diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl001.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..743172d3ff233ae9a583b687ef5f03ddaa028bca
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl002.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d67d2632650981751ea1cd22fb1bc4a367f5b939
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl003.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ddff9df47a33042d0655b1063a914ba36eef94
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl005.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6ee8810386969b818028aca32c3c5ae04a3dd9b
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl005.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl006.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f29767ee7b60184fbd5133551f17a2be55d235
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl008.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d330da798c68222408399feaa103363f8c99c71
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl011.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f064e1b4748cf74267e71eca5e93231fc07b3e0b
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl012.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de134b91b869315460c501b858842420abf3e4af
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl013.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c6fa715be29f4940bc762ad17e2885c6414d92c
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl014.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793bda50ca37727149d4423c3ed7848223fbcc34
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl015.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl015.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl016.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl016.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl018.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a6b7bba6826c1ec4f8f656931cbe4d0f1322626
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new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl020.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08b92c0b7a95337532a8734452258c5a197100b9
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl021.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca77ebbd38a0a370eb1e66c2d2fb9f5dd6bff396
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl023.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ed77cecfe5e65d5054832352a3bfdfa67508a9a
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl024.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..362abc9f1ce2864ed62ede469587b621bef4b6ae
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl025.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86968d4b9039b060c593ac410e87af2fa7139f65
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl026.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..287393e3da0fadab2b074145e5167110036eca18
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl027.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67bcd35a0075a30c90fea2ba89268ab6d8db2fa8
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl028.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl028.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl029.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl029.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl030.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl030.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl031.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl031.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl032.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl032.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl033.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl033.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl034.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08f8b97a79040fbde279088b3db6fe37eb5d8744
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl036.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..078533ba63de2677e4c98007c9543d401732a445
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl037.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e70b02243959623f6e3654a2e34702d1169da150
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl038.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl038.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl039.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03d01478e9f3cc11bc0f6f26eb189d61e41a7ef7
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl040.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4443af6f7bb49f0d170f03e659a9db3bc9e7fe7
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl041.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl041.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2303fbf80b841cf7e181445107cc9185c355636a
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl041.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl042.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl042.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e564fe9fed5cc68b91a058eb567b85a86c3acd76
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl043.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl043.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47354e2dc062ef6f70b844f10ec5fe08d439fa1
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl043.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl044.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl044.obj
new file mode 100644
index 0000000000000000000000000000000000000000..838f666e8e4ab9fc1b7c743224e293ef5484500c
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl045.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl045.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee74fb31b1da107633888ac0bb06b24db8a8123d
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl047.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl047.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca1aac538c9791eeb5019c6dad6a592d8552d8b
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl049.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl049.obj
new file mode 100644
index 0000000000000000000000000000000000000000..573128e4c71821084b1215487b64c2a5aa5bcb36
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl051.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl051.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl052.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl052.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65d4cfa79d3a14deeafa1402eff70ab1a370ebfb
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl053.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl053.obj
new file mode 100644
index 0000000000000000000000000000000000000000..837dba6f4b7cf509f6e204701f1884549f997a8b
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl054.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl054.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl055.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl055.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl056.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl056.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl059.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl059.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl060.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl060.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99776aec6f9830d0fbed825774fd8beee1723e6e
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl061.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl061.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a7f3277f2b139eb7a5ef2b1f40aa0812560a7cd
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diff --git a/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl062.obj b/maniskill3_environment_assets/plates/kalas_bowl/kalas_bowl062.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daeabb7e49ffc6122ed610bc5a8ca644fd8e9bba
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug000.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b224365a7626ca4af0bfa5a947dea77b3604c1bc
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug001.obj.coacd.ply b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug001.obj.coacd.ply
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug002.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..265755bf9dae96fb29ae6a0afa190de0e09bcf27
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug003.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d01b09a2e1a165717931e330b7775a6a351dd1
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug004.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1066698f2865ed4176d8dab597c43d6336588739
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug007.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug007.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug008.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20354d9fd716469e4d333289e72513dd557432d8
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug009.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0571062c9c018366bdae1d69cd05585269b1547b
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug011.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f358c2d39810609f17a0c042f856dd471fba3020
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug011.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug012.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a35223298d261544b8a61b32153c89c72d36fd7
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug013.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..861f550fc1b539a5668a0bd116c07f5f05cfd16a
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug014.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..817dee3e0d8bb86bd30a9c43c9ecfa234a6cdbce
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug015.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a69c986dba121fdcce5abd955c4aed323ed2b04c
