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+asset_id: discoverse.models.mixed.models
+source: discoverse
+source_asset_id: models
+asset_type: models
+category: mixed
+format: mixed_mjcf_urdf_mesh
+entry_file: .
+license: MIT
+origin_url: https://github.com/discoverse-dev/DISCOVERSE
+source_commit: d67f47c084aba0e0cf422a8725235f8b9238655a
+path: assets/discoverse/models
+tags:
+  - discoverse
+  - mujoco
+  - mjcf
+  - urdf
+  - mesh
+  - robotics
+  - simulation
+notes:
+  - Imported from upstream models/ as a collection asset to preserve internal relative references.
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+  <asset>
+    <texture type='2d' name='groundplane' builtin='checker' mark='edge' rgb1='0.2 0.3 0.4' rgb2='0.1 0.2 0.3' markrgb='0.8 0.8 0.8' width='300' height='300'/>
+    <material name='groundplane' texture='groundplane' texuniform='true' texrepeat='5 5' reflectance='0.2'/>
+  </asset>
+
+  <worldbody>
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1' dir='1 1 -1'/>
+    <light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 0 1' dir='-1 1 -1'/>
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1' dir='0 -1 -1'/>
+    <geom name='floor' type='plane' size='0 0 0.01' material='groundplane' pos='0 0 0'/>
+
+    <body name="base_body" pos="0 0 1">
+      <inertial pos="0 0 0" mass="0.001" diaginertia="1e-5 1e-5 1e-5"/>
+      <camera name='camera_' euler="0 -1.5708 -1.5708"/>
+      <site name="camera_site" euler="0 1.5708 -1.5708" size='0.001' type='sphere'/>
+      <geom type="box" size="0.05 0.05 0.05" rgba="1 1 1 0.2"/>
+    </body>
+
+    <geom type="box" pos="0.5 0 1" size="0.01 0.03 0.1" rgba="1 0 0 1"/>
+    <geom type="box" pos="0.5 0 0.9" size="0.01 0.1 0.03" rgba="1 0 0 1"/>
+
+  </worldbody>
+
+</mujoco>
diff --git a/assets/discoverse/models/mjcf/capture.xml b/assets/discoverse/models/mjcf/capture.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4a317d51d47e49b74590ceca52dba4ff13e276c9
--- /dev/null
+++ b/assets/discoverse/models/mjcf/capture.xml
@@ -0,0 +1,66 @@
+<mujoco model="capture">
+
+  <option integrator="RK4" solver="Newton" gravity="0 0 0"/>
+  <compiler angle="radian" meshdir="../meshes" texturedir="../textures/"/>
+
+
+  <visual>
+    <global offwidth="1920" offheight="1080"/>
+    <quality shadowsize="4096" offsamples="4"/>
+    <headlight ambient="0.4 0.4 0.4"/>
+    <scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.005" contactwidth="0.01" contactheight="0.05"/>
+  </visual>
+
+  <worldbody>
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 0 2' dir='0 0 -1'/>
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 0 -2' dir='0 0 1'/>
+
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='2 0 0' dir='-1 0 0'/>
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-2 0 0' dir='1 0 0'/>
+
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 2 0' dir='0 -1 0'/>
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 -2 0' dir='0 1 0'/>
+
+    <camera name="world" pos="0 0 0" xyaxes="0 -1 0 1 0 0"/>
+
+    <geom type="plane" pos="0 0 -3" size="3 3 0.1" rgba="0 1 0 1"/>
+    <geom type="plane" pos="0 0  3" euler="0 3.1415926 0" size="3 3 0.1" rgba="0 1 0 1"/>
+    <geom type="plane" pos="-3 0 0" euler="0 1.5707963267948966 0" size="3 3 0.1" rgba="0 1 0 1"/>
+    <geom type="plane" pos=" 3 0 0" euler="0 -1.5707963267948966 0" size="3 3 0.1" rgba="0 1 0 1"/>
+    <geom type="plane" pos="0  3 0" euler="1.5707963267948966 0 0" size="3 3 0.1" rgba="0 1 0 1"/>
+    <geom type="plane" pos="0 -3 0" euler="-1.5707963267948966 0 0" size="3 3 0.1" rgba="0 1 0 1"/>
+
+    <!-- <geom type="plane" pos="0 0 -3" size="3 3 0.1" rgba="0 0 0 1"/>
+    <geom type="plane" pos="0 0  3" euler="0 3.1415926 0" size="3 3 0.1" rgba="0 0 0 1"/>
+    <geom type="plane" pos="-3 0 0" euler="0 1.5707963267948966 0" size="3 3 0.1" rgba="0 0 0 1"/>
+    <geom type="plane" pos=" 3 0 0" euler="0 -1.5707963267948966 0" size="3 3 0.1" rgba="0 0 0 1"/>
+    <geom type="plane" pos="0  3 0" euler="1.5707963267948966 0 0" size="3 3 0.1" rgba="0 0 0 1"/>
+    <geom type="plane" pos="0 -3 0" euler="-1.5707963267948966 0 0" size="3 3 0.1" rgba="0 0 0 1"/> -->
+
+    <!-- <geom type="plane" pos="0 0 -3" size="3 3 0.1" rgba="1 1 1 1"/>
+    <geom type="plane" pos="0 0  3" euler="0 3.1415926 0" size="3 3 0.1" rgba="1 1 1 1"/>
+    <geom type="plane" pos="-3 0 0" euler="0 1.5707963267948966 0" size="3 3 0.1" rgba="1 1 1 1"/>
+    <geom type="plane" pos=" 3 0 0" euler="0 -1.5707963267948966 0" size="3 3 0.1" rgba="1 1 1 1"/>
+    <geom type="plane" pos="0  3 0" euler="1.5707963267948966 0 0" size="3 3 0.1" rgba="1 1 1 1"/>
+    <geom type="plane" pos="0 -3 0" euler="-1.5707963267948966 0 0" size="3 3 0.1" rgba="1 1 1 1"/> -->
+
+    <!-- <geom type="plane" pos="0 0 -3" size="3 3 0.1" rgba="1 0 0 1"/>
+    <geom type="plane" pos="0 0  3" euler="0 3.1415926 0" size="3 3 0.1" rgba="1 0 0 1"/>
+    <geom type="plane" pos="-3 0 0" euler="0 1.5707963267948966 0" size="3 3 0.1" rgba="1 0 0 1"/>
+    <geom type="plane" pos=" 3 0 0" euler="0 -1.5707963267948966 0" size="3 3 0.1" rgba="1 0 0 1"/>
+    <geom type="plane" pos="0  3 0" euler="1.5707963267948966 0 0" size="3 3 0.1" rgba="1 0 0 1"/>
+    <geom type="plane" pos="0 -3 0" euler="-1.5707963267948966 0 0" size="3 3 0.1" rgba="1 0 0 1"/> -->
+
+    <body name="logo" pos="0 0 -1" euler="0 0 -1.5708">
+      <geom material="airbot_logo" size="0.0625 0.0159 0.0002" type="box" contype="0" conaffinity="0"/>
+    </body>
+    <site pos="0.0 0.0 0.0" quat="4.3297802811774664e-17 0.7071067811865476 -0.7071067811865475 -4.329780281177466e-17" size="0.001" type="sphere"/>
+    
+    <body name="link" pos="0 0 0">
+
+    </body>
+
+
+  </worldbody>
+
+</mujoco>
diff --git a/assets/discoverse/models/mjcf/cooperative_aerial_ground_sim.xml b/assets/discoverse/models/mjcf/cooperative_aerial_ground_sim.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f1b060bb1ed1a805961587c04845d6b235ddfc93
--- /dev/null
+++ b/assets/discoverse/models/mjcf/cooperative_aerial_ground_sim.xml
@@ -0,0 +1,299 @@
+<!--
+    The Mujoco model of:
+    (1) a hybrid quadrotor-rover robot, namely SkyRover; and
+    (2) a mobile robot, AIRBOT (by Discover Robotics, ALL RIGHTS RESERVED).
+    
+    Author: Weibin Gu, 7-Nov-2024.
+-->
+<mujoco model="aerial_ground_cooperative_sim">
+  <compiler coordinate="local" inertiafromgeom="true" meshdir="../meshes"/>
+
+  <option integrator="RK4" timestep="0.01" gravity="0 0 -9.81" density="1" viscosity="1e-5"/>
+
+  <default>
+    <geom type="mesh" xyaxes="1 0 0 0 1 0"/>
+  </default>
+
+  <default>
+    <default class='car'>
+      <default class="steer_joint">
+        <joint axis="0 0 1" range="-1.5708 1.5708" actuatorfrcrange="-35 35" damping=".5" frictionloss="20"/>
+        <position ctrlrange="-1.5708 1.5708"/>
+      </default>
+
+      <default class="wheel_joint">
+        <joint axis="0 0 -1" damping=".3" frictionloss="10"/>
+        <!-- <motor ctrlrange='-5 5' forcerange='-100 100'/> -->
+        <motor ctrlrange='-15 15' forcerange='-100 100'/>
+      </default>
+    </default>
+  </default>
+
+  <visual>
+    <global offwidth="1920" offheight="1080"/>
+    <quality shadowsize="4096" offsamples="4"/>
+    <headlight diffuse='0.6 0.6 0.6' ambient='.3 .3 .3' specular='0 0 0'/>
+    <scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.1" contactwidth="0.01" contactheight="0.05"/>
+  </visual>
+
+  <asset>
+    <!-- For environment -->
+    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
+    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
+    <!-- For SkyRover robot -->
+    <mesh name="base_link" file="skyrover/base_link_simpl.STL" scale="0.001 0.001 0.001"/>
+    <mesh name="stretch_link" file="skyrover/stretch_link.STL"/>
+    <mesh name="folder1_link" file="skyrover/folder1_link.STL"/>
+    <mesh name="wheel1_link" file="skyrover/wheel1_link.STL"/>
+    <mesh name="wheel2_link" file="skyrover/wheel2_link.STL"/>
+    <mesh name="rotor1_link" file="skyrover/rotor1_link.STL"/>
+    <mesh name="rotor2_link" file="skyrover/rotor2_link.STL"/>
+    <mesh name="folder2_link" file="skyrover/folder2_link.STL"/>
+    <mesh name="wheel3_link" file="skyrover/wheel3_link.STL"/>
+    <mesh name="wheel4_link" file="skyrover/wheel4_link.STL"/>
+    <mesh name="rotor3_link" file="skyrover/rotor3_link.STL"/>
+    <mesh name="rotor4_link" file="skyrover/rotor4_link.STL"/>
+    <mesh name="cover" file="skyrover/cover_300.stl" scale="0.001 0.001 0.001"/>
+    <!-- For AIRBOT -->
+    <mesh name="rm2" file="rm2_car/rm2.STL"/>
+    <mesh name="steering_left_front" file="rm2_car/steering_left_front.STL"/>
+    <mesh name="wheel_fix" file="rm2_car/wheel.obj"/>
+    <mesh name="steering_right_front" file="rm2_car/steering_right_front.STL"/>
+    <!-- Metallic material -->
+    <material name="titanium" rgba="0.9 0.9 0.9 1" specular="0.4" shininess="0.1" reflectance="0.1"/> 
+    <material name="carbon_fiber" rgba="0.1 0.1 0.1 1" specular="0.6" shininess="0.7" reflectance="0.4"/>
+    <material name="brushed_steel" rgba="0.7 0.7 0.75 1" specular="0.8" shininess="0.7" reflectance="0.5"/>
+    <material name="copper" rgba="0.8 0.4 0.2 1" specular="0.7" shininess="0.7" reflectance="0.5"/>
+    <material name="gunmetal_gray" rgba="0.3 0.3 0.35 1" specular="0.7" shininess="0.6" reflectance="0.3"/>
+    <material name="gold_accent" rgba="0.9 0.8 0.3 1" specular="0.8" shininess="0.9" reflectance="0.6"/>
+    <material name="titanium_blue" rgba="0.2 0.4 0.6 1" specular="0.8" shininess="0.7" reflectance="0.5"/>
+  </asset>
+
+  <worldbody>
+    <!-- Light -->
+    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
+
+    <!-- Floor -->
+    <body name="floor">
+        <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
+    </body>
+
+    <!-- SkyRover robot -->
+    <body name="skyrover" pos="0 0 1.122">
+      <camera name="skyrover_track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
+
+      <!-- Stretch link -->
+      <geom mesh="stretch_link" mass="0.5" pos="0 0 0" euler="0 0 0" friction="1 50 0.1" material="brushed_steel"/> 
+      <joint armature="0" damping="0" limited="false" margin="0.01" name="skyrover_root" pos="0 0 0" type="free"/>
+
+      <!-- Base link -->
+      <body name="skyrover_base_link">
+        <geom mesh="base_link" pos="-0.062 0.17 0.03" euler="0 0 -90" mass="0.5" material="brushed_steel"/>
+        <geom mesh="cover" pos="0 0 0.08" euler="0 0 -90" density="0" material="brushed_steel"/>
+        <joint name="skyrover_stretch_joint" type="slide" pos="-0.062 0.17 0.03" axis="0 0 1" range="-545 0" damping="0.5" limited="true" actuatorfrcrange="-545 0"/>
+
+        <!-- Left folder -->
+        <body name="skyrover_folder1_link" pos="0 0.135 0.08">
+          <geom mesh="folder1_link" pos="0 0 0" euler="0 0 0" mass=".25" material="brushed_steel"/>
+          <joint name="skyrover_folder1_joint" type="hinge" pos="0 0 0" axis="-1 0 0" range="0 1" damping="0.5" limited="true" actuatorfrcrange="0 79.8"/>
+
+          <!-- Front left wheel -->
+          <body name="skyrover_wheel2_link" pos="0.135 0 0.06"> 
+              <geom mesh="wheel2_link" pos="0 0 -0.065" euler="0 90 90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_wheel2_joint" type="hinge" pos="0 0 0" axis="0 0 1" damping="0.01"/>
+          </body>
+
