tip"/>
+    <child link="link_15.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+
+  <!-- Palm fsr sensor -->
+  <link name="link_base_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_0.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_base_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_base_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.002 -0.035 -0.065"/>
+  </joint>
+  <joint name="joint_0.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8.0_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.001 -0.041 -0.015"/>
+  </joint>
+  <joint name="joint_4.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0.001 0 -0.013"/>
+  </joint>
+  <joint name="joint_8.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_0.0_fsr"/>
+    <origin rpy="0.09 0 0" xyz="0.001 0.041 -0.015"/>
+  </joint>
+</robot>
diff --git a/maniskill3_environment_assets/robots/allegro/variation/allegro_hand_right_fsr_glb.urdf b/maniskill3_environment_assets/robots/allegro/variation/allegro_hand_right_fsr_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f6f91c16779b90523312ae9d0ade61ccd9a14b46
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/variation/allegro_hand_right_fsr_glb.urdf
@@ -0,0 +1,829 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="allegro_right">
+  <link name="base_link">
+    <inertial>
+      <mass value="0.4154"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/base_link.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
+      <geometry>
+        <box size="0.0414 0.112 0.0448"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 -0.0253 -0.0667"/>
+      <geometry>
+        <box size="0.0414 0.0538 0.0428"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 -0.00557 -0.08874"/>
+      <geometry>
+        <box size="0.0414 0.0720 0.013"/>
+      </geometry>
+    </collision>
+  </link> <!--  virtual link-->
+  <link name="palm"/>
+  <joint name="palm_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="palm"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
+  </joint> <!--  virtual link-->
+  <link name="wrist"/>
+  <joint name="wrist_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.03"/>
+    <parent link="palm"/>
+    <child link="wrist"/>
+  </joint>
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_1.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_1.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_1.0_fsr" type="fixed">
+    <parent link="link_1.0"/>
+    <child link="link_1.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_2.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_2.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_1.0"/>
+    <child link="link_2.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_2.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_2.0_fsr" type="fixed">
+    <parent link="link_2.0"/>
+    <child link="link_2.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_3.0">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+  </link>
+  <joint name="joint_3.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_3.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_3.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip_fsr" type="fixed">
+    <parent link="link_3.0_tip"/>
+    <child link="link_3.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <link name="link_4.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_5.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_5.0_fsr" type="fixed">
+    <parent link="link_5.0"/>
+    <child link="link_5.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_6.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_6.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_6.0_fsr" type="fixed">
+    <parent link="link_6.0"/>
+    <child link="link_6.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_7.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_7.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip_fsr" type="fixed">
+    <parent link="link_7.0_tip"/>
+    <child link="link_7.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <link name="link_8.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_9.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_9.0_fsr" type="fixed">
+    <parent link="link_9.0"/>
+    <child link="link_9.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_10.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_10.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_10.0_fsr" type="fixed">
+    <parent link="link_10.0"/>
+    <child link="link_10.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_11.0">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_11.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip_fsr" type="fixed">
+    <parent link="link_11.0_tip"/>
+    <child link="link_11.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <!-- THUMB -->
+  <link name="link_12.0">
+    <inertial>
+      <mass value="0.0176"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_12.0_right.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+  </joint>
+  <link name="link_13.0">
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_13.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <origin xyz="-0.027 0.005 0.0399"/>
+  </joint>
+  <link name="link_14.0">
+    <inertial>
+      <mass value="0.038"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_14.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_14.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_14.0_fsr" type="fixed">
+    <parent link="link_14.0"/>
+    <child link="link_14.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_15.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_15.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.04"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01125"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_fsr" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.075"/>
+  </joint>
+  <link name="link_15.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip_fsr" type="fixed">
+    <parent link="link_15.0_tip"/>
+    <child link="link_15.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+
+  <!-- Palm fsr sensor -->
+  <link name="link_base_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_0.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_base_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_base_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.002 -0.035 -0.065"/>
+  </joint>
+  <joint name="joint_0.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8.0_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.001 -0.041 -0.015"/>
+  </joint>
+  <joint name="joint_4.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0.001 0 -0.013"/>
+  </joint>
+  <joint name="joint_8.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_0.0_fsr"/>
+    <origin rpy="0.09 0 0" xyz="0.001 0.041 -0.015"/>
+  </joint>
+</robot>
diff --git a/maniskill3_environment_assets/robots/allegro/variation/allegro_hand_right_fsr_simple.urdf b/maniskill3_environment_assets/robots/allegro/variation/allegro_hand_right_fsr_simple.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dcfbe84f90cd7f0ca07a2cfa086cf335a83cc6c1
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/variation/allegro_hand_right_fsr_simple.urdf
@@ -0,0 +1,848 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="allegro_right">
+  <material name="tactile">
+    <color rgba="1 0 0 1"/>
+  </material>
+  <link name="base_link">
+    <inertial>
+      <mass value="0.4154"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/base_link.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
+      <geometry>
+        <box size="0.0414 0.112 0.0448"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 -0.0253 -0.0667"/>
+      <geometry>
+        <box size="0.0414 0.0538 0.0428"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 -0.00557 -0.08874"/>
+      <geometry>
+        <box size="0.0414 0.0720 0.013"/>
+      </geometry>