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug015.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug016.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6bf42143ddd269b27e796b1187c172a2ada7929
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug018.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73ffcb6c160ebcbe6be31f657ff252eaba05753f
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug018.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug019.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..073bdac9a18d9cfaa3bd8d323972fdbed9b3fbb3
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug020.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..894ea90ac4f22eb6ca5e4ab46be36fe98d048886
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug020.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug022.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ed09bb702fa456870e1eaaa8d8aad4507b866ac
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug022.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug023.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6e6595aebe2bc6111bcf4728598d085e1da9398
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug025.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3c358172283efbbfde410ec88fe845f9b764596
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug026.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af82e4c38a81d78869ff17c055673b30dba2a8ea
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug027.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9721a73dd6bae616feeb0511b52aad6b66a35215
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug027.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug030.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3fd05abd455e944bfe876b071b9e7a1f5c494d2
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug032.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8401434c58d892ecdc862c95022f176b4ca76902
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug032.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug033.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e20211d06544767beff09d708b6b1da964df185e
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug033.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug036.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11f1aa9ab9353476e9cace31bfafa96ca4801ce4
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug037.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de7310444d9607b706f2086cb29fdffb75cdc333
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug038.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff3c1b06340932b0897cddbd7fb2bd68f36ad67
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug038.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug040.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug040.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug043.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug043.obj
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index 0000000000000000000000000000000000000000..78b7230c8a77fbe55e91676e5c5b90c335b25c54
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug046.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug046.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd506d578181dae44b4b41e35f42647278314e79
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug047.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug047.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ea8b8623b38777d815d0c66d999b8d89a8ff293
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug049.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug049.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c90bd92ea493bdaf57fdcdffca7c918e8523463
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug050.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug050.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c22260d67257f5e214126e44c157af8f2e908839
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug051.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug051.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b1f1b3e949ddae65efa916b468703da9cd88ab9
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug055.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug055.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c272cdf77ec9cc916f4b2fe4239caee391ff02b2
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug056.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug056.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26f2c11e2e377b53b49e6d71342e240faacb9bde
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug057.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug057.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80f30233d7a345797023739cacb9154a7362ee90
--- /dev/null
+++ b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug057.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug058.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug058.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a364772ef5c4fe037c0377291c24e77790341e5f
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug059.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug059.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7a4c4486dd36922954503548f69c8808d4c2164
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug060.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug060.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b5822c280ca29e31f736b187c0490c60873048a
--- /dev/null
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug061.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug061.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug062.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug062.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24adc06d7b339b7e01326c2f7a1637eb7f65b1e2
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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug063.obj.coacd.ply b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug063.obj.coacd.ply
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack006.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6663f4122558c447ae684529cd1bd17d70cab90a
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack019.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack019.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack020.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..748ac136dc3dfcb31d18d4c9db75f74511d9f8d2
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack021.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack021.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack025.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a6be9a894316c9c4475593ac4b29e377e9fe2ae
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack026.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72361f452540c0d60d0a5c9bdf84113b91559b27
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack026.obj
@@ -0,0 +1,26 @@
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack031.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ca50e7b45211ef420db666d5dc6e353647f0ab
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack031.obj
@@ -0,0 +1,47 @@
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack033.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa6cbb0f2ab8f248e660a57378c1a9f07db50715
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack033.obj
@@ -0,0 +1,44 @@
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack034.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5c376a4e9c391099fef17fa425613089f749ab1
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack034.obj
@@ -0,0 +1,32 @@
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack035.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82b8862d1d408166f8e85858ccee92d5bba1e5f8
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack035.obj
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack041.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack041.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c224c9b8e6b8b3fb34c6e4eb14348ef2519ad472
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack041.obj
@@ -0,0 +1,38 @@
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack048.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack048.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a56a4935e7c4a942a951e4732a10b19177416fdb
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack048.obj
@@ -0,0 +1,35 @@
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack051.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack051.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99145eb679898c6b037356b07ba51fa0ef919b6c
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack051.obj
@@ -0,0 +1,41 @@
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack056.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack056.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f7f20142bc1c35bf7b35f8cd8489981b68d660f
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack056.obj
@@ -0,0 +1,41 @@
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack057.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack057.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51b8e759b366e98a90d4da124973db2265950773
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack057.obj
@@ -0,0 +1,20 @@
+v 0.039969407 0.047316192 0.003694684
+v 0.040000917 -0.058975240 0.010304953
+v 0.039994260 -0.053284465 0.002592248
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diff --git a/maniskill3_environment_assets/robots/allegro/LICENSE b/maniskill3_environment_assets/robots/allegro/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..6985b66f4834a18c226f18ec8e75d027d3f8265b
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/LICENSE
@@ -0,0 +1,19 @@
+Copyright (c) 2016, SimLab
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+Copyright 2024 The DexSuite Authors.