+          <!-- Back left wheel -->
+          <body name="skyrover_wheel4_link" pos="-0.135 0 0.06"> 
+              <geom mesh="wheel4_link" pos="0 0 -0.065" euler="0 90 -90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_wheel4_joint" type="hinge" pos="0 0 -0.065" axis="0 0 1" damping="0.01"/>
+          </body>
+
+          <!-- Front left propeller (CCW) -->
+          <body name="skyrover_rotor2_link" pos="0.135 0 -0.04">
+              <geom mesh="rotor2_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_rotor2_joint" type="hinge" pos="0 0 0" axis="0 0 1" damping="0.01"/>
+          </body>
+          <site name="skyrover_thrust_fl" type="cylinder" pos="0.135 0 -0.04" euler="0 0 90"/>
+
+          <!-- Back left propeller (CW) -->
+          <body name="skyrover_rotor4_link" pos="-0.135 0 -0.04">
+              <geom mesh="rotor4_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_rotor4_joint" type="hinge" pos="0 0 0" axis="0 0 -1" damping="0.01"/>
+          </body>
+          <site name="skyrover_thrust_bl" type="cylinder" pos="-0.135 0 -0.04" euler="0 0 90"/>
+        </body><!-- Left folder ends -->
+
+        <!-- Right folder -->
+        <body name="skyrover_folder2_link" pos="0 -0.135 0.08"> 
+          <geom mesh="folder2_link" pos="0 0 0" euler="0 0 0" mass=".25" material="titanium"/>
+          <joint name="skyrover_folder2_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1" damping="0.5" limited="true" actuatorfrcrange="0 79.8"/>
+
+          <!-- Front right wheel -->
+          <body name="skyrover_wheel1_link" pos="0.135 0 0.06">
+              <geom mesh="wheel1_link" pos="0 0 -0.065" euler="0 90 90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_wheel1_joint" type="hinge" pos="0 0 -0.065" axis="0 0 -1" damping="0.01"/>
+          </body>
+
+          <!-- Back right wheel -->
+          <body name="skyrover_wheel3_link" pos="-0.135 0 0.06">
+              <geom mesh="wheel3_link" pos="0 0 -0.065" euler="0 90 -90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_wheel3_joint" type="hinge" pos="0 0 -0.065" axis="0 0 -1" damping="0.01"/>
+          </body>
+
+          <!-- Front right propeller (CW) -->
+          <body name="skyrover_rotor1_link" pos="0.135 0 -0.04"> 
+              <geom mesh="rotor1_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_rotor1_joint" type="hinge" pos="0 0 0" axis="0 0 -1" damping="0.01"/>
+          </body>
+          <site name="skyrover_thrust_fr" type="cylinder" pos="0.135 0 -0.04" euler="0 0 90"/>
+
+          <!-- Back right propeller (CCW) -->
+          <body name="skyrover_rotor3_link" pos="-0.135 0 -0.04"> 
+              <geom mesh="rotor3_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_rotor3_joint" type="hinge" pos="0 0 0" axis="0 0 1" damping="0.01"/>
+          </body>
+          <site name="skyrover_thrust_br" type="cylinder" pos="-0.135 0 -0.04" euler="0 0 90"/>
+        </body><!-- Right folder ends -->
+      </body><!-- Base link ends -->
+    </body><!-- SkyRover ends -->
+
+    <!-- AIRBOT robot -->
+    <body name="rm2" pos="0 0 0.8">
+      <camera name="rm2_track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
+
+      <geom type="box" rgba="1 0 0 0" size="0.15 0.15 0.15" pos="0 0 -0.15" density="200.0"/>
+
+      <!-- <body name="rm2_base" pos="0 0 0">
+        <geom quat="1 0 0 0" pos="0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="rm2"/>
+        <geom quat="1 0 0 0" pos="0 0 0" type="mesh" rgba="1 0 0 0" mesh="rm2" density="30.0"/>
+      </body> -->
+
+      <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="rm2"/>
+      <geom type="mesh" rgba="1 1 1 1" mesh="rm2"/>
+      <!-- <geom pos="0.2975 -0.17309 0.3488" quat="1 0 0 0" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="rm2"/>
+      <geom pos="0.2975 -0.17309 0.3488" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="rm2"/> -->
+      <joint name="rm2_root" type="free"/>
+
+      <body name="rm2_steering1" pos="0.2585 0.184 -0.228">
+        <!-- <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/> -->
+        <joint name="rm2_steer_joint1" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <!-- <geom pos="-0.0025 -0.028 -0.1" quat="1 0 0 0" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="steering_left_front"/> -->
+        <geom pos="-0.0025 -0.028 -0.1" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="steering_left_front"/>
+        <body name="rm2_wheel1" pos="0 -0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_wheel_joint1" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom quat="-3.67321e-06 0 1 0" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" quat="-3.67321e-06 0 1 0" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+      <body name="rm2_steering2" pos="0.2585 -0.184 -0.228">
+        <!-- <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/> -->
+        <joint name="rm2_steer_joint2" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <!-- <geom pos="-0.0025 0.028 -0.1" quat="-3.67321e-06 0 0 1" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="steering_right_front"/> -->
+        <geom pos="-0.0025 0.028 -0.1" quat="-3.67321e-06 0 0 1" type="mesh" rgba="1 1 1 1" mesh="steering_right_front"/>
+        <body name="rm2_wheel2" pos="0 0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_wheel_joint2" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+      <body name="rm2_steering3" pos="-0.238 -0.184 -0.228">
+        <!-- <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/> -->
+        <joint name="rm2_steer_joint3" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <!-- <geom pos="-0.0025 0.028 -0.1" quat="-3.67321e-06 0 0 1" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="steering_left_front"/> -->
+        <geom pos="-0.0025 0.028 -0.1" quat="-3.67321e-06 0 0 1" type="mesh" rgba="1 1 1 1" mesh="steering_left_front"/>
+        <body name="rm2_wheel3" pos="0 0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_wheel_joint3" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+      <body name="rm2_steering4" pos="-0.238 0.184 -0.228">
+        <!-- <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/> -->
+        <joint name="rm2_steer_joint4" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <!-- <geom pos="-0.0025 -0.028 -0.1" quat="1 0 0 0" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="steering_right_front"/> -->
+        <geom pos="-0.0025 -0.028 -0.1" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="steering_right_front"/>
+        <body name="rm2_wheel4" pos="0 -0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_wheel_joint4" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+    </body><!-- AIRBOT ends -->
+
+    <!-- Visualization of the coordinate frame -->
+    <site name="qcX" type="box" pos="0.1 0.0 0.0" size="0.1 0.005 0.005" quat = " 1.0 0.0 0.0 0.0" rgba="1 0 0 1"/>
+    <site name="qcY" type="box" pos="0.0 0.1 0.0" size="0.1 0.005 0.005" quat = " 0.707 0.0 0.0 0.707" rgba="0 1 0 1"/>
+    <site name="qcZ" type="box" pos="0.0 0.0 0.1" size="0.1 0.005 0.005" quat = "-0.707 0.0 0.707 0.0" rgba="0 0 1 1"/>
+  </worldbody>
+
+  <actuator>
+    <!-- For SkyRover -->
+    <!-- SkyRover control groups              -->
+    <!--    (1)     X     (4)                 -->
+    <!--    CCW     ^     CW                  -->
+    <!--        \   |    /                    -->
+    <!--          \ |   /                     -->
+    <!--     Y <————                          -->
+    <!--          / |   \                     -->
+    <!--        /   |    \                    -->
+    <!--     CW     ^     CCW                 -->
+    <!--    (2)     X     (3)                 -->
+    <!-- N.B., Rover mode has the same index. -->
+    <motor joint="skyrover_stretch_joint" ctrllimited="true" ctrlrange="-545 0"/>
+    <motor joint="skyrover_folder1_joint" ctrllimited="true" ctrlrange="0 79.8"/>
+    <motor joint="skyrover_wheel2_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_wheel4_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_rotor2_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_rotor4_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_folder2_joint" ctrllimited="true" ctrlrange="0 79.8"/>
+    <motor joint="skyrover_wheel3_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_wheel1_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_rotor3_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_rotor1_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_thrust_fl" gear="0 0 1 0 0 -.1"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_thrust_bl" gear="0 0 1 0 0  .1"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_thrust_br" gear="0 0 1 0 0 -.1"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_thrust_fr" gear="0 0 1 0 0  .1"/>
+    <!-- For AIRBOT -->
+    <motor joint= "rm2_wheel_joint1" ctrllimited="true" ctrlrange="-20 20"/>
+    <motor joint= "rm2_wheel_joint2" ctrllimited="true" ctrlrange="-20 20"/>
+    <motor joint= "rm2_wheel_joint3" ctrllimited="true" ctrlrange="-20 20"/>
+    <motor joint= "rm2_wheel_joint4" ctrllimited="true" ctrlrange="-20 20"/>
+    <position name='steer_joint1_position' joint='rm2_steer_joint1' class='steer_joint' kp="200"/>
+    <position name='steer_joint2_position' joint='rm2_steer_joint2' class='steer_joint' kp="200"/>
+    <position name='steer_joint3_position' joint='rm2_steer_joint3' class='steer_joint' kp="200"/>
+    <position name='steer_joint4_position' joint='rm2_steer_joint4' class='steer_joint' kp='200'/>
+  </actuator>
+
+  <contact>
+    <exclude body1="skyrover_base_link" body2="skyrover"/>
+    <exclude body1="skyrover_folder1_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_folder2_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_wheel1_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_wheel2_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_wheel3_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_wheel4_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_rotor1_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_rotor2_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_rotor3_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_rotor4_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_rotor1_link" body2="floor"/>
+    <exclude body1="skyrover_rotor2_link" body2="floor"/>
+    <exclude body1="skyrover_rotor3_link" body2="floor"/>
+    <exclude body1="skyrover_rotor4_link" body2="floor"/>
+    <exclude body1="skyrover_folder1_link" body2="rm2"/>
+    <exclude body1="skyrover_folder2_link" body2="rm2"/>
+    <exclude body1="skyrover_rotor1_link" body2="rm2"/>
+    <exclude body1="skyrover_rotor2_link" body2="rm2"/>
+    <exclude body1="skyrover_rotor3_link" body2="rm2"/>
+    <exclude body1="skyrover_rotor4_link" body2="rm2"/>
+</contact>
+
+</mujoco>
diff --git a/assets/discoverse/models/mjcf/cooperative_multi_robot_sim.xml b/assets/discoverse/models/mjcf/cooperative_multi_robot_sim.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ef6428842b22456c075991477ea93b148fa0b334
--- /dev/null
+++ b/assets/discoverse/models/mjcf/cooperative_multi_robot_sim.xml
@@ -0,0 +1,582 @@
+<!--
+    The Mujoco model of:
+    (1) a hybrid quadrotor-rover robot, namely SkyRover; and
+    (2) a mobile robot, AIRBOT (by Discover Robotics, ALL RIGHTS RESERVED).