+    </collision>
+  </link> <!--  virtual link-->
+  <link name="palm"/>
+  <joint name="palm_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="palm"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
+  </joint> <!--  virtual link-->
+  <link name="wrist"/>
+  <joint name="wrist_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.03"/>
+    <parent link="palm"/>
+    <child link="wrist"/>
+  </joint>
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_1.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_1.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_1.0_fsr" type="fixed">
+    <parent link="link_1.0"/>
+    <child link="link_1.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_2.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_2.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_1.0"/>
+    <child link="link_2.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_2.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_2.0_fsr" type="fixed">
+    <parent link="link_2.0"/>
+    <child link="link_2.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_3.0">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+  </link>
+  <joint name="joint_3.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_3.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_3.0_tip_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip_fsr" type="fixed">
+    <parent link="link_3.0_tip"/>
+    <child link="link_3.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <link name="link_4.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_5.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_5.0_fsr" type="fixed">
+    <parent link="link_5.0"/>
+    <child link="link_5.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_6.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_6.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_6.0_fsr" type="fixed">
+    <parent link="link_6.0"/>
+    <child link="link_6.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_7.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_7.0_tip_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip_fsr" type="fixed">
+    <parent link="link_7.0_tip"/>
+    <child link="link_7.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <link name="link_8.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_9.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_9.0_fsr" type="fixed">
+    <parent link="link_9.0"/>
+    <child link="link_9.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_10.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_10.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_10.0_fsr" type="fixed">
+    <parent link="link_10.0"/>
+    <child link="link_10.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_11.0">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_11.0_tip_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip_fsr" type="fixed">
+    <parent link="link_11.0_tip"/>
+    <child link="link_11.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <!-- THUMB -->
+  <link name="link_12.0">
+    <inertial>
+      <mass value="0.0176"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_12.0_right.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+  </joint>
+  <link name="link_13.0">
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_13.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <origin xyz="-0.027 0.005 0.0399"/>
+  </joint>
+  <link name="link_14.0">
+    <inertial>
+      <mass value="0.038"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_14.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_14.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_14.0_fsr" type="fixed">
+    <parent link="link_14.0"/>
+    <child link="link_14.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_15.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_15.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.04"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01125"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_fsr" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.075"/>
+  </joint>
+  <link name="link_15.0_tip_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip_fsr" type="fixed">
+    <parent link="link_15.0_tip"/>
+    <child link="link_15.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+
+  <!-- Palm fsr sensor -->
+  <link name="link_base_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_0.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_base_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_base_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.002 -0.035 -0.065"/>
+  </joint>
+  <joint name="joint_0.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8.0_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.001 -0.041 -0.015"/>
+  </joint>
+  <joint name="joint_4.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0.001 0 -0.013"/>
+  </joint>
+  <joint name="joint_8.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_0.0_fsr"/>
+    <origin rpy="0.09 0 0" xyz="0.001 0.041 -0.015"/>
+  </joint>
+</robot>
diff --git a/maniskill3_environment_assets/robots/allegro/variation/meshes/collision/longer_finger_tip.obj b/maniskill3_environment_assets/robots/allegro/variation/meshes/collision/longer_finger_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e585d9f04c2972595ff5c115bd79befc9ee86886
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/variation/meshes/collision/longer_finger_tip.obj
@@ -0,0 +1,3135 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/maniskill3_environment_assets/robots/allegro/variation/meshes/visual/longer_finger_tip.mtl b/maniskill3_environment_assets/robots/allegro/variation/meshes/visual/longer_finger_tip.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7b1b9d2fb3e93fcfcc59eaf69e41ada5b05f576d
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/variation/meshes/visual/longer_finger_tip.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.2 MTL File: 'None'
+# www.blender.org
+
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diff --git a/maniskill3_environment_assets/robots/allegro/variation/meshes/visual/longer_finger_tip.obj b/maniskill3_environment_assets/robots/allegro/variation/meshes/visual/longer_finger_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..437b399d57f6b8a1ecfe23c177bdcfd5ea44b95b
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/variation/meshes/visual/longer_finger_tip.obj
@@ -0,0 +1,10703 @@
+# Blender 4.0.2
+# www.blender.org
+mtllib longer_finger_tip.mtl
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diff --git a/maniskill3_environment_assets/robots/allegro/variation/meshes/visual/tactile.mtl b/maniskill3_environment_assets/robots/allegro/variation/meshes/visual/tactile.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cef6305ed00f267b801fe5bc86388de15d999a0f
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/variation/meshes/visual/tactile.mtl
@@ -0,0 +1,22 @@
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diff --git a/maniskill3_environment_assets/robots/allegro/variation/meshes/visual/tactile.obj b/maniskill3_environment_assets/robots/allegro/variation/meshes/visual/tactile.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c50482330fa0be762399eea57431bc5248c663a0
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/variation/meshes/visual/tactile.obj
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diff --git a/maniskill3_environment_assets/robots/humanoid/common/materials.xml b/maniskill3_environment_assets/robots/humanoid/common/materials.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d58f2c34b35d1e49c145830ab604bbadfd1c5d0f
--- /dev/null
+++ b/maniskill3_environment_assets/robots/humanoid/common/materials.xml
@@ -0,0 +1,23 @@
+<!--
+Common textures, colors and materials to be used throughout this suite. Some
+materials such as xxx_highlight are activated on occurence of certain events,
+for example receiving a positive reward.