+https://github.com/dexsuite/dex-urdf
+
+The model files we obtained from the previously mentioned source underwent
+significant modifications before we could use them. These modifications
+included changes to the meshes and the URDF file itself.
diff --git a/maniskill3_environment_assets/robots/allegro/allegro_hand_left.urdf b/maniskill3_environment_assets/robots/allegro/allegro_hand_left.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..802b9aa8399149e9d5cf9a8ce7a1ff4ff17c5478
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/allegro_hand_left.urdf
@@ -0,0 +1,535 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="allegro_left">
+  <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_left.obj"/>
+      </geometry>
+      <origin rpy="-1.570795 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_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_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">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0267"/>
+  </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_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_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">
+    <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_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0267"/>
+  </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_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_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">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0267"/>
+  </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_left.obj"/>
+      </geometry>
+      <origin rpy="3.14159 0 0" xyz="0 0 0"/>
+    </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 xyz="-0.0182 -0.019333 -0.045987" rpy="0 -1.65806278845 1.5707963259"/>
+  </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_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_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0423"/>
+  </joint>
+</robot>
diff --git a/maniskill3_environment_assets/robots/allegro/allegro_hand_left_glb.urdf b/maniskill3_environment_assets/robots/allegro/allegro_hand_left_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6cfa58c13aafeca584721b9f4a0146345ec365ea
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/allegro_hand_left_glb.urdf
@@ -0,0 +1,535 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="allegro_left">
+  <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_left.glb"/>
+      </geometry>
+      <origin rpy="-1.570795 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_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_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">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0267"/>
+  </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_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_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">
+    <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_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0267"/>
+  </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_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_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">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0267"/>
+  </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_left.glb"/>
+      </geometry>
+      <origin rpy="3.14159 0 0" xyz="0 0 0"/>
+    </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 xyz="-0.0182 -0.019333 -0.045987" rpy="0 -1.65806278845 1.5707963259"/>
+  </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_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_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0423"/>
+  </joint>
+</robot>
diff --git a/maniskill3_environment_assets/robots/allegro/allegro_hand_right.urdf b/maniskill3_environment_assets/robots/allegro/allegro_hand_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..35bdee4f1cbcfe9b491b13fc37f355bccda810d4
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/allegro_hand_right.urdf
@@ -0,0 +1,534 @@
+<?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_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_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">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0267"/>
+  </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_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_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">
+    <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_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0267"/>
+  </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_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_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">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0267"/>
+  </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_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_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0423"/>
+  </joint>
+</robot>
diff --git a/maniskill3_environment_assets/robots/allegro/allegro_hand_right_glb.urdf b/maniskill3_environment_assets/robots/allegro/allegro_hand_right_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..76c52eddf44fe8d61295732900d588d62cf4fea1
--- /dev/null
+++ b/maniskill3_environment_assets/robots/allegro/allegro_hand_right_glb.urdf
@@ -0,0 +1,534 @@
+<?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_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_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">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0267"/>