+    
+    Author: Weibin Gu, 7-Nov-2024.
+-->
+<mujoco model="aerial_ground_cooperative_sim">
+  <compiler coordinate="local" inertiafromgeom="true" meshdir="../meshes"/>
+
+  <option integrator="RK4" timestep="0.01" gravity="0 0 -9.81" density="1" viscosity="1e-5"/>
+
+  <default>
+    <geom type="mesh" xyaxes="1 0 0 0 1 0"/>
+  </default>
+
+  <default>
+    <default class='car'>
+      <default class="steer_joint">
+        <joint axis="0 0 1" range="-1.5708 1.5708" actuatorfrcrange="-35 35" damping=".5" frictionloss="20"/>
+        <position ctrlrange="-1.5708 1.5708"/>
+      </default>
+
+      <default class="wheel_joint">
+        <joint axis="0 0 -1" damping=".3" frictionloss="10"/>
+        <!-- <motor ctrlrange='-5 5' forcerange='-100 100'/> -->
+        <motor ctrlrange='-15 15' forcerange='-100 100'/>
+      </default>
+    </default>
+  </default>
+
+  <visual>
+    <global offwidth="1920" offheight="1080"/>
+    <quality shadowsize="4096" offsamples="4"/>
+    <headlight diffuse='0.6 0.6 0.6' ambient='.3 .3 .3' specular='0 0 0'/>
+    <scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.1" contactwidth="0.01" contactheight="0.05"/>
+  </visual>
+
+  <asset>
+    <!-- For environment -->
+    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
+    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
+    <!-- For SkyRover robot -->
+    <mesh name="base_link" file="skyrover/base_link_simpl.STL" scale="0.001 0.001 0.001"/>
+    <mesh name="stretch_link" file="skyrover/stretch_link.STL"/>
+    <mesh name="folder1_link" file="skyrover/folder1_link.STL"/>
+    <mesh name="wheel1_link" file="skyrover/wheel1_link.STL"/>
+    <mesh name="wheel2_link" file="skyrover/wheel2_link.STL"/>
+    <mesh name="rotor1_link" file="skyrover/rotor1_link.STL"/>
+    <mesh name="rotor2_link" file="skyrover/rotor2_link.STL"/>
+    <mesh name="folder2_link" file="skyrover/folder2_link.STL"/>
+    <mesh name="wheel3_link" file="skyrover/wheel3_link.STL"/>
+    <mesh name="wheel4_link" file="skyrover/wheel4_link.STL"/>
+    <mesh name="rotor3_link" file="skyrover/rotor3_link.STL"/>
+    <mesh name="rotor4_link" file="skyrover/rotor4_link.STL"/>
+    <mesh name="cover" file="skyrover/cover_300.stl" scale="0.001 0.001 0.001"/>
+    <!-- For AIRBOT -->
+    <mesh name="rm2" file="rm2_car/rm2.STL"/>
+    <mesh name="steering_left_front" file="rm2_car/steering_left_front.STL"/>
+    <mesh name="wheel_fix" file="rm2_car/wheel.obj"/>
+    <mesh name="steering_right_front" file="rm2_car/steering_right_front.STL"/>
+    <!-- Metallic material -->
+    <material name="titanium" rgba="0.9 0.9 0.9 1" specular="0.4" shininess="0.1" reflectance="0.1"/> 
+    <material name="carbon_fiber" rgba="0.1 0.1 0.1 1" specular="0.6" shininess="0.7" reflectance="0.4"/>
+    <material name="brushed_steel" rgba="0.7 0.7 0.75 1" specular="0.8" shininess="0.7" reflectance="0.5"/>
+    <material name="copper" rgba="0.8 0.4 0.2 1" specular="0.7" shininess="0.7" reflectance="0.5"/>
+    <material name="gunmetal_gray" rgba="0.3 0.3 0.35 1" specular="0.7" shininess="0.6" reflectance="0.3"/>
+    <material name="gold_accent" rgba="0.9 0.8 0.3 1" specular="0.8" shininess="0.9" reflectance="0.6"/>
+    <material name="titanium_blue" rgba="0.2 0.4 0.6 1" specular="0.8" shininess="0.7" reflectance="0.5"/>
+  </asset>
+
+  <worldbody>
+    <!-- Light -->
+    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
+
+    <!-- Floor -->
+    <body name="floor">
+        <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
+    </body>
+
+    <!-- SkyRover robot -->
+    <body name="skyrover" pos="0 0 1.122">
+      <camera name="skyrover_track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
+
+      <body name="camera_link" pos="0.2 0 0">
+        <camera euler="0 -90 -90" name="front_cam" fovy="42.5"/>
+        <camera euler="0 -45 -90" name="front_down_cam" fovy="42.5"/>
+        <camera euler="0 -0 -90" name="down_cam" fovy="42.5"/>
+      </body>
+
+      <!-- Stretch link -->
+      <geom mesh="stretch_link" mass="0.5" pos="0 0 0" euler="0 0 0" friction="1 50 0.1" material="brushed_steel"/> 
+      <joint armature="0" damping="0" limited="false" margin="0.01" name="skyrover_root" pos="0 0 0" type="free"/>
+
+      <!-- Base link -->
+      <body name="skyrover_base_link">
+        <geom mesh="base_link" pos="-0.062 0.17 0.03" euler="0 0 -90" mass="0.5" material="brushed_steel"/>
+        <geom mesh="cover" pos="0 0 0.08" euler="0 0 -90" density="0" material="brushed_steel"/>
+        <joint name="skyrover_stretch_joint" type="slide" pos="-0.062 0.17 0.03" axis="0 0 1" range="-545 0" damping="0.5" limited="true" actuatorfrcrange="-545 0"/>
+
+        <!-- Left folder -->
+        <body name="skyrover_folder1_link" pos="0 0.135 0.08">
+          <geom mesh="folder1_link" pos="0 0 0" euler="0 0 0" mass=".25" material="brushed_steel"/>
+          <joint name="skyrover_folder1_joint" type="hinge" pos="0 0 0" axis="-1 0 0" range="0 1" damping="0.5" limited="true" actuatorfrcrange="0 79.8"/>
+
+          <!-- Front left wheel -->
+          <body name="skyrover_wheel2_link" pos="0.135 0 0.06"> 
+              <geom mesh="wheel2_link" pos="0 0 -0.065" euler="0 90 90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_wheel2_joint" type="hinge" pos="0 0 0" axis="0 0 1" damping="0.01"/>
+          </body>
+
+          <!-- Back left wheel -->
+          <body name="skyrover_wheel4_link" pos="-0.135 0 0.06"> 
+              <geom mesh="wheel4_link" pos="0 0 -0.065" euler="0 90 -90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_wheel4_joint" type="hinge" pos="0 0 -0.065" axis="0 0 1" damping="0.01"/>
+          </body>
+
+          <!-- Front left propeller (CCW) -->
+          <body name="skyrover_rotor2_link" pos="0.135 0 -0.04">
+              <geom mesh="rotor2_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_rotor2_joint" type="hinge" pos="0 0 0" axis="0 0 1" damping="0.01"/>
+          </body>
+          <site name="skyrover_thrust_fl" type="cylinder" pos="0.135 0 -0.04" euler="0 0 90"/>
+
+          <!-- Back left propeller (CW) -->
+          <body name="skyrover_rotor4_link" pos="-0.135 0 -0.04">
+              <geom mesh="rotor4_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_rotor4_joint" type="hinge" pos="0 0 0" axis="0 0 -1" damping="0.01"/>
+          </body>
+          <site name="skyrover_thrust_bl" type="cylinder" pos="-0.135 0 -0.04" euler="0 0 90"/>
+        </body><!-- Left folder ends -->
+
+        <!-- Right folder -->
+        <body name="skyrover_folder2_link" pos="0 -0.135 0.08"> 
+          <geom mesh="folder2_link" pos="0 0 0" euler="0 0 0" mass=".25" material="titanium"/>
+          <joint name="skyrover_folder2_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1" damping="0.5" limited="true" actuatorfrcrange="0 79.8"/>
+
+          <!-- Front right wheel -->
+          <body name="skyrover_wheel1_link" pos="0.135 0 0.06">
+              <geom mesh="wheel1_link" pos="0 0 -0.065" euler="0 90 90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_wheel1_joint" type="hinge" pos="0 0 -0.065" axis="0 0 -1" damping="0.01"/>
+          </body>
+
+          <!-- Back right wheel -->
+          <body name="skyrover_wheel3_link" pos="-0.135 0 0.06">
+              <geom mesh="wheel3_link" pos="0 0 -0.065" euler="0 90 -90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_wheel3_joint" type="hinge" pos="0 0 -0.065" axis="0 0 -1" damping="0.01"/>
+          </body>
+
+          <!-- Front right propeller (CW) -->
+          <body name="skyrover_rotor1_link" pos="0.135 0 -0.04"> 
+              <geom mesh="rotor1_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_rotor1_joint" type="hinge" pos="0 0 0" axis="0 0 -1" damping="0.01"/>
+          </body>
+          <site name="skyrover_thrust_fr" type="cylinder" pos="0.135 0 -0.04" euler="0 0 90"/>
+
+          <!-- Back right propeller (CCW) -->
+          <body name="skyrover_rotor3_link" pos="-0.135 0 -0.04"> 
+              <geom mesh="rotor3_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_rotor3_joint" type="hinge" pos="0 0 0" axis="0 0 1" damping="0.01"/>
+          </body>
+          <site name="skyrover_thrust_br" type="cylinder" pos="-0.135 0 -0.04" euler="0 0 90"/>
+        </body><!-- Right folder ends -->
+      </body><!-- Base link ends -->
+    </body><!-- SkyRover ends -->
+
+    <!-- AIRBOT robot -->
+    <body name="rm2" pos="0 0 0.8">
+      <camera name="rm2_track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
+
+      <geom type="box" rgba="1 0 0 0" size="0.15 0.15 0.15" pos="0 0 -0.15" density="200.0"/>
+
+      <!-- <body name="rm2_base" pos="0 0 0">
+        <geom quat="1 0 0 0" pos="0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="rm2"/>
+        <geom quat="1 0 0 0" pos="0 0 0" type="mesh" rgba="1 0 0 0" mesh="rm2" density="30.0"/>
+      </body> -->
+
+      <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="rm2"/>
+      <geom type="mesh" rgba="1 1 1 1" mesh="rm2"/>
+      <!-- <geom pos="0.2975 -0.17309 0.3488" quat="1 0 0 0" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="rm2"/>
+      <geom pos="0.2975 -0.17309 0.3488" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="rm2"/> -->
+      <joint name="rm2_root" type="free"/>
+
+      <body name="rm2_steering1" pos="0.2585 0.184 -0.228">
+        <!-- <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/> -->
+        <joint name="rm2_steer_joint1" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <!-- <geom pos="-0.0025 -0.028 -0.1" quat="1 0 0 0" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="steering_left_front"/> -->
+        <geom pos="-0.0025 -0.028 -0.1" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="steering_left_front"/>
+        <body name="rm2_wheel1" pos="0 -0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_wheel_joint1" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom quat="-3.67321e-06 0 1 0" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" quat="-3.67321e-06 0 1 0" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+      <body name="rm2_steering2" pos="0.2585 -0.184 -0.228">
+        <!-- <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/> -->
+        <joint name="rm2_steer_joint2" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <!-- <geom pos="-0.0025 0.028 -0.1" quat="-3.67321e-06 0 0 1" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="steering_right_front"/> -->
+        <geom pos="-0.0025 0.028 -0.1" quat="-3.67321e-06 0 0 1" type="mesh" rgba="1 1 1 1" mesh="steering_right_front"/>
+        <body name="rm2_wheel2" pos="0 0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_wheel_joint2" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+      <body name="rm2_steering3" pos="-0.238 -0.184 -0.228">
+        <!-- <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/> -->
+        <joint name="rm2_steer_joint3" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <!-- <geom pos="-0.0025 0.028 -0.1" quat="-3.67321e-06 0 0 1" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="steering_left_front"/> -->
+        <geom pos="-0.0025 0.028 -0.1" quat="-3.67321e-06 0 0 1" type="mesh" rgba="1 1 1 1" mesh="steering_left_front"/>
+        <body name="rm2_wheel3" pos="0 0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_wheel_joint3" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+      <body name="rm2_steering4" pos="-0.238 0.184 -0.228">
+        <!-- <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/> -->
+        <joint name="rm2_steer_joint4" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <!-- <geom pos="-0.0025 -0.028 -0.1" quat="1 0 0 0" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="steering_right_front"/> -->
+        <geom pos="-0.0025 -0.028 -0.1" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="steering_right_front"/>
+        <body name="rm2_wheel4" pos="0 -0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_wheel_joint4" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+    </body><!-- AIRBOT ends -->
+
+    <!-- AIRBOT robot BG_1 -->
+    <body name="rm2_1" pos="7 0 0.8">
+
+      <geom type="box" rgba="1 0 0 0" size="0.15 0.15 0.15" pos="0 0 -0.15" density="200.0"/>
+
+      <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="rm2"/>
+      <geom type="mesh" rgba="1 1 1 1" mesh="rm2"/>
+      <joint name="rm2_1_root" type="free"/>
+
+      <body name="rm2_1_steering1" pos="0.2585 0.184 -0.228">
+        <joint name="rm2_1_steer_joint1" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <geom pos="-0.0025 -0.028 -0.1" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="steering_left_front"/>
+        <body name="rm2_1_wheel1" pos="0 -0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_1_wheel_joint1" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom quat="-3.67321e-06 0 1 0" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" quat="-3.67321e-06 0 1 0" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+      <body name="rm2_1_steering2" pos="0.2585 -0.184 -0.228">
+        <joint name="rm2_1_steer_joint2" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <geom pos="-0.0025 0.028 -0.1" quat="-3.67321e-06 0 0 1" type="mesh" rgba="1 1 1 1" mesh="steering_right_front"/>