+-->
+<mujoco>
+  <asset>
+    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
+    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
+    <material name="self" rgba=".7 .5 .3 1"/>
+    <material name="self_default" rgba=".7 .5 .3 1"/>
+    <material name="self_highlight" rgba="0 .5 .3 1"/>
+    <material name="effector" rgba=".7 .4 .2 1"/>
+    <material name="effector_default" rgba=".7 .4 .2 1"/>
+    <material name="effector_highlight" rgba="0 .5 .3 1"/>
+    <material name="decoration" rgba=".3 .5 .7 1"/>
+    <material name="eye" rgba="0 .2 1 1"/>
+    <material name="target" rgba=".6 .3 .3 1"/>
+    <material name="target_default" rgba=".6 .3 .3 1"/>
+    <material name="target_highlight" rgba=".6 .3 .3 .4"/>
+    <material name="site" rgba=".5 .5 .5 .3"/>
+  </asset>
+</mujoco>
\ No newline at end of file
diff --git a/maniskill3_environment_assets/robots/humanoid/common/skybox.xml b/maniskill3_environment_assets/robots/humanoid/common/skybox.xml
new file mode 100644
index 0000000000000000000000000000000000000000..67bd1b7552e323e96d296263d2d47011241b7c5f
--- /dev/null
+++ b/maniskill3_environment_assets/robots/humanoid/common/skybox.xml
@@ -0,0 +1,6 @@
+<mujoco>
+  <asset>
+      <texture name="skybox" type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0"
+               width="800" height="800" mark="random" markrgb="1 1 1"/>
+  </asset>
+</mujoco>
\ No newline at end of file
diff --git a/maniskill3_environment_assets/robots/humanoid/common/visual.xml b/maniskill3_environment_assets/robots/humanoid/common/visual.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fca4585cfdac41871ea2f6b8374908aed0e0b5bf
--- /dev/null
+++ b/maniskill3_environment_assets/robots/humanoid/common/visual.xml
@@ -0,0 +1,7 @@
+<mujoco>
+  <visual>
+    <headlight ambient=".4 .4 .4" diffuse=".8 .8 .8" specular="0.1 0.1 0.1"/>
+    <map znear=".01"/>
+    <quality shadowsize="2048"/>
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/maniskill3_environment_assets/robots/humanoid/humanoid.xml b/maniskill3_environment_assets/robots/humanoid/humanoid.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0d4b385095539bff0f1d614872f1d75fc3496a77
--- /dev/null
+++ b/maniskill3_environment_assets/robots/humanoid/humanoid.xml
@@ -0,0 +1,202 @@
+<mujoco model="humanoid">
+  <include file="./common/skybox.xml"/>
+  <include file="./common/visual.xml"/>
+  <include file="./common/materials.xml"/>
+
+  <statistic extent="2" center="0 0 1"/>
+
+  <option timestep=".005"/>
+
+  <default>
+    <motor ctrlrange="-1 1" ctrllimited="true"/>
+    <default class="body">
+      <geom  type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="self"/>
+      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
+      <default class="big_joint">
+        <joint damping="5" stiffness="10"/>
+        <default class="big_stiff_joint">
+          <joint stiffness="20"/>
+        </default>
+      </default>
+      <site size=".04" group="3"/>
+      <default class="force-torque">
+        <site type="box" size=".01 .01 .02" rgba="1 0 0 1" />
+      </default>
+      <default class="touch">
+        <site type="capsule" rgba="0 0 1 .3"/>
+      </default>
+    </default>
+  </default>
+
+  <worldbody>
+    <geom name="floor" type="plane" conaffinity="1" size="100 100 .2" material="grid"/>
+    <!-- body pos changed from pos="0 0 1.5" for compatability with maniskill articulation set_root_pose -->
+    <body name="torso" pos="0 0 0" childclass="body">
+      <light name="top" pos="0 0 2" mode="trackcom"/>
+      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
+      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
+      <freejoint name="root"/>
+      <site name="root" class="force-torque"/>
+      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
+      <geom name="upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
+      <site name="torso" class="touch" type="box" pos="0 0 -.05" size=".075 .14 .13"/>
+      <body name="head" pos="0 0 .19">
+        <geom name="head" type="sphere" size=".09"/>
+        <site name="head" class="touch" type="sphere" size=".091"/>
+        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
+      </body>
+      <body name="lower_waist" pos="-.01 0 -.260" quat="1.000 0 -.002 0">
+        <geom name="lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
+        <site name="lower_waist" class="touch" size=".061 .06" zaxis="0 1 0"/>
+        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
+        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
+        <body name="pelvis" pos="0 0 -.165" quat="1.000 0 -.002 0">
+          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
+          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
+          <site name="butt" class="touch" size=".091 .07" pos="-.02 0 0" zaxis="0 1 0"/>
+          <body name="right_thigh" pos="0 -.1 -.04">
+            <site name="right_hip" class="force-torque"/>