+  </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_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_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">
+    <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_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0267"/>
+  </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_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_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">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0267"/>
+  </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_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_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </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 0.0423"/>
+  </joint>
+</robot>
diff --git a/maniskill3_environment_assets/robots/xarm7/meshes/collision/link1.obj b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..121b252558d16cd6f508e13776f016fca7806fe7
--- /dev/null
+++ b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link1.obj
@@ -0,0 +1,3559 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v -0.04790971 -0.00026275 -0.09099868 0.54509804 0.71372549 0.60000000
+v -0.04779786 -0.00303987 -0.06612349 0.54509804 0.71372549 0.60000000
+v -0.04786310 0.00166793 -0.09099868 0.54509804 0.71372549 0.60000000
+v -0.04777922 0.00252389 -0.11199402 0.54509804 0.71372549 0.60000000
+v -0.04779786 -0.00220293 -0.11199402 0.54509804 0.71372549 0.60000000
+v -0.04785378 -0.01167559 -0.04929038 0.54509804 0.71372549 0.60000000
+v -0.04776990 -0.00517027 -0.05789111 0.54509804 0.71372549 0.60000000
+v -0.04745301 0.00154429 -0.06810639 0.54509804 0.71372549 0.60000000
+v -0.04753689 0.00319915 -0.07705703 0.54509804 0.71372549 0.60000000
+v -0.04759281 0.00419777 -0.08742578 0.54509804 0.71372549 0.60000000
+v -0.04742505 0.00630915 -0.09099868 0.54509804 0.71372549 0.60000000
+v -0.04762078 0.00459722 -0.09800940 0.54509804 0.71372549 0.60000000
+v -0.04763942 0.00439750 -0.11199402 0.54509804 0.71372549 0.60000000
+v 0.04610445 -0.00989709 -0.11200016 0.54509804 0.71372549 0.60000000
+v -0.04734117 -0.00689171 -0.11199402 0.54509804 0.71372549 0.60000000
+v -0.04778854 -0.01284541 -0.04929038 0.54509804 0.71372549 0.60000000
+v -0.04773262 -0.00804250 -0.04929038 0.54509804 0.71372549 0.60000000
+v -0.04774194 -0.00761452 -0.05047521 0.54509804 0.71372549 0.60000000
+v -0.04666078 0.00609040 -0.07003403 0.54509804 0.71372549 0.60000000
+v -0.04680991 0.00778331 -0.07861020 0.54509804 0.71372549 0.60000000
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diff --git a/maniskill3_environment_assets/robots/xarm7/meshes/collision/link2.obj b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b68bc4bcc83a2dba1923ea4e047285ae2c459c7f
--- /dev/null
+++ b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link2.obj
@@ -0,0 +1,5064 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/maniskill3_environment_assets/robots/xarm7/meshes/collision/link3.obj b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3a9fdd71ee342197ca66740d3221d1cb73170e4
--- /dev/null
+++ b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link3.obj
@@ -0,0 +1,4602 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/maniskill3_environment_assets/robots/xarm7/meshes/collision/link4.obj b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb7cd707c2057837ced99baee3d364fea01c039
--- /dev/null
+++ b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link4.obj
@@ -0,0 +1,3159 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/maniskill3_environment_assets/robots/xarm7/meshes/collision/link5.obj b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e85144488f5e3617cdfd4c972195d14570733d63
--- /dev/null
+++ b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link5.obj
@@ -0,0 +1,3562 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/maniskill3_environment_assets/robots/xarm7/meshes/collision/link6.obj b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b79add388b7063f52c4381f371549f186954d701
--- /dev/null
+++ b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link6.obj
@@ -0,0 +1,4522 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/maniskill3_environment_assets/robots/xarm7/meshes/collision/link7.obj b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75e049243a4d0208a10c4f202b484748fbd3c84d
--- /dev/null
+++ b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link7.obj
@@ -0,0 +1,573 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/maniskill3_environment_assets/robots/xarm7/meshes/collision/link_base.obj b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link_base.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b5819f498e1e2bf38d965ba68ee1a047ebd22a5
--- /dev/null
+++ b/maniskill3_environment_assets/robots/xarm7/meshes/collision/link_base.obj
@@ -0,0 +1,2472 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/maniskill3_environment_assets/robots/xarm7/xarm7.urdf b/maniskill3_environment_assets/robots/xarm7/xarm7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..659aa8d217591effde4b0dd17a7c6d6ff66ac4c4
--- /dev/null
+++ b/maniskill3_environment_assets/robots/xarm7/xarm7.urdf
@@ -0,0 +1,219 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--GLB Source: https://github.com/sapien-sim/xarm7/tree/master/sapien_xarm7/xarm_urdf/xarm_description/meshes-->
+<robot name="xarm7">
+  <link name="link_base">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.021131 -0.0016302 0.056488"/>