+        <body name="rm2_1_wheel2" pos="0 0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_1_wheel_joint2" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+      <body name="rm2_1_steering3" pos="-0.238 -0.184 -0.228">
+        <joint name="rm2_1_steer_joint3" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <geom pos="-0.0025 0.028 -0.1" quat="-3.67321e-06 0 0 1" type="mesh" rgba="1 1 1 1" mesh="steering_left_front"/>
+        <body name="rm2_1_wheel3" pos="0 0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_1_wheel_joint3" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+      <body name="rm2_1_steering4" pos="-0.238 0.184 -0.228">
+        <joint name="rm2_1_steer_joint4" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <geom pos="-0.0025 -0.028 -0.1" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="steering_right_front"/>
+        <body name="rm2_1_wheel4" pos="0 -0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_1_wheel_joint4" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+    </body><!-- AIRBOT BG_1 ends -->
+
+    <!-- AIRBOT robot BG_2 -->
+    <body name="rm2_2" pos="5 0 0.8">
+
+      <geom type="box" rgba="1 0 0 0" size="0.15 0.15 0.15" pos="0 0 -0.15" density="200.0"/>
+
+      <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="rm2"/>
+      <geom type="mesh" rgba="1 1 1 1" mesh="rm2"/>
+      <joint name="rm2_2_root" type="free"/>
+
+      <body name="rm2_2_steering1" pos="0.2585 0.184 -0.228">
+        <joint name="rm2_2_steer_joint1" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <geom pos="-0.0025 -0.028 -0.1" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="steering_left_front"/>
+        <body name="rm2_2_wheel1" pos="0 -0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_2_wheel_joint1" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom quat="-3.67321e-06 0 1 0" type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" quat="-3.67321e-06 0 1 0" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+      <body name="rm2_2_steering2" pos="0.2585 -0.184 -0.228">
+        <joint name="rm2_2_steer_joint2" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <geom pos="-0.0025 0.028 -0.1" quat="-3.67321e-06 0 0 1" type="mesh" rgba="1 1 1 1" mesh="steering_right_front"/>
+        <body name="rm2_2_wheel2" pos="0 0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_2_wheel_joint2" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+      <body name="rm2_2_steering3" pos="-0.238 -0.184 -0.228">
+        <joint name="rm2_2_steer_joint3" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <geom pos="-0.0025 0.028 -0.1" quat="-3.67321e-06 0 0 1" type="mesh" rgba="1 1 1 1" mesh="steering_left_front"/>
+        <body name="rm2_2_wheel3" pos="0 0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_2_wheel_joint3" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+      <body name="rm2_2_steering4" pos="-0.238 0.184 -0.228">
+        <joint name="rm2_2_steer_joint4" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
+        <geom pos="-0.0025 -0.028 -0.1" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="steering_right_front"/>
+        <body name="rm2_2_wheel4" pos="0 -0.02 -0.185" quat="0.707105 0.707108 0 0">
+          <inertial pos="-0.0124323 -0.000168578 0.0371705" quat="-0.000873283 0.70519 -0.0128331 0.708902" mass="0.36733" diaginertia="0.000891223 0.000726575 0.000459321"/>
+          <joint name="rm2_2_wheel_joint4" pos="0 0 0" axis="0 0 1" damping="0.9" frictionloss="0.85"/>
+          <geom type="mesh" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="wheel_fix" friction="1 0.1 0.001"/>
+          <geom size="0.1 0.05" type="cylinder" rgba="1 1 1 1" friction="1 0.1 0.001"/>
+        </body>
+      </body>
+    </body><!-- AIRBOT BG_2 ends -->
+
+    <!-- SkyRover robot BG_1 -->
+    <body name="skyrover_1" pos="10 10 1.122">
+
+      <!-- Stretch link -->
+      <geom mesh="stretch_link" mass="0.5" pos="0 0 0" euler="0 0 0" friction="1 50 0.1" material="brushed_steel"/> 
+      <joint armature="0" damping="0" limited="false" margin="0.01" name="skyrover_1_root" pos="0 0 0" type="free"/>
+
+      <!-- Base link -->
+      <body name="skyrover_1_base_link">
+        <geom mesh="base_link" pos="-0.062 0.17 0.03" euler="0 0 -90" mass="0.5" material="brushed_steel"/>
+        <geom mesh="cover" pos="0 0 0.08" euler="0 0 -90" density="0" material="brushed_steel"/>
+        <joint name="skyrover_1_stretch_joint" type="slide" pos="-0.062 0.17 0.03" axis="0 0 1" range="-545 0" damping="0.5" limited="true" actuatorfrcrange="-545 0"/>
+
+        <!-- Left folder -->
+        <body name="skyrover_1_folder1_link" pos="0 0.135 0.08">
+          <geom mesh="folder1_link" pos="0 0 0" euler="0 0 0" mass=".25" material="brushed_steel"/>
+          <joint name="skyrover_1_folder1_joint" type="hinge" pos="0 0 0" axis="-1 0 0" range="0 1" damping="0.5" limited="true" actuatorfrcrange="0 79.8"/>
+
+          <!-- Front left wheel -->
+          <body name="skyrover_1_wheel2_link" pos="0.135 0 0.06"> 
+              <geom mesh="wheel2_link" pos="0 0 -0.065" euler="0 90 90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_1_wheel2_joint" type="hinge" pos="0 0 0" axis="0 0 1" damping="0.01"/>
+          </body>
+
+          <!-- Back left wheel -->
+          <body name="skyrover_1_wheel4_link" pos="-0.135 0 0.06"> 
+              <geom mesh="wheel4_link" pos="0 0 -0.065" euler="0 90 -90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_1_wheel4_joint" type="hinge" pos="0 0 -0.065" axis="0 0 1" damping="0.01"/>
+          </body>
+
+          <!-- Front left propeller (CCW) -->
+          <body name="skyrover_1_rotor2_link" pos="0.135 0 -0.04">
+              <geom mesh="rotor2_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_1_rotor2_joint" type="hinge" pos="0 0 0" axis="0 0 1" damping="0.01"/>
+          </body>
+          <site name="skyrover_1_thrust_fl" type="cylinder" pos="0.135 0 -0.04" euler="0 0 90"/>
+
+          <!-- Back left propeller (CW) -->
+          <body name="skyrover_1_rotor4_link" pos="-0.135 0 -0.04">
+              <geom mesh="rotor4_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_1_rotor4_joint" type="hinge" pos="0 0 0" axis="0 0 -1" damping="0.01"/>
+          </body>
+          <site name="skyrover_1_thrust_bl" type="cylinder" pos="-0.135 0 -0.04" euler="0 0 90"/>
+        </body><!-- Left folder ends -->
+
+        <!-- Right folder -->
+        <body name="skyrover_1_folder2_link" pos="0 -0.135 0.08"> 
+          <geom mesh="folder2_link" pos="0 0 0" euler="0 0 0" mass=".25" material="titanium"/>
+          <joint name="skyrover_1_folder2_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1" damping="0.5" limited="true" actuatorfrcrange="0 79.8"/>
+
+          <!-- Front right wheel -->
+          <body name="skyrover_1_wheel1_link" pos="0.135 0 0.06">
+              <geom mesh="wheel1_link" pos="0 0 -0.065" euler="0 90 90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_1_wheel1_joint" type="hinge" pos="0 0 -0.065" axis="0 0 -1" damping="0.01"/>
+          </body>
+
+          <!-- Back right wheel -->
+          <body name="skyrover_1_wheel3_link" pos="-0.135 0 0.06">
+              <geom mesh="wheel3_link" pos="0 0 -0.065" euler="0 90 -90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_1_wheel3_joint" type="hinge" pos="0 0 -0.065" axis="0 0 -1" damping="0.01"/>
+          </body>
+
+          <!-- Front right propeller (CW) -->
+          <body name="skyrover_1_rotor1_link" pos="0.135 0 -0.04"> 
+              <geom mesh="rotor1_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_1_rotor1_joint" type="hinge" pos="0 0 0" axis="0 0 -1" damping="0.01"/>
+          </body>
+          <site name="skyrover_1_thrust_fr" type="cylinder" pos="0.135 0 -0.04" euler="0 0 90"/>
+
+          <!-- Back right propeller (CCW) -->
+          <body name="skyrover_1_rotor3_link" pos="-0.135 0 -0.04"> 
+              <geom mesh="rotor3_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_1_rotor3_joint" type="hinge" pos="0 0 0" axis="0 0 1" damping="0.01"/>
+          </body>
+          <site name="skyrover_1_thrust_br" type="cylinder" pos="-0.135 0 -0.04" euler="0 0 90"/>
+        </body><!-- Right folder ends -->
+      </body><!-- Base link ends -->
+    </body><!-- SkyRover BG_1 ends -->
+
+    <!-- SkyRover robot BG_2 -->
+    <body name="skyrover_2" pos="10 -10 1.122">
+
+      <!-- Stretch link -->
+      <geom mesh="stretch_link" mass="0.5" pos="0 0 0" euler="0 0 0" friction="1 50 0.1" material="brushed_steel"/> 
+      <joint armature="0" damping="0" limited="false" margin="0.01" name="skyrover_2_root" pos="0 0 0" type="free"/>
+
+      <!-- Base link -->
+      <body name="skyrover_2_base_link">
+        <geom mesh="base_link" pos="-0.062 0.17 0.03" euler="0 0 -90" mass="0.5" material="brushed_steel"/>
+        <geom mesh="cover" pos="0 0 0.08" euler="0 0 -90" density="0" material="brushed_steel"/>
+        <joint name="skyrover_2_stretch_joint" type="slide" pos="-0.062 0.17 0.03" axis="0 0 1" range="-545 0" damping="0.5" limited="true" actuatorfrcrange="-545 0"/>
+
+        <!-- Left folder -->
+        <body name="skyrover_2_folder1_link" pos="0 0.135 0.08">
+          <geom mesh="folder1_link" pos="0 0 0" euler="0 0 0" mass=".25" material="brushed_steel"/>
+          <joint name="skyrover_2_folder1_joint" type="hinge" pos="0 0 0" axis="-1 0 0" range="0 1" damping="0.5" limited="true" actuatorfrcrange="0 79.8"/>
+
+          <!-- Front left wheel -->
+          <body name="skyrover_2_wheel2_link" pos="0.135 0 0.06"> 
+              <geom mesh="wheel2_link" pos="0 0 -0.065" euler="0 90 90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_2_wheel2_joint" type="hinge" pos="0 0 0" axis="0 0 1" damping="0.01"/>
+          </body>
+
+          <!-- Back left wheel -->
+          <body name="skyrover_2_wheel4_link" pos="-0.135 0 0.06"> 
+              <geom mesh="wheel4_link" pos="0 0 -0.065" euler="0 90 -90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_2_wheel4_joint" type="hinge" pos="0 0 -0.065" axis="0 0 1" damping="0.01"/>
+          </body>
+
+          <!-- Front left propeller (CCW) -->
+          <body name="skyrover_2_rotor2_link" pos="0.135 0 -0.04">
+              <geom mesh="rotor2_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_2_rotor2_joint" type="hinge" pos="0 0 0" axis="0 0 1" damping="0.01"/>
+          </body>
+          <site name="skyrover_2_thrust_fl" type="cylinder" pos="0.135 0 -0.04" euler="0 0 90"/>
+
+          <!-- Back left propeller (CW) -->
+          <body name="skyrover_2_rotor4_link" pos="-0.135 0 -0.04">
+              <geom mesh="rotor4_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_2_rotor4_joint" type="hinge" pos="0 0 0" axis="0 0 -1" damping="0.01"/>
+          </body>
+          <site name="skyrover_2_thrust_bl" type="cylinder" pos="-0.135 0 -0.04" euler="0 0 90"/>
+        </body><!-- Left folder ends -->
+
+        <!-- Right folder -->
+        <body name="skyrover_2_folder2_link" pos="0 -0.135 0.08"> 
+          <geom mesh="folder2_link" pos="0 0 0" euler="0 0 0" mass=".25" material="titanium"/>
+          <joint name="skyrover_2_folder2_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1" damping="0.5" limited="true" actuatorfrcrange="0 79.8"/>
+
+          <!-- Front right wheel -->
+          <body name="skyrover_2_wheel1_link" pos="0.135 0 0.06">
+              <geom mesh="wheel1_link" pos="0 0 -0.065" euler="0 90 90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_2_wheel1_joint" type="hinge" pos="0 0 -0.065" axis="0 0 -1" damping="0.01"/>
+          </body>
+
+          <!-- Back right wheel -->
+          <body name="skyrover_2_wheel3_link" pos="-0.135 0 0.06">
+              <geom mesh="wheel3_link" pos="0 0 -0.065" euler="0 90 -90" mass=".05" friction="1 0.1 0.01" material="gunmetal_gray"/>
+              <joint name="skyrover_2_wheel3_joint" type="hinge" pos="0 0 -0.065" axis="0 0 -1" damping="0.01"/>
+          </body>
+
+          <!-- Front right propeller (CW) -->
+          <body name="skyrover_2_rotor1_link" pos="0.135 0 -0.04"> 
+              <geom mesh="rotor1_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_2_rotor1_joint" type="hinge" pos="0 0 0" axis="0 0 -1" damping="0.01"/>
+          </body>
+          <site name="skyrover_2_thrust_fr" type="cylinder" pos="0.135 0 -0.04" euler="0 0 90"/>
+
+          <!-- Back right propeller (CCW) -->
+          <body name="skyrover_2_rotor3_link" pos="-0.135 0 -0.04"> 
+              <geom mesh="rotor3_link" pos="0 0 0" euler="0 0 90" mass=".05" material="gunmetal_gray"/>
+              <joint name="skyrover_2_rotor3_joint" type="hinge" pos="0 0 0" axis="0 0 1" damping="0.01"/>
+          </body>
+          <site name="skyrover_2_thrust_br" type="cylinder" pos="-0.135 0 -0.04" euler="0 0 90"/>
+        </body><!-- Right folder ends -->
+      </body><!-- Base link ends -->
+    </body><!-- SkyRover BG_2 ends -->
+
+  </worldbody>
+
+  <actuator>
+    <!-- For SkyRover -->
+    <!-- SkyRover control groups              -->
+    <!--    (1)     X     (4)                 -->
+    <!--    CCW     ^     CW                  -->
+    <!--        \   |    /                    -->