+            <joint name="right_hip_x" axis="1 0 0" range="-25 5"   class="big_joint"/>
+            <joint name="right_hip_z" axis="0 0 1" range="-60 35"  class="big_joint"/>
+            <joint name="right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
+            <geom name="right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
+            <site name="right_thigh" class="touch" pos="0 .005 -.17" size=".061 .17" zaxis="0 -1 34"/>
+            <body name="right_shin" pos="0 .01 -.403">
+              <site name="right_knee" class="force-torque" pos="0 0 .02"/>
+              <joint name="right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
+              <geom name="right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
+              <site name="right_shin" class="touch" pos="0 0 -.15" size=".05 .15"/>
+              <body name="right_foot" pos="0 0 -.39">
+                <site name="right_ankle" class="force-torque"/>
+                <joint name="right_ankle_y" pos="0 0 .08" axis="0 1 0"   range="-50 50" stiffness="6"/>
+                <joint name="right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
+                <geom name="right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
+                <geom name="left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
+                <site name="right_right_foot" class="touch" pos=".035 -.03 0" size=".03 .11" zaxis="21 -2 0"/>
+                <site name="left_right_foot" class="touch" pos=".035 .01 0" size=".03 .11" zaxis="21 2 0"/>
+              </body>
+            </body>
+          </body>
+          <body name="left_thigh" pos="0 .1 -.04">
+            <site name="left_hip" class="force-torque"/>
+            <joint name="left_hip_x" axis="-1 0 0" range="-25 5"  class="big_joint"/>
+            <joint name="left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
+            <joint name="left_hip_y" axis="0 1 0" range="-120 20" class="big_stiff_joint"/>
+            <geom name="left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
+            <site name="left_thigh" class="touch" pos="0 -.005 -.17" size=".061 .17" zaxis="0 1 34"/>
+            <body name="left_shin" pos="0 -.01 -.403">
+              <site name="left_knee" class="force-torque" pos="0 0 .02"/>
+              <joint name="left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
+              <geom name="left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
+              <site name="left_shin" class="touch"  pos="0 0 -.15" size=".05 .15"/>
+              <body name="left_foot" pos="0 0 -.39">
+                <site name="left_ankle" class="force-torque"/>
+                <joint name="left_ankle_y" pos="0 0 .08" axis="0 1 0"   range="-50 50" stiffness="6"/>
+                <joint name="left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
+                <geom name="left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
+                <geom name="right_left_foot" fromto="-.07 0 0 .14  -.02 0" size=".027"/>
+                <site name="right_left_foot" class="touch" pos=".035 -.01 0" size=".03 .11" zaxis="21 -2 0"/>
+                <site name="left_left_foot" class="touch" pos=".035 .03 0" size=".03 .11" zaxis="21 2 0"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_upper_arm" pos="0 -.17 .06">
+        <joint name="right_shoulder1" axis="2 1 1"  range="-85 60"/>
+        <joint name="right_shoulder2" axis="0 -1 1" range="-85 60"/>
+        <geom name="right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
+        <site name="right_upper_arm" class="touch" pos=".08 -.08 -.08" size=".041 .14" zaxis="1 -1 -1"/>
+        <body name="right_lower_arm" pos=".18 -.18 -.18">
+          <joint name="right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
+          <geom name="right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
+          <site name="right_lower_arm" class="touch" pos=".09 .09 .09" size=".032 .14" zaxis="1 1 1"/>
+          <body name="right_hand" pos=".18 .18 .18">
+            <geom name="right_hand" type="sphere" size=".04"/>
+            <site name="right_hand" class="touch" type="sphere" size=".041"/>
+          </body>
+        </body>
+      </body>
+      <body name="left_upper_arm" pos="0 .17 .06">
+        <joint name="left_shoulder1" axis="2 -1 1" range="-60 85"/>
+        <joint name="left_shoulder2" axis="0 1 1" range="-60 85"/>
+        <geom name="left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
+        <site name="left_upper_arm" class="touch" pos=".08 .08 -.08" size=".041 .14" zaxis="1 1 -1"/>
+        <body name="left_lower_arm" pos=".18 .18 -.18">
+          <joint name="left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
+          <geom name="left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
+          <site name="left_lower_arm" class="touch" pos=".09 -.09 .09" size=".032 .14" zaxis="1 -1 1"/>
+          <body name="left_hand" pos=".18 -.18 .18">