+      <mass value="0.88556"/>
+      <inertia ixx="0.0030595" ixy="0.00012259" ixz="-0.00062705" iyy="0.0037783" iyz="0.00027023" izz="0.0020125"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_base.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_base.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <link name="link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0002 0.02905 -0.01233"/>
+      <mass value="2.382"/>
+      <inertia ixx="0.0056905" ixy="-1.579e-05" ixz="5.125e-06" iyy="0.0049566" iyz="-0.000873378" izz="0.003316654"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link1.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link1.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.267"/>
+    <parent link="link_base"/>
+    <child link="link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="50" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="10" friction="1"/>
+  </joint>
+  <link name="link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00022 -0.12856 0.01735"/>
+      <mass value="1.869"/>
+      <inertia ixx="0.0095989" ixy="1.541e-06" ixz="5.56e-06" iyy="0.00382472" iyz="-0.00317156" izz="0.007565669"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link2.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link2.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint2" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
+    <parent link="link1"/>
+    <child link="link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="50" lower="-2.059" upper="2.0944" velocity="3.14"/>
+    <dynamics damping="10" friction="1"/>
+  </joint>
+  <link name="link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0466 -0.02463 -0.00768"/>
+      <mass value="1.6383"/>
+      <inertia ixx="0.00310955" ixy="0.00030837" ixz="-0.00058453" iyy="0.00264483" iyz="0.000338893" izz="0.0026624"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link3.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link3.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint3" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 -0.293 0"/>
+    <parent link="link2"/>
+    <child link="link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="30" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="5" friction="1"/>
+  </joint>
+  <link name="link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.07047 -0.11575 0.012"/>
+      <mass value="1.7269"/>
+      <inertia ixx="0.005889" ixy="0.00137112" ixz="0.00088143" iyy="0.00359703" iyz="-0.001762155" izz="0.00543244"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link4.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link4.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint4" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0.0525 0 0"/>
+    <parent link="link3"/>
+    <child link="link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="30" lower="-0.19198" upper="3.927" velocity="3.14"/>
+    <dynamics damping="5" friction="1"/>
+  </joint>
+  <link name="link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00032 0.01604 -0.026"/>
+      <mass value="1.3203"/>
+      <inertia ixx="0.00534665" ixy="1.5117e-05" ixz="-3.69e-07" iyy="0.0049779" iyz="-0.00022132" izz="0.0013624"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link5.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link5.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint5" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0.0775 -0.3425 0"/>
+    <parent link="link4"/>
+    <child link="link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="30" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="5" friction="1"/>
+  </joint>
+  <link name="link6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.06469 0.03278 0.02141"/>
+      <mass value="1.325"/>
+      <inertia ixx="0.0014745" ixy="-0.000488" ixz="0.0002953" iyy="0.0019037" iyz="0.00014749" izz="0.0023652"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link6.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link6.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint6" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <parent link="link5"/>
+    <child link="link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="20" lower="-1.69297" upper="3.14159265359" velocity="3.14"/>
+    <dynamics damping="2" friction="1"/>
+  </joint>
+  <link name="link7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.00677 -0.01098"/>
+      <mass value="0.17"/>
+      <inertia ixx="9.3e-05" ixy="-0.0" ixz="-0.0" iyy="5.87e-05" iyz="-3.6e-06" izz="0.000132"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link7.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link7.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint7" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
+    <parent link="link6"/>
+    <child link="link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="20" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="2" friction="1"/>
+  </joint>
+  <link name="link_eef"/>
+  <joint name="joint_eef" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link7"/>
+    <child link="link_eef"/>
+  </joint>
+</robot>
+
diff --git a/maniskill3_environment_assets/robots/xarm7/xarm7_ability_right_hand.srdf b/maniskill3_environment_assets/robots/xarm7/xarm7_ability_right_hand.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..a0e0d1318e8da5b52f20466435b66f2c12c6b816
--- /dev/null