+    <!--          \ |   /                     -->
+    <!--     Y <————                          -->
+    <!--          / |   \                     -->
+    <!--        /   |    \                    -->
+    <!--     CW     ^     CCW                 -->
+    <!--    (2)     X     (3)                 -->
+    <!-- N.B., Rover mode has the same index. -->
+    <motor joint="skyrover_stretch_joint" ctrllimited="true" ctrlrange="-545 0"/>
+    <motor joint="skyrover_folder1_joint" ctrllimited="true" ctrlrange="0 79.8"/>
+    <motor joint="skyrover_wheel2_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_wheel4_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_rotor2_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_rotor4_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_folder2_joint" ctrllimited="true" ctrlrange="0 79.8"/>
+    <motor joint="skyrover_wheel3_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_wheel1_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_rotor3_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor joint="skyrover_rotor1_joint" ctrllimited="true" ctrlrange="-10 10"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_thrust_fl" gear="0 0 1 0 0 -.1"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_thrust_bl" gear="0 0 1 0 0  .1"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_thrust_br" gear="0 0 1 0 0 -.1"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_thrust_fr" gear="0 0 1 0 0  .1"/>
+    <!-- For AIRBOT -->
+    <motor joint= "rm2_wheel_joint1" ctrllimited="true" ctrlrange="-20 20"/>
+    <motor joint= "rm2_wheel_joint2" ctrllimited="true" ctrlrange="-20 20"/>
+    <motor joint= "rm2_wheel_joint3" ctrllimited="true" ctrlrange="-20 20"/>
+    <motor joint= "rm2_wheel_joint4" ctrllimited="true" ctrlrange="-20 20"/>
+    <position name='steer_joint1_position' joint='rm2_steer_joint1' class='steer_joint' kp="200"/>
+    <position name='steer_joint2_position' joint='rm2_steer_joint2' class='steer_joint' kp="200"/>
+    <position name='steer_joint3_position' joint='rm2_steer_joint3' class='steer_joint' kp="200"/>
+    <position name='steer_joint4_position' joint='rm2_steer_joint4' class='steer_joint' kp='200'/>
+
+    <!-- For AIRBOT BG_1 -->
+    <motor joint= "rm2_1_wheel_joint1" ctrllimited="true" ctrlrange="-20 20"/>
+    <motor joint= "rm2_1_wheel_joint2" ctrllimited="true" ctrlrange="-20 20"/>
+    <motor joint= "rm2_1_wheel_joint3" ctrllimited="true" ctrlrange="-20 20"/>
+    <motor joint= "rm2_1_wheel_joint4" ctrllimited="true" ctrlrange="-20 20"/>
+    <!-- For AIRBOT BG_2 -->
+    <motor joint= "rm2_2_wheel_joint1" ctrllimited="true" ctrlrange="-20 20"/>
+    <motor joint= "rm2_2_wheel_joint2" ctrllimited="true" ctrlrange="-20 20"/>
+    <motor joint= "rm2_2_wheel_joint3" ctrllimited="true" ctrlrange="-20 20"/>
+    <motor joint= "rm2_2_wheel_joint4" ctrllimited="true" ctrlrange="-20 20"/>
+    <!-- For SkyRover BG_1 -->
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_1_thrust_fl" gear="0 0 1 0 0 -.1"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_1_thrust_bl" gear="0 0 1 0 0  .1"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_1_thrust_br" gear="0 0 1 0 0 -.1"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_1_thrust_fr" gear="0 0 1 0 0  .1"/>
+    <!-- For SkyRover BG_2 -->
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_2_thrust_fl" gear="0 0 1 0 0 -.1"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_2_thrust_bl" gear="0 0 1 0 0  .1"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_2_thrust_br" gear="0 0 1 0 0 -.1"/>
+    <motor ctrlrange="0.0 10.0" ctrllimited="true" site="skyrover_2_thrust_fr" gear="0 0 1 0 0  .1"/>
+  </actuator>
+
+  <contact>
+    <exclude body1="skyrover_base_link" body2="skyrover"/>
+    <exclude body1="skyrover_folder1_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_folder2_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_wheel1_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_wheel2_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_wheel3_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_wheel4_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_rotor1_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_rotor2_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_rotor3_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_rotor4_link" body2="skyrover_base_link"/>
+    <exclude body1="skyrover_rotor1_link" body2="floor"/>
+    <exclude body1="skyrover_rotor2_link" body2="floor"/>
+    <exclude body1="skyrover_rotor3_link" body2="floor"/>
+    <exclude body1="skyrover_rotor4_link" body2="floor"/>
+    <exclude body1="skyrover_folder1_link" body2="rm2"/>
+    <exclude body1="skyrover_folder2_link" body2="rm2"/>
+    <exclude body1="skyrover_rotor1_link" body2="rm2"/>
+    <exclude body1="skyrover_rotor2_link" body2="rm2"/>
+    <exclude body1="skyrover_rotor3_link" body2="rm2"/>
+    <exclude body1="skyrover_rotor4_link" body2="rm2"/>
+</contact>
+
+</mujoco>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/arm_mjcf/air_arm.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/arm_mjcf/air_arm.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8fec24142f3ec7c74ac6bd4ee594c285485ffdaa
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/arm_mjcf/air_arm.xml
@@ -0,0 +1,110 @@
+<mujoco model="air_arm">
+
+  <include file="../../scene.xml"/>
+  <include file="../../airbot_play/airbot_play_dependencies.xml"/>
+
+  <option integrator="RK4" solver="Newton" />
+  <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5" meshdir="../../../meshes/" texturedir="../../../textures/"/>
+  <size njmax="10000" nconmax="10000"/>
+
+  <contact>
+    <exclude body1='arm_base' body2='link2'/>
+  </contact>
+
+  <worldbody>
+    <!-- ======= AITBOT PLAY ======= -->
+    <body name="arm_base" pos="0 0 0.78" euler="0 0 0">
+      <geom type="box" pos="-0.02 0 0.005" size="0.0806 0.1375 0.0025" rgba="0.2 0.2 0.2 1"/>
+      <geom mesh="arm_base_0" pos="0 0 -0.0015" material="Gree_Light_Base" class="obj_visual"/>
+      <geom mesh="arm_base_1" material="Paint_Matte_Black" class="obj_visual"/>
+      <body name="link1" pos="0 0 0.1172">
+        <inertial pos="7.9126e-05 -0.002527 -0.0041359" quat="0.696716 0.716558 0.0238919 -0.0236876" mass="0.54639" diaginertia="0.000346294 0.000325437 0.000286269"/>
+        <joint name="joint1" class="joint1"/>
+        <geom type="mesh" contype="0" conaffinity="0" density="0" rgba="0.1 0.1 0.1 1" mesh="link1"/>
+        <body name="link2" quat="0.135866 0.135867 -0.69393 0.693932">
+          <inertial pos="0.22493 0.0047721 0.008023" quat="-0.210875 0.632473 -0.273056 0.693506" mass="0.64621" diaginertia="0.00516535 0.00505042 0.000418626"/>
+          <joint name="joint2" class="joint2"/>
+          <geom type="box" pos="0.08 0.015 0" euler="0 0 0.15" size="0.11 0.03 0.04" rgba="1 0 0 0"/>
+          <geom type="box" pos="0.235 0.015 0" euler="0 0 -0.3" size="0.065 0.025 0.045" rgba="1 0 0 0"/>
+          <geom mesh="link2_0" material="Paint_Matte_Black" class="obj_visual"/>
+          <geom mesh="link2_1" material="Paint_Metallic_White" class="obj_visual"/>
+          <body name="link3" pos="0.27009 0 0" quat="0.192144 0 0 -0.981367">
+            <inertial pos="0.16813 -5.5576e-05 0.0031184" quat="0.511278 0.488423 0.489191 0.510617" mass="0.26829" diaginertia="0.0031527 0.0030951 0.000239403"/>
+            <joint name="joint3" class="joint3"/>
+            <geom type="box" pos="0.13 0 0" size="0.13 0.025 0.025" rgba="1 0 0 0"/>
+            <geom mesh="link3_0" material="Paint_Matte_Black" class="obj_visual"/>
+            <geom mesh="link3_1" material="Paint_Metallic_White" class="obj_visual"/>
+            <body name="link4" pos="0.29015 0 0" quat="-2.59734e-06 0.707105 2.59735e-06 0.707108">
+              <inertial pos="5.2436e-06 0.00040412 -0.03228" quat="0.999969 -0.000174762 -0.00792041 -6.98144e-05" mass="0.34876" diaginertia="0.000423574 0.000412 0.000126826"/>
+              <joint name="joint4" class="joint4"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link4"/>
+              <body name="link5" quat="0.707105 0.707108 0 0">
+                <inertial pos="8.3328e-06 0.026148 0.002525" quat="0.531568 0.4663 0.4663 0.531568" mass="0.36132" diaginertia="0.0004677 0.000432922 0.000178178"/>
+                <joint name="joint5" class="joint5"/>
+                <geom mesh="link5_0" material="Paint_Matte_Black" class="obj_visual"/>
+                <geom mesh="link5_1" material="Paint_Metallic_White" class="obj_visual"/>
+                <body name="link6" pos="0 0.23645 0" quat="0.499998 -0.5 0.5 0.500002">
+                  <inertial pos="-0.0047053 7.3857e-05 -0.12293" mass="0.53855" diaginertia="5e-05 5e-05 3.85e-05"/>
+                  <joint name="joint6" class="joint6"/>
+                  <site name="endpoint" pos='0 0 0' euler="0 -1.5708 0" size='0.001' type='sphere'/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <!-- ======= TABLE write ======= -->
+    <body name="table-a" pos="0 0 0">
+      <geom size="0.3 0.6 0.01" pos="0 0 0.77" type="box" rgba="0.8 0.8 0.8 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
+      <geom size="0.02 0.02 0.385" pos=" 0.28  0.56 0.385" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
+      <geom size="0.02 0.02 0.385" pos="-0.28  0.56 0.385" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
+      <geom size="0.02 0.02 0.385" pos=" 0.28 -0.56 0.385" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
+      <geom size="0.02 0.02 0.385" pos="-0.28 -0.56 0.385" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position name="joint1" ctrllimited="true" ctrlrange="-3.14 2.09"  joint="joint1" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint2" ctrllimited="true" ctrlrange="-2.96 0.17"  joint="joint2" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint3" ctrllimited="true" ctrlrange="-0.087 3.14" joint="joint3" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint4" ctrllimited="true" ctrlrange="-2.96 2.96"  joint="joint4" kp="350" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint5" ctrllimited="true" ctrlrange="-1.74 1.74"  joint="joint5" kp="350" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint6" ctrllimited="true" ctrlrange="-3.14 3.14"  joint="joint6" kp="100" user="1" forcelimited="true" forcerange="-300 300"/>
+  </actuator>
+
+  <sensor>
+    <jointpos name="joint1_pos" joint="joint1" />
+    <jointpos name="joint2_pos" joint="joint2" />
+    <jointpos name="joint3_pos" joint="joint3" />
+    <jointpos name="joint4_pos" joint="joint4" />
+    <jointpos name="joint5_pos" joint="joint5" />
+    <jointpos name="joint6_pos" joint="joint6" />
+
+    <jointvel name="joint1_vel" joint="joint1" />
+    <jointvel name="joint2_vel" joint="joint2" />
+    <jointvel name="joint3_vel" joint="joint3" />
+    <jointvel name="joint4_vel" joint="joint4" />
+    <jointvel name="joint5_vel" joint="joint5" />
+    <jointvel name="joint6_vel" joint="joint6" />
+
+    <jointactuatorfrc name="joint1_torque" joint="joint1" />
+    <jointactuatorfrc name="joint2_torque" joint="joint2" />
+    <jointactuatorfrc name="joint3_torque" joint="joint3" />
+    <jointactuatorfrc name="joint4_torque" joint="joint4" />
+    <jointactuatorfrc name="joint5_torque" joint="joint5" />
+    <jointactuatorfrc name="joint6_torque" joint="joint6" />
+
+    <framepos name="endpoint_pos" objtype="site" objname="endpoint" reftype="body" refname="arm_base"/>
+    <framequat name="endpoint_quat" objtype="site" objname="endpoint" reftype="body" refname="arm_base"/>
+    <framelinvel name="endpoint_vel" objtype="site" objname="endpoint" reftype="body" refname="arm_base"/>
+    <gyro name="endpoint_gyro" site="endpoint"/>
+    <accelerometer name="endpoint_acc" site="endpoint" />
+  </sensor>
+
+  <keyframe>
+    <key qpos='0 0 0 0 0 0'/>
+  </keyframe>
+
+</mujoco>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_arm_bridge.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_arm_bridge.xml
new file mode 100644
index 0000000000000000000000000000000000000000..47c1317b1c2cbd02c02cd5d01696b56bbdc2bc3a
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_arm_bridge.xml
@@ -0,0 +1,358 @@
+<mujoco model="hand_arm_build">
+
+  <include file="../scene.xml"/>
+  <include file="../airbot_play/airbot_play_dependencies.xml"/>
+  <include file="../object/bridge_dependencies.xml"/>
+
+  <include file="../object/usb_camera_dependencies.xml"/>
+
+
+  <option integrator="RK4" solver="Newton" />
+  <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5" meshdir="../../meshes/" texturedir="../../textures/"/>
+  <size njmax="10000" nconmax="10000"/>
+
+  <asset>
+    <include file="hand_mjcf/convex_dec_include/base_link_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/palm_Link_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/palm_Link_1_asset_include.xml"/>
+
+    <include file="hand_mjcf/convex_dec_include/right_thumb_1_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_thumb_2_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_thumb_3_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_thumb_4_asset_include.xml"/>
+
+    <include file="hand_mjcf/convex_dec_include/right_index_1_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_index_2_asset_include.xml"/>