+            <geom name="left_hand" type="sphere" size=".04"/>
+            <site name="left_hand" class="touch" type="sphere" size=".041"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
+    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
+    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
+    <motor name="right_hip_x"     gear="40"  joint="right_hip_x"/>
+    <motor name="right_hip_z"     gear="40"  joint="right_hip_z"/>
+    <motor name="right_hip_y"     gear="120" joint="right_hip_y"/>
+    <motor name="right_knee"      gear="80"  joint="right_knee"/>
+    <motor name="right_ankle_x"   gear="20"  joint="right_ankle_x"/>
+    <motor name="right_ankle_y"   gear="20"  joint="right_ankle_y"/>
+    <motor name="left_hip_x"      gear="40"  joint="left_hip_x"/>
+    <motor name="left_hip_z"      gear="40"  joint="left_hip_z"/>
+    <motor name="left_hip_y"      gear="120" joint="left_hip_y"/>
+    <motor name="left_knee"       gear="80"  joint="left_knee"/>
+    <motor name="left_ankle_x"    gear="20"  joint="left_ankle_x"/>
+    <motor name="left_ankle_y"    gear="20"  joint="left_ankle_y"/>
+    <motor name="right_shoulder1" gear="20"  joint="right_shoulder1"/>
+    <motor name="right_shoulder2" gear="20"  joint="right_shoulder2"/>
+    <motor name="right_elbow"     gear="40"  joint="right_elbow"/>
+    <motor name="left_shoulder1"  gear="20"  joint="left_shoulder1"/>
+    <motor name="left_shoulder2"  gear="20"  joint="left_shoulder2"/>
+    <motor name="left_elbow"      gear="40"  joint="left_elbow"/>
+  </actuator>
+
+  <sensor>
+    <subtreelinvel name="torso_subtreelinvel" body="torso"/>
+    <accelerometer name="torso_accel"    site="root"/>
+    <velocimeter name="torso_vel"        site="root"/>
+    <gyro name="torso_gyro"              site="root"/>
+
+    <force name="left_ankle_force"       site="left_ankle"/>
+    <force name="right_ankle_force"      site="right_ankle"/>
+    <force name="left_knee_force"        site="left_knee"/>
+    <force name="right_knee_force"       site="right_knee"/>
+    <force name="left_hip_force"         site="left_hip"/>
+    <force name="right_hip_force"        site="right_hip"/>
+
+    <torque name="left_ankle_torque"     site="left_ankle"/>
+    <torque name="right_ankle_torque"    site="right_ankle"/>
+    <torque name="left_knee_torque"      site="left_knee"/>
+    <torque name="right_knee_torque"     site="right_knee"/>
+    <torque name="left_hip_torque"       site="left_hip"/>
+    <torque name="right_hip_torque"      site="right_hip"/>
+
+    <touch name="torso_touch"            site="torso"/>
+    <touch name="head_touch"             site="head"/>
+    <touch name="lower_waist_touch"      site="lower_waist"/>
+    <touch name="butt_touch"             site="butt"/>
+    <touch name="right_thigh_touch"      site="right_thigh"/>
+    <touch name="right_shin_touch"       site="right_shin"/>
+    <touch name="right_right_foot_touch" site="right_right_foot"/>
+    <touch name="left_right_foot_touch"  site="left_right_foot"/>
+    <touch name="left_thigh_touch"       site="left_thigh"/>
+    <touch name="left_shin_touch"        site="left_shin"/>
+    <touch name="right_left_foot_touch"  site="right_left_foot"/>
+    <touch name="left_left_foot_touch"   site="left_left_foot"/>
+    <touch name="right_upper_arm_touch"  site="right_upper_arm"/>
+    <touch name="right_lower_arm_touch"  site="right_lower_arm"/>
+    <touch name="right_hand_touch"       site="right_hand"/>
+    <touch name="left_upper_arm_touch"   site="left_upper_arm"/>
+    <touch name="left_lower_arm_touch"   site="left_lower_arm"/>
+    <touch name="left_hand_touch"        site="left_hand"/>
+  </sensor>
+
+</mujoco>
diff --git a/maniskill3_environment_assets/robots/trifinger/high_table_boundary.urdf b/maniskill3_environment_assets/robots/trifinger/high_table_boundary.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eb17652c74b5742ca5a955f23c3a3dcc0469bb6d
--- /dev/null
+++ b/maniskill3_environment_assets/robots/trifinger/high_table_boundary.urdf
@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/felixwidmaier/ws/fingers/workspace/src/catkin/robots/robot_properties/robot_properties_fingers/xacro/stage.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="stage">
+  <material name="stage_material">
+    <color rgba="0.8 0.8 0.8 1.0"/>
+  </material>
+  <!-- add the "stage" -->
+  <link name="stage_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/high_table_boundary.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="stage_material"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/high_table_boundary.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.00770833333333" ixy="0" ixz="0" iyy="0.00770833333333" iyz="0" izz="0.015"/>
+    </inertial>
+  </link>
+</robot>
diff --git a/maniskill3_environment_assets/robots/trifinger/trifingerpro.urdf b/maniskill3_environment_assets/robots/trifinger/trifingerpro.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..66464e627a9832124cd6629df61d24f256a1db49