+++ b/maniskill3_environment_assets/robots/xarm7/xarm7_ability_right_hand.srdf
@@ -0,0 +1,63 @@
+<?xml version="1.0" ?>
+<robot name="xarm7_ability_right_hand">
+  <group name="xarm7">
+    <joint name="joint1"/>
+    <joint name="joint2"/>
+    <joint name="joint3"/>
+    <joint name="joint4"/>
+    <joint name="joint5"/>
+    <joint name="joint6"/>
+    <joint name="joint7"/>
+  </group>
+  <group_state group="xarm7" name="home">
+    <joint name="joint1" value="0"/>
+    <joint name="joint2" value="0"/>
+    <joint name="joint3" value="0"/>
+    <joint name="joint4" value="0"/>
+    <joint name="joint5" value="0"/>
+    <joint name="joint6" value="0"/>
+    <joint name="joint7" value="0"/>
+  </group_state>
+  <group_state group="xarm7" name="hold-up">
+    <joint name="joint1" value="0"/>
+    <joint name="joint2" value="0"/>
+    <joint name="joint3" value="0"/>
+    <joint name="joint4" value="0"/>
+    <joint name="joint5" value="0"/>
+    <joint name="joint6" value="-1.5708"/>
+    <joint name="joint7" value="0"/>
+  </group_state>
+  <!--  xarm-->
+  <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
+  <disable_collisions link1="link1" link2="link3" reason="Never"/>
+  <disable_collisions link1="link1" link2="link4" reason="Never"/>
+  <disable_collisions link1="link1" link2="link_base" reason="Adjacent"/>
+  <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
+  <disable_collisions link1="link2" link2="link_base" reason="Never"/>
+  <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
+  <disable_collisions link1="link3" link2="link5" reason="Never"/>
+  <disable_collisions link1="link3" link2="link6" reason="Never"/>
+  <disable_collisions link1="link3" link2="link7" reason="Never"/>
+  <disable_collisions link1="link3" link2="link_base" reason="Never"/>
+  <disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
+  <disable_collisions link1="link4" link2="link6" reason="Never"/>
+  <disable_collisions link1="link4" link2="link7" reason="Never"/>
+  <disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
+  <disable_collisions link1="link5" link2="link7" reason="Never"/>
+  <disable_collisions link1="link6" link2="link7" reason="Adjacent"/>
+  <!--  Ability Only -->
+  <disable_collisions link1="base" link2="thumb_base" reason="Adjacent"/>
+  <disable_collisions link1="thumb_base" link2="index_L1" reason="Adjacent"/>
+  <disable_collisions link1="thumb_base" link2="middle_L1" reason="Adjacent"/>
+  <disable_collisions link1="thumb_base" link2="ring_L1" reason="Adjacent"/>
+  <disable_collisions link1="thumb_base" link2="pinky_L1" reason="Adjacent"/>
+  <disable_collisions link1="thumb_base" link2="thumb_L1" reason="Adjacent"/>
+  <disable_collisions link1="index_L1" link2="index_L2" reason="Adjacent"/>
+  <disable_collisions link1="middle_L1" link2="middle_L2" reason="Adjacent"/>
+  <disable_collisions link1="ring_L1" link2="ring_L2" reason="Adjacent"/>
+  <disable_collisions link1="pinky_L1" link2="pinky_L2" reason="Adjacent"/>
+  <disable_collisions link1="thumb_L1" link2="thumb_L2" reason="Adjacent"/>
+  <!--  arm and hand-->
+  <disable_collisions link1="link7" link2="base" reason="Adjacent"/>
+  <disable_collisions link1="link7" link2="thumb_base" reason="Default"/>
+</robot>
\ No newline at end of file
diff --git a/maniskill3_environment_assets/robots/xarm7/xarm7_ability_right_hand.urdf b/maniskill3_environment_assets/robots/xarm7/xarm7_ability_right_hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..360efa3975708c4325c5a9be181b5053a946bb81
--- /dev/null
+++ b/maniskill3_environment_assets/robots/xarm7/xarm7_ability_right_hand.urdf
@@ -0,0 +1,704 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="xarm7">
+  <link name="link_base">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.021131 -0.0016302 0.056488"/>
+      <mass value="0.88556"/>
+      <inertia ixx="0.0030595" ixy="0.00012259" ixz="-0.00062705" iyy="0.0037783" iyz="0.00027023" izz="0.0020125"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_base.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_base.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <link name="link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0002 0.02905 -0.01233"/>
+      <mass value="2.382"/>
+      <inertia ixx="0.0056905" ixy="-1.579e-05" ixz="5.125e-06" iyy="0.0049566" iyz="-0.000873378" izz="0.003316654"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link1.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link1.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.267"/>
+    <parent link="link_base"/>
+    <child link="link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="50" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="10" friction="1"/>
+  </joint>
+  <link name="link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00022 -0.12856 0.01735"/>
+      <mass value="1.869"/>
+      <inertia ixx="0.0095989" ixy="1.541e-06" ixz="5.56e-06" iyy="0.00382472" iyz="-0.00317156" izz="0.007565669"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link2.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link2.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint2" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
+    <parent link="link1"/>
+    <child link="link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="50" lower="-2.059" upper="2.0944" velocity="3.14"/>
+    <dynamics damping="10" friction="1"/>
+  </joint>
+  <link name="link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0466 -0.02463 -0.00768"/>