+
+    <include file="hand_mjcf/convex_dec_include/right_middle_1_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_middle_2_asset_include.xml"/>
+
+    <include file="hand_mjcf/convex_dec_include/right_ring_1_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_ring_2_asset_include.xml"/>
+
+    <include file="hand_mjcf/convex_dec_include/right_little_1_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_little_2_asset_include.xml"/>
+  </asset>
+
+  <contact>
+    <exclude body1='arm_base' body2='link2'/>
+  </contact>
+
+  <worldbody>
+    <!-- ======= EYE SIDE ======= -->
+
+    <camera name="eye_side" fovy="72.02" pos="-0.3 0.15 0.9" xyaxes="1 -1.7 0.  0 0 1"/>
+
+    <!-- ======= 原机械臂结构 ======= -->
+    <body name="arm_base" pos="0 -0.05 0.78" euler="0 0 1.57">
+      <!-- 原机械臂的几何定义... -->
+      <geom type="box" pos="-0.02 0 0.005" size="0.0806 0.1375 0.0025" rgba="0.2 0.2 0.2 1"/>
+      <geom mesh="arm_base_0" pos="0 0 -0.0015" material="Gree_Light_Base" class="obj_visual"/>
+      <geom mesh="arm_base_1" material="Paint_Matte_Black" class="obj_visual"/>
+      <body name="link1" pos="0 0 0.1172">
+        <inertial pos="7.9126e-05 -0.002527 -0.0041359" quat="0.696716 0.716558 0.0238919 -0.0236876" mass="0.54639" diaginertia="0.000346294 0.000325437 0.000286269"/>
+        <joint name="joint1" class="joint1"/>
+        <geom type="mesh" contype="0" conaffinity="0" density="0" rgba="0.1 0.1 0.1 1" mesh="link1"/>
+        <body name="link2" quat="0.135866 0.135867 -0.69393 0.693932">
+          <inertial pos="0.22493 0.0047721 0.008023" quat="-0.210875 0.632473 -0.273056 0.693506" mass="0.64621" diaginertia="0.00516535 0.00505042 0.000418626"/>
+          <joint name="joint2" class="joint2"/>
+          <geom type="box" pos="0.08 0.015 0" euler="0 0 0.15" size="0.11 0.03 0.04" rgba="1 0 0 0"/>
+          <geom type="box" pos="0.235 0.015 0" euler="0 0 -0.3" size="0.065 0.025 0.045" rgba="1 0 0 0"/>
+          <geom mesh="link2_0" material="Paint_Matte_Black" class="obj_visual"/>
+          <geom mesh="link2_1" material="Paint_Metallic_White" class="obj_visual"/>
+          <body name="link3" pos="0.27009 0 0" quat="0.192144 0 0 -0.981367">
+            <inertial pos="0.16813 -5.5576e-05 0.0031184" quat="0.511278 0.488423 0.489191 0.510617" mass="0.26829" diaginertia="0.0031527 0.0030951 0.000239403"/>
+            <joint name="joint3" class="joint3"/>
+            <geom type="box" pos="0.13 0 0" size="0.13 0.025 0.025" rgba="1 0 0 0"/>
+            <geom mesh="link3_0" material="Paint_Matte_Black" class="obj_visual"/>
+            <geom mesh="link3_1" material="Paint_Metallic_White" class="obj_visual"/>
+            <body name="link4" pos="0.29015 0 0" quat="-2.59734e-06 0.707105 2.59735e-06 0.707108">
+              <inertial pos="5.2436e-06 0.00040412 -0.03228" quat="0.999969 -0.000174762 -0.00792041 -6.98144e-05" mass="0.34876" diaginertia="0.000423574 0.000412 0.000126826"/>
+              <joint name="joint4" class="joint4"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link4"/>
+              <body name="link5" quat="0.707105 0.707108 0 0">
+                <inertial pos="8.3328e-06 0.026148 0.002525" quat="0.531568 0.4663 0.4663 0.531568" mass="0.36132" diaginertia="0.0004677 0.000432922 0.000178178"/>
+                <joint name="joint5" class="joint5"/>
+                <geom mesh="link5_0" material="Paint_Matte_Black" class="obj_visual"/>
+                <geom mesh="link5_1" material="Paint_Metallic_White" class="obj_visual"/>
+                <body name="link6" pos="0 0.070314 0" quat="0.499998 -0.5 0.5 0.500002">
+
+                  <inertial pos="-0.0047053 7.3857e-05 -0.12293" mass="0.53855" diaginertia="5e-05 5e-05 3.85e-05"/>
+                  <joint name="joint6" class="joint6"/>
+                  <site name="endpoint" euler="0 -1.5708 0"/>
+                    <!-- ======= 连接手部模型 ======= -->
+                    <body name="base_link" pos="0 0 0" quat="0.707388 0 0 0.706825">
+                      <include file="hand_mjcf/convex_dec_include/base_link_geom_include.xml"/>
+                    </body>
+                    
+                    <body name="palm_link" pos="0 0 0.041" quat="0.707388 0 0 0.706825">
+                      <body pos="-0.105 0 -0.12" euler="3.1416 0 1.5708">
+                        <camera name="eye" euler="-0.5236 0 0" fovy="72.5376526571421"/>
+                      </body>
+                      <include file="hand_mjcf/convex_dec_include/palm_Link_geom_include.xml"/>
+                      <include file="hand_mjcf/sensor_include/palm_site_include.xml"/>
+                    </body>
+
+                    <body name="palm_link_1" pos="0 0 0.041" quat="0.707388 0 0 0.706825">
+                      <include file="hand_mjcf/convex_dec_include/palm_Link_1_geom_include.xml"/>
+                    </body>
+
+                    <!-- Thumb -->
+                    <body name="right_thumb_1" pos="0.0210314 0.0268833 0.069" quat="-0.706828 0 0 0.707386">
+                      <inertial pos="-0.00178423 0.000649411 0.00488589" quat="0.609481 0.695344 0.128437 -0.358515" mass="0.00115519" diaginertia="6.58579e-08 5.87769e-08 3.77927e-08"/>
+                      <joint name="right_thumb_1_joint" pos="0 0 0" axis="0 0 -1" range="0 1.15" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
+                      <include file="hand_mjcf/convex_dec_include/right_thumb_1_geom_include.xml"/>
+
+                      <body name="right_thumb_2" pos="-0.0063016 0.011924 0.003" quat="0.122797 0.122797 0.696364 0.696361">
+                        <inertial pos="0.0141071 0.013272 -0.0090503" quat="0.653094 0.270971 -0.653141 0.271017" mass="0.0064504" diaginertia="1.39688e-06 1.14175e-06 9.89349e-07"/>
+                        <joint name="right_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 0.55" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
+                        <include file="hand_mjcf/convex_dec_include/right_thumb_2_geom_include.xml"/>
+
+                        <body name="right_thumb_3" pos="0.034968 0.021325 -0.0015">
+                          <inertial pos="0.00937844 0.00404408 -0.00753947" quat="0.686654 0.690582 -0.161401 -0.159853" mass="0.00397613" diaginertia="4.9004e-07 4.24794e-07 3.76617e-07"/>
+                          <joint name="right_thumb_3_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
+                          <include file="hand_mjcf/convex_dec_include/right_thumb_3_geom_include.xml"/>
+
+                          <body name="right_thumb_4" pos="0.018887 0.011501 -0.0002">
+                            <inertial pos="0.0159974 0.00631063 -0.00734352" quat="0.306916 0.308192 0.637344 0.636092" mass="0.00913038" diaginertia="9.67919e-07 9.25691e-07 4.39361e-07"/>
+                            <joint name="right_thumb_4_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
+                            <include file="hand_mjcf/convex_dec_include/right_thumb_4_geom_include.xml"/>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+
+                    <!-- Index -->
+                    <body name="right_index_1" pos="0.000595471 0.0386785 0.1564" quat="0.000275312 0.000285093 0.719339 0.694659">
+                      <inertial pos="-0.00228224 0.0122806 -0.00664924" quat="0.475493 0.523357 -0.475453 0.523401" mass="0.0072" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
+                      <joint name="right_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-10 10"/>
+                      <include file="hand_mjcf/convex_dec_include/right_index_1_geom_include.xml"/>
+
+                      <body name="right_index_2" pos="-0.002817 0.032654 -0.00055">
+                        <inertial pos="0.000405081 0.0257028 -0.00609276" quat="0.703612 0.702971 0.0715956 0.0750715" mass="0.00968594" diaginertia="2.34184e-06 2.30201e-06 3.04584e-07"/>
+                        <joint name="right_index_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10"/>
+                        <include file="hand_mjcf/convex_dec_include/right_index_2_geom_include.xml"/>
+                      </body>
+                    </body>
+
+                    <!-- Middle -->
+                    <body name="right_middle" pos="0.000578287 0.0170995 0.157" quat="0.000280245 0.000280246 0.707108 0.707105">
+                      <inertial pos="-0.00229221 0.0122787 -0.00664924" quat="0.47528 0.52355 -0.47524 0.523594" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
+                      <joint name="right_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-1 1"/>
+                      <include file="hand_mjcf/convex_dec_include/right_middle_1_geom_include.xml"/>
+
+                      <body name="right_middle_2" pos="-0.0028436 0.032651 -0.00055">
+                        <inertial pos="7.55635e-05 0.0274472 -0.00610051" quat="0.703921 0.703917 0.0669721 0.067155" mass="0.0104603" diaginertia="2.8477e-06 2.80695e-06 3.32744e-07"/>
+                        <joint name="right_middle_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-1 1"/>
+                        <include file="hand_mjcf/convex_dec_include/right_middle_2_geom_include.xml"/>
+                      </body>
+                    </body>
+
+                    <!-- Ring -->
+                    <body name="right_ring_1" pos="0.000561062 -0.00453065 0.15683" quat="0.00028749 0.000272808 0.688341 0.725387">
+                      <inertial pos="-0.00240481 0.0122572 -0.00664924" quat="0.472873 0.525725 -0.472833 0.52577" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
+                      <joint name="right_ring_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-10 10"/>
+                      <include file="hand_mjcf/convex_dec_include/right_ring_1_geom_include.xml"/>
+                      
+                      <body name="right_ring_2" pos="-0.0031431 0.032624 -0.00055">
+                        <inertial pos="0.000666831 0.0256973 -0.00609277" quat="0.703985 0.703327 0.0680113 0.0714909" mass="0.00968594" diaginertia="2.34184e-06 2.30201e-06 3.04584e-07"/>
+                        <joint name="right_ring_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10"/>
+                        <include file="hand_mjcf/convex_dec_include/right_ring_2_geom_include.xml"/>
+                      </body>
+                    </body>
+
+                    <!-- Little -->
+                    <body name="right_little_1" pos="0.000544032 -0.0259164 0.15365" quat="0.000294525 0.000265198 0.669139 0.743137">
+                      <inertial pos="-0.00232893 0.0122718 -0.00664923" quat="0.474497 0.52426 -0.474457 0.524304" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
+                      <joint name="right_little_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-1 1"/>
+                      <include file="hand_mjcf/convex_dec_include/right_little_1_geom_include.xml"/>
+
+                      <body name="right_little_2" pos="-0.0029412 0.032643 -0.00055">
+                        <inertial pos="0.00160931 0.0209121 -0.00610004" quat="0.702906 0.702909 0.0768667 0.0770299" mass="0.00759283" diaginertia="1.28167e-06 1.2391e-06 2.26513e-07"/>
+                        <joint name="right_little_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-1 1"/>
+                        <include file="hand_mjcf/convex_dec_include/right_little_2_geom_include.xml"/>
+                      </body>
+                    </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    
+
+    <!-- ======= bridge1 ======= -->
+    <body name="bridge1" pos="-0.03 0.42 0.8" euler="1.5707963 0 0">
+      <include file="../object/bridge.xml"/>
+    </body>
+
+    <!-- ======= bridge2 ======= -->
+    <body name="bridge2" pos="-0.03 0.39 0.86" euler="-1.5707963 0 0">
+        <joint type="free" frictionloss="0.00001" />
+        <inertial pos="0 0 0" mass="0.0005" diaginertia="0.00002 0.00002 0.00002" />
+        <geom rgba="0.15 0.65 0.63 1" type="mesh" mesh="bridge" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001"/>
+    </body>
+
+
+    <!-- ======= block1 ======= -->
+    <body name="block1_green" pos="0.09 0.405 0.835" euler="1.5707963 0 0">
+      <joint type="free" frictionloss="0.0001" />
+      <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002" />
+      <geom rgba="0.3 0.6 0.075 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.015 0.03 0.015" type="box"/>
+    </body>
+
+    <!-- ======= block2 ======= -->
+    <body name="block2_green" pos="-0.09 0.405 0.83" euler="1.5707963 0 0">
+      <joint type="free" frictionloss="0.0001" />
+      <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002" />
+      <geom rgba="0.3 0.6 0.075 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.015 0.03 0.015" type="box"/>
+    </body>
+
+
+    <!-- ======= block_purple1 ======= -->
+    <body name="block_purple1" pos="-0.06 0.3 0.815">
+      <joint type="free" frictionloss="0.0001" />
+      <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002" />
+      <geom rgba="0.65 0.27 0.64 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.0125 0.0125 0.0125" type="box"/>
+    </body>
+
+    <!-- ======= block_purple2 ======= -->