--- /dev/null
+++ b/maniskill3_environment_assets/robots/trifinger/trifingerpro.urdf
@@ -0,0 +1,706 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robot_properties_fingers/xacro/pro/trifingerpro.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="trifingerpro">
+  <!--
+    Frames are defined such that they all align with the base frame when all
+    joints are at position zero.
+
+    In zero-configuration the origins of all joints are in one line.
+
+    In zero-configuration the origin of the base link is exactly above the
+    finger tip which should make it easy to place the finger in the world.
+    -->
+  <material name="fingerpro_shell">
+    <!-- colour from image -->
+    <color rgba="0.804 0.764 0.761 1.0"/>
+  </material>
+  <material name="fingerpro_tip">
+    <!-- colour from image -->
+    <color rgba="0.33 0.36 0.37 1.0"/>
+  </material>
+  <material name="fingerpro_motor">
+    <color rgba="0.17 0.17 0.17 1.0"/>
+  </material>
+  <material name="center_holder_material">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <!-- Define the global base_link and place all other objects relative to it. -->
+  <link name="base_link">
+    <!-- add inertial to suppress warning -->
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <!-- Define the upper holder -->
+  <link name="upper_holder_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/center_axis_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="center_holder_material"/>
+    </visual>
+    <!-- add inertial to suppress warning -->
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="base_to_upper_holder_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="upper_holder_link"/>
+    <origin xyz="0 0 0.29"/>
+  </joint>
+  <!--
+        Fixed links for the finger base (parts where the upper link is mounted).
+        Note: Link Frames already coincide with the joint location
+        -->
+  <link name="finger_base_link_0">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006 0.122 0.000"/>
+      <mass value="0.26689"/>
+      <inertia ixx="0.00102362" ixy="0.00000889" ixz="-0.00000019" iyx="0.00000889" iyy="0.00006450" iyz="0.00000106" izx="-0.00000019" izy="0.00000106" izz="0.00102225"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_visuals_0">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.01569 0.1643 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.015 0.083 0"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.008 0.124 0"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.0085 0.050 0"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_upper_visuals_joint_0" type="fixed">
+    <parent link="finger_upper_link_0"/>
+    <child link="finger_upper_link_visuals_0"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+  <link name="finger_middle_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.03935008 -0.00012438 -0.08666705"/>
+      <mass value="0.27163"/>
+      <inertia ixx="0.00094060" ixy="-0.00000046" ixz="-0.00003479" iyx="-0.00000046" iyy="0.00094824" iyz="0.00000164" izx="-0.00003479" izy="0.00000164" izz="0.00007573"/>
+    </inertial>
+  </link>
+  <link name="finger_middle_link_visuals_0">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.0488 0 -0.0462"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.0488 0 -0.13"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin xyz="0.025 0 -0.09"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.024 0 -0.16"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_middle_visuals_joint_0" type="fixed">
+    <parent link="finger_middle_link_0"/>
+    <child link="finger_middle_link_visuals_0"/>
+  </joint>
+  <link name="finger_lower_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01632700 -0.00001095 -0.04284052"/>
+      <mass value="0.05569"/>
+      <inertia ixx="0.00013626" ixy="0.00000000" ixz="-0.00000662" iyx="0.00000000" iyy="0.00013372" iyz="0.00000004" izx="-0.00000662" izy="0.00000004" izz="0.00000667"/>
+    </inertial>
+  </link>
+  <!-- fixed link for finger tip -->
+  <link name="finger_tip_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_tip"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.031"/>
+      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
+    </inertial>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
+      <mass value="0.0092"/>
+      <inertia ixx="0.00000155" ixy="0.00000000" ixz="0.00000000" iyx="0.00000000" iyy="0.00000155" iyz="0.00000000" izx="0.00000000" izy="0.00000000" izz="0.00000032"/>
+    </inertial>
+  </link>
+  <joint name="finger_lower_to_tip_joint_0" type="fixed">
+    <parent link="finger_lower_link_0"/>
+    <child link="finger_tip_link_0"/>
+    <origin xyz="0.019 0 -0.16"/>
+  </joint>
+  <!-- kinematics -->
+  <!-- NOTE: Joint limits are set according to soft limits in the
+             configuration of the real robot (i.e. not according to physical
+             limits). -->
+  <joint name="finger_base_to_upper_joint_0" type="revolute">