+      <mass value="1.6383"/>
+      <inertia ixx="0.00310955" ixy="0.00030837" ixz="-0.00058453" iyy="0.00264483" iyz="0.000338893" izz="0.0026624"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link3.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link3.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint3" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 -0.293 0"/>
+    <parent link="link2"/>
+    <child link="link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="30" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="5" friction="1"/>
+  </joint>
+  <link name="link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.07047 -0.11575 0.012"/>
+      <mass value="1.7269"/>
+      <inertia ixx="0.005889" ixy="0.00137112" ixz="0.00088143" iyy="0.00359703" iyz="-0.001762155" izz="0.00543244"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link4.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link4.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint4" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0.0525 0 0"/>
+    <parent link="link3"/>
+    <child link="link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="30" lower="-0.19198" upper="3.927" velocity="3.14"/>
+    <dynamics damping="5" friction="1"/>
+  </joint>
+  <link name="link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00032 0.01604 -0.026"/>
+      <mass value="1.3203"/>
+      <inertia ixx="0.00534665" ixy="1.5117e-05" ixz="-3.69e-07" iyy="0.0049779" iyz="-0.00022132" izz="0.0013624"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link5.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link5.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint5" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0.0775 -0.3425 0"/>
+    <parent link="link4"/>
+    <child link="link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="30" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="5" friction="1"/>
+  </joint>
+  <link name="link6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.06469 0.03278 0.02141"/>
+      <mass value="1.325"/>
+      <inertia ixx="0.0014745" ixy="-0.000488" ixz="0.0002953" iyy="0.0019037" iyz="0.00014749" izz="0.0023652"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link6.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link6.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint6" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <parent link="link5"/>
+    <child link="link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="20" lower="-1.69297" upper="3.14159265359" velocity="3.14"/>
+    <dynamics damping="2" friction="1"/>
+  </joint>
+  <link name="link7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.00677 -0.01098"/>
+      <mass value="0.17"/>
+      <inertia ixx="9.3e-05" ixy="-0.0" ixz="-0.0" iyy="5.87e-05" iyz="-3.6e-06" izz="0.000132"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link7.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link7.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint7" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
+    <parent link="link6"/>
+    <child link="link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="20" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="2" friction="1"/>
+  </joint>
+  <joint name="joint_eef" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 1.57079"/>
+    <parent link="link7"/>
+    <child link="base"/>
+  </joint>
+
+  <link name="base">
+    <visual name="wrist_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../ability_hand/meshes/visual/wristmesh.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../ability_hand/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="../ability_hand/meshes/visual/FB_palm_ref_MIR.glb"/>
+      </geometry>
+    </visual>
+    <collision>                                  <!-- thumb_base -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../ability_hand/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="../ability_hand/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="../ability_hand/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="../ability_hand/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="../ability_hand/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="../ability_hand/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="../ability_hand/meshes/visual/idx-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- index_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../ability_hand/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="../ability_hand/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="../ability_hand/meshes/visual/idx-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- middle_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../ability_hand/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="../ability_hand/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="../ability_hand/meshes/visual/idx-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- ring_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../ability_hand/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="../ability_hand/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="../ability_hand/meshes/visual/idx-F2.glb"/>
+      </geometry>
+    </visual>
+    <collision>                            <!-- pinky_L2 -->
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../ability_hand/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>
+