+    <body name="block_purple2" pos="0 0.3 0.815">
+      <joint type="free" frictionloss="0.0001" />
+      <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002" />
+      <geom rgba="0.65 0.27 0.64 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.0125 0.0125 0.0125" type="box"/>
+    </body>
+
+    <!-- ======= block_purple3 ======= -->
+    <body name="block_purple3" pos="-0.12 0.3 0.815">
+      <joint type="free" frictionloss="0.0001" />
+      <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002" />
+      <geom rgba="0.65 0.27 0.64 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.0125 0.0125 0.0125" type="box"/>
+    </body>
+
+    <!-- ======= block_purple4 ======= -->
+    <body name="block_purple4" pos="0.06 0.3 0.815">
+      <joint type="free" frictionloss="0.0001" />
+      <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002" />
+      <geom rgba="0.65 0.27 0.64 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.0125 0.0125 0.0125" type="box"/>
+    </body>
+
+    <!-- ======= block_purple5 ======= -->
+    <body name="block_purple5" pos="0.12 0.3 0.815">
+      <joint type="free" frictionloss="0.0001" />
+      <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002" />
+      <geom rgba="0.65 0.27 0.64 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.0125 0.0125 0.0125" type="box"/>
+    </body>
+
+    <!-- ======= block_purple6 ======= -->
+    <body name="block_purple6" pos="0.16 0.3 0.815">
+      <joint type="free" frictionloss="0.0001" />
+      <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002" />
+      <geom rgba="0.65 0.27 0.64 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.0125 0.0125 0.0125" type="box"/>
+    </body>
+
+    <!-- ======= TABLE write ======= -->
+    <body name="table-a" pos="0 0 0">
+      <geom size="0.3 0.6 0.01" pos="0 0 0.79" type="box" rgba="0.8 0.8 0.8 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001"/>
+      <geom size="0.02 0.02 0.39" pos=" 0.28  0.56 0.39" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
+      <geom size="0.02 0.02 0.39" pos="-0.28  0.56 0.39" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
+      <geom size="0.02 0.02 0.39" pos=" 0.28 -0.56 0.39" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
+      <geom size="0.02 0.02 0.39" pos="-0.28 -0.56 0.39" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
+    </body>
+    
+  </worldbody>
+
+  <actuator>
+    <position name="joint1" ctrllimited="true" ctrlrange="-3.14 2.09"  joint="joint1" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint2" ctrllimited="true" ctrlrange="-2.96 0.17"  joint="joint2" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint3" ctrllimited="true" ctrlrange="-0.087 3.14" joint="joint3" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint4" ctrllimited="true" ctrlrange="-2.96 2.96"  joint="joint4" kp="350" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint5" ctrllimited="true" ctrlrange="-1.74 1.74"  joint="joint5" kp="350" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint6" ctrllimited="true" ctrlrange="-3.14 3.14"  joint="joint6" kp="100" user="1" forcelimited="true" forcerange="-300 300"/>
+  
+    <!-- Thumb -->
+    <position name="right_thumb_1_joint" joint="right_thumb_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+    <position name="right_thumb_2_joint" joint="right_thumb_2_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+    <!-- Index -->
+    <position name="right_index_1_joint" joint="right_index_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+    <!-- Middle -->
+    <position name="right_middle_1_joint" joint="right_middle_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+    <!-- Ring -->
+    <position name="right_ring_1_joint" joint="right_ring_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+    <!-- Little -->
+    <position name="right_little_1_joint" joint="right_little_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+  </actuator>
+
+  <equality>
+    <!-- Thumb -->
+    <joint name="right_thumb_3_joint" joint1="right_thumb_2_joint" joint2="right_thumb_3_joint" polycoef="0 0.8 0 0"/>
+    <joint name="right_thumb_4_joint" joint1="right_thumb_2_joint" joint2="right_thumb_4_joint" polycoef="0 1.2 0 0"/>
+
+    <!-- Index -->
+    <joint name="right_index_2_joint" joint1="right_index_1_joint" joint2="right_index_2_joint" polycoef="0 1 0 0"/>
+
+    <!-- Middle -->
+    <joint name="right_middle_2_joint" joint1="right_middle_1_joint" joint2="right_middle_2_joint" polycoef="0 1 0 0"/>
+
+    <!-- Ring -->
+    <joint name="right_ring_2_joint" joint1="right_ring_1_joint" joint2="right_ring_2_joint" polycoef="0 1 0 0"/>
+
+    <!-- Little -->
+    <joint name="right_little_2_joint" joint1="right_little_1_joint" joint2="right_little_2_joint" polycoef="0 1 0 0"/>
+  </equality>
+
+  <sensor>
+
+    <jointpos name="joint1_pos" joint="joint1" />
+    <jointpos name="joint2_pos" joint="joint2" />
+    <jointpos name="joint3_pos" joint="joint3" />
+    <jointpos name="joint4_pos" joint="joint4" />
+    <jointpos name="joint5_pos" joint="joint5" />
+    <jointpos name="joint6_pos" joint="joint6" />
+
+    <jointvel name="joint1_vel" joint="joint1" />
+    <jointvel name="joint2_vel" joint="joint2" />
+    <jointvel name="joint3_vel" joint="joint3" />
+    <jointvel name="joint4_vel" joint="joint4" />
+    <jointvel name="joint5_vel" joint="joint5" />
+    <jointvel name="joint6_vel" joint="joint6" />
+
+    <jointactuatorfrc name="joint1_torque" joint="joint1" />
+    <jointactuatorfrc name="joint2_torque" joint="joint2" />
+    <jointactuatorfrc name="joint3_torque" joint="joint3" />
+    <jointactuatorfrc name="joint4_torque" joint="joint4" />
+    <jointactuatorfrc name="joint5_torque" joint="joint5" />
+    <jointactuatorfrc name="joint6_torque" joint="joint6" />
+
+    <framepos name="endpoint_pos" objtype="site" objname="endpoint" reftype="body" refname="arm_base"/>
+    <framequat name="endpoint_quat" objtype="site" objname="endpoint" reftype="body" refname="arm_base"/>
+    <framelinvel name="endpoint_vel" objtype="site" objname="endpoint" reftype="body" refname="arm_base"/>
+    <gyro name="endpoint_gyro" site="endpoint"/>
+    <accelerometer name="endpoint_acc" site="endpoint" />
+
+    <jointpos name="thumb_pos_1" joint="right_thumb_1_joint" />
+    <jointpos name="thumb_pos_2" joint="right_thumb_2_joint" />
+    <jointpos name="index_pos" joint="right_index_1_joint" />
+    <jointpos name="middle_pos" joint="right_middle_1_joint" />
+    <jointpos name="ring_pos" joint="right_ring_1_joint" />
+    <jointpos name="little_pos" joint="right_little_1_joint" />
+
+    <include file="hand_mjcf/sensor_include/palm_touch_include.xml"/>
+
+  </sensor>
+
+  <keyframe>
+    <key name="0" qpos='5.27561e-16 0.001116 -0.00415415 -4.54375e-05 -1.34883e-07 -0.000159523 0.00508523 -0.000911625 -0.0124014 -0.00448687 0.0044232 0.0559355 0.00491804 0.0572803 0.00442206 0.0540305 0.00320973 0.0472641 -0.0299996 0.42 0.799873 0.707096 0.707118 -6.51912e-05 6.56395e-05 -0.0300162 0.389996 0.859745 0.707141 -0.707072 -0.000130785 -0.000130642 0.09 0.405 0.829989 0.707107 0.707107 2.42582e-15 2.42536e-15 -0.09 0.405 0.829989 0.707107 0.707107 1.1971e-14 1.19713e-14 -0.08 0.345 0.812489 1 8.32275e-17 -1.3219e-22 -1.6554e-21 -6.94899e-21 0.345 0.812489 1 8.4087e-17 -7.48416e-21 8.39024e-22 0.08 0.345 0.812489 1 8.32275e-17 -1.3219e-22 -1.6554e-21 -0.08 0.285 0.812489 1 8.66285e-17 -3.07748e-21 -8.86637e-22 -4.74118e-21 0.285 0.812489 1 8.5942e-17 -1.45313e-20 -3.67484e-22 0.08 0.285 0.812489 1 8.66285e-17 -3.07748e-21 -8.86637e-22'/>
+  </keyframe>
+  
+
+
+
+</mujoco>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/auto_gen_sensor.ipynb b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/auto_gen_sensor.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..4e9b1d66b74aaff8a44ce2a72052f434918c3292
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/auto_gen_sensor.ipynb
@@ -0,0 +1,82 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "part=\"palm\"\n",
+    "row=8\n",
+    "col=14\n",
+    "site_str=\"<mujcocoinclude>\\n\"\n",
+    "# <site name=\"palm_0_0\" rgba=\"0 0.8 1 1\" type=\"box\" size=\"0.0015 0.0006 0.0015\" pos=\"-0.0250 -0.0140 0.0900\"/>\n",
+    "x_start=-0.0250\n",
+    "z_start=0.0900\n",
+    "\n",
+    "for i in range(row):\n",
+    "    for j in range(col):\n",
+    "        z=round(z_start-i*0.0031,4)\n",
+    "        x=round(x_start+j*0.0031,4)\n",
+    "        site_str+=f\"<site name=\\\"{part}_{i}_{j}\\\" rgba=\\\"0 0.8 1 1\\\" type=\\\"box\\\" size=\\\"0.0015 0.002 0.0015\\\" pos=\\\"{x} -0.012 {z}\\\"/>\\n\"\n",
+    "\n",
+    "site_str+=\"</mujcocoinclude>\"\n",
+    "print(site_str)\n",
+    "with open(\"sensor_include/palm_site_include.xml\", \"w\") as f:\n",
+    "    f.write(site_str)\n",
+    "print(\"done\")\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "part=\"palm\"\n",
+    "row=8\n",
+    "col=14\n",
+    "touch_str=\"<mujcocoinclude>\\n\"\n",
+    "\n",
+    "for i in range(row):\n",
+    "    for j in range(col):\n",
+    "        touch_str+='<touch name=\"{}_{}_{}\" site=\"{}_{}_{}\"/>\\n'.format(part,i,j,part,i,j)\n",
+    "\n",
+    "touch_str+=\"</mujcocoinclude>\"\n",
+    "print(touch_str)\n",
+    "\n",
+    "with open(\"sensor_include/palm_touch_include.xml\", \"w\") as f:\n",
+    "    f.write(touch_str)\n",
+    "print(\"done\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "discoverse",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.12.8"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/base_link_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/base_link_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..633d91682929aee02cb20bcda672face385e00f5
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/base_link_asset_include.xml
@@ -0,0 +1,56 @@
+
+<mujocoinclude>
+  <mesh name="base_link_part_0" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_1" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_2" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_3" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_4" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_5" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_6" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_7" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_8" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_9" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_10" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_11" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_12" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_13" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_13.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_14" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_14.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_15" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_15.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_16" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_16.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_17" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_17.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_18" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_18.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_19" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_19.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_20" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_20.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_21" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_21.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_22" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_22.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_23" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_23.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_24" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_24.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_25" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_25.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_26" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_26.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_27" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_27.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_28" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_28.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_29" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_29.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_30" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_30.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_31" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_31.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_32" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_32.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_33" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_33.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_34" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_34.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_35" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_35.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_36" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_36.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_37" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_37.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_38" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_38.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_39" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_39.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_40" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_40.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_41" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_41.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_42" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_42.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_43" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_43.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_44" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_44.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_45" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_45.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_46" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_46.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_47" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_47.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_48" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_48.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_49" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_49.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_50" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_50.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_51" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_51.obj" scale="1 1 1"/>