+    <parent link="finger_base_link_0"/>
+    <child link="finger_upper_link_0"/>
+    <limit effort="1000" lower="-0.33" upper="1.0" velocity="1000"/>
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="finger_upper_to_middle_joint_0" type="revolute">
+    <parent link="finger_upper_link_0"/>
+    <child link="finger_middle_link_0"/>
+    <limit effort="1000" lower="0.0" upper="1.57" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.01685 0.0505 0"/>
+  </joint>
+  <joint name="finger_middle_to_lower_joint_0" type="revolute">
+    <parent link="finger_middle_link_0"/>
+    <child link="finger_lower_link_0"/>
+    <limit effort="1000" lower="-2.7" upper="0.0" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.05015 0 -0.16"/>
+  </joint>
+  <!--
+        Fixed links for the finger base (parts where the upper link is mounted).
+        Note: Link Frames already coincide with the joint location
+        -->
+  <link name="finger_base_link_120">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_120">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006 0.122 0.000"/>
+      <mass value="0.26689"/>
+      <inertia ixx="0.00102362" ixy="0.00000889" ixz="-0.00000019" iyx="0.00000889" iyy="0.00006450" iyz="0.00000106" izx="-0.00000019" izy="0.00000106" izz="0.00102225"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_visuals_120">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.01569 0.1643 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.015 0.083 0"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.008 0.124 0"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.0085 0.050 0"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_upper_visuals_joint_120" type="fixed">
+    <parent link="finger_upper_link_120"/>
+    <child link="finger_upper_link_visuals_120"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+  <link name="finger_middle_link_120">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.03935008 -0.00012438 -0.08666705"/>
+      <mass value="0.27163"/>
+      <inertia ixx="0.00094060" ixy="-0.00000046" ixz="-0.00003479" iyx="-0.00000046" iyy="0.00094824" iyz="0.00000164" izx="-0.00003479" izy="0.00000164" izz="0.00007573"/>
+    </inertial>
+  </link>
+  <link name="finger_middle_link_visuals_120">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.0488 0 -0.0462"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.0488 0 -0.13"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin xyz="0.025 0 -0.09"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.024 0 -0.16"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_middle_visuals_joint_120" type="fixed">
+    <parent link="finger_middle_link_120"/>
+    <child link="finger_middle_link_visuals_120"/>
+  </joint>
+  <link name="finger_lower_link_120">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01632700 -0.00001095 -0.04284052"/>
+      <mass value="0.05569"/>
+      <inertia ixx="0.00013626" ixy="0.00000000" ixz="-0.00000662" iyx="0.00000000" iyy="0.00013372" iyz="0.00000004" izx="-0.00000662" izy="0.00000004" izz="0.00000667"/>
+    </inertial>
+  </link>
+  <!-- fixed link for finger tip -->
+  <link name="finger_tip_link_120">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_tip"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.031"/>
+      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
+    </inertial>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
+      <mass value="0.0092"/>
+      <inertia ixx="0.00000155" ixy="0.00000000" ixz="0.00000000" iyx="0.00000000" iyy="0.00000155" iyz="0.00000000" izx="0.00000000" izy="0.00000000" izz="0.00000032"/>
+    </inertial>
+  </link>
+  <joint name="finger_lower_to_tip_joint_120" type="fixed">
+    <parent link="finger_lower_link_120"/>
+    <child link="finger_tip_link_120"/>
+    <origin xyz="0.019 0 -0.16"/>
+  </joint>
+  <!-- kinematics -->
+  <!-- NOTE: Joint limits are set according to soft limits in the
+             configuration of the real robot (i.e. not according to physical
+             limits). -->
+  <joint name="finger_base_to_upper_joint_120" type="revolute">
+    <parent link="finger_base_link_120"/>
+    <child link="finger_upper_link_120"/>
+    <limit effort="1000" lower="-0.33" upper="1.0" velocity="1000"/>
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="finger_upper_to_middle_joint_120" type="revolute">
+    <parent link="finger_upper_link_120"/>
+    <child link="finger_middle_link_120"/>
+    <limit effort="1000" lower="0.0" upper="1.57" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.01685 0.0505 0"/>
+  </joint>
+  <joint name="finger_middle_to_lower_joint_120" type="revolute">
+    <parent link="finger_middle_link_120"/>
+    <child link="finger_lower_link_120"/>
+    <limit effort="1000" lower="-2.7" upper="0.0" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.05015 0 -0.16"/>
+  </joint>
+  <!--
+        Fixed links for the finger base (parts where the upper link is mounted).
+        Note: Link Frames already coincide with the joint location
+        -->
+  <link name="finger_base_link_240">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_240">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006 0.122 0.000"/>
+      <mass value="0.26689"/>
+      <inertia ixx="0.00102362" ixy="0.00000889" ixz="-0.00000019" iyx="0.00000889" iyy="0.00006450" iyz="0.00000106" izx="-0.00000019" izy="0.00000106" izz="0.00102225"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_visuals_240">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.01569 0.1643 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.015 0.083 0"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.008 0.124 0"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.0085 0.050 0"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_upper_visuals_joint_240" type="fixed">
+    <parent link="finger_upper_link_240"/>
+    <child link="finger_upper_link_visuals_240"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+  <link name="finger_middle_link_240">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.03935008 -0.00012438 -0.08666705"/>
+      <mass value="0.27163"/>
+      <inertia ixx="0.00094060" ixy="-0.00000046" ixz="-0.00003479" iyx="-0.00000046" iyy="0.00094824" iyz="0.00000164" izx="-0.00003479" izy="0.00000164" izz="0.00007573"/>
+    </inertial>
+  </link>
+  <link name="finger_middle_link_visuals_240">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.0488 0 -0.0462"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.0488 0 -0.13"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin xyz="0.025 0 -0.09"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.024 0 -0.16"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_middle_visuals_joint_240" type="fixed">
+    <parent link="finger_middle_link_240"/>
+    <child link="finger_middle_link_visuals_240"/>
+  </joint>
+  <link name="finger_lower_link_240">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01632700 -0.00001095 -0.04284052"/>
+      <mass value="0.05569"/>
+      <inertia ixx="0.00013626" ixy="0.00000000" ixz="-0.00000662" iyx="0.00000000" iyy="0.00013372" iyz="0.00000004" izx="-0.00000662" izy="0.00000004" izz="0.00000667"/>
+    </inertial>
+  </link>
+  <!-- fixed link for finger tip -->
+  <link name="finger_tip_link_240">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_tip"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.031"/>
+      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
+    </inertial>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
+      <mass value="0.0092"/>
+      <inertia ixx="0.00000155" ixy="0.00000000" ixz="0.00000000" iyx="0.00000000" iyy="0.00000155" iyz="0.00000000" izx="0.00000000" izy="0.00000000" izz="0.00000032"/>
+    </inertial>
+  </link>
+  <joint name="finger_lower_to_tip_joint_240" type="fixed">
+    <parent link="finger_lower_link_240"/>
+    <child link="finger_tip_link_240"/>
+    <origin xyz="0.019 0 -0.16"/>
+  </joint>
+  <!-- kinematics -->
+  <!-- NOTE: Joint limits are set according to soft limits in the
+             configuration of the real robot (i.e. not according to physical
+             limits). -->
+  <joint name="finger_base_to_upper_joint_240" type="revolute">
+    <parent link="finger_base_link_240"/>
+    <child link="finger_upper_link_240"/>
+    <limit effort="1000" lower="-0.33" upper="1.0" velocity="1000"/>
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="finger_upper_to_middle_joint_240" type="revolute">
+    <parent link="finger_upper_link_240"/>
+    <child link="finger_middle_link_240"/>
+    <limit effort="1000" lower="0.0" upper="1.57" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.01685 0.0505 0"/>
+  </joint>
+  <joint name="finger_middle_to_lower_joint_240" type="revolute">
+    <parent link="finger_middle_link_240"/>
+    <child link="finger_lower_link_240"/>
+    <limit effort="1000" lower="-2.7" upper="0.0" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.05015 0 -0.16"/>
+  </joint>
+  <joint name="holder_to_finger_0" type="fixed">
+    <parent link="upper_holder_link"/>
+    <child link="finger_base_link_0"/>
+    <origin rpy="0 0 0.0" xyz="0 0 0"/>
+  </joint>
+  <joint name="holder_to_finger_120" type="fixed">
+    <parent link="upper_holder_link"/>
+    <child link="finger_base_link_120"/>
+    <origin rpy="0 0 -2.0943951023931953" xyz="0 0 0"/>
+  </joint>
+  <joint name="holder_to_finger_240" type="fixed">
+    <parent link="upper_holder_link"/>
+    <child link="finger_base_link_240"/>
+    <origin rpy="0 0 -4.1887902047863905" xyz="0 0 0"/>
+  </joint>
+</robot>