+  <mesh name="base_link_part_52" file="../../../../meshes/inspire_hand/base_link_convex_dec/part_52.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/base_link_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/base_link_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d60d1cc5edbc6eb916493060066bee700c8da855
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/base_link_geom_include.xml
@@ -0,0 +1,56 @@
+
+<mujocoinclude>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_0"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_1"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_2"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_3"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_4"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_5"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_6"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_7"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_8"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_9"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_10"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_11"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_12"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_13"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_14"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_15"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_16"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_17"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_18"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_19"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_20"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_21"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_22"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_23"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_24"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_25"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_26"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_27"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_28"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_29"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_30"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_31"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_32"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_33"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_34"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_35"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_36"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_37"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_38"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_39"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_40"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_41"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_42"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_43"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_44"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_45"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_46"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_47"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_48"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_49"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_50"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_51"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="base_link_part_52"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_1_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_1_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bb45585d1caf6c0c0d7dccc0d459552b8c5eb6a3
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_1_asset_include.xml
@@ -0,0 +1,78 @@
+
+<mujocoinclude>
+  <mesh name="palm_Link_1_part_0" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_1" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_2" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_3" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_4" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_5" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_6" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_7" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_8" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_9" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_10" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_11" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_12" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_13" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_13.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_14" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_14.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_15" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_15.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_16" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_16.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_17" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_17.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_18" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_18.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_19" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_19.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_20" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_20.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_21" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_21.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_22" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_22.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_23" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_23.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_24" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_24.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_25" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_25.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_26" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_26.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_27" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_27.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_28" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_28.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_29" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_29.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_30" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_30.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_31" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_31.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_32" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_32.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_33" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_33.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_34" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_34.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_35" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_35.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_36" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_36.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_37" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_37.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_38" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_38.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_39" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_39.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_40" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_40.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_41" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_41.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_42" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_42.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_43" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_43.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_44" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_44.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_45" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_45.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_46" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_46.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_47" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_47.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_48" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_48.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_49" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_49.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_50" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_50.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_51" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_51.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_52" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_52.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_53" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_53.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_54" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_54.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_55" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_55.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_56" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_56.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_57" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_57.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_58" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_58.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_59" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_59.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_60" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_60.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_61" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_61.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_62" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_62.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_63" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_63.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_64" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_64.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_65" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_65.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_66" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_66.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_67" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_67.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_68" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_68.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_69" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_69.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_70" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_70.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_71" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_71.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_72" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_72.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_73" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_73.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_1_part_74" file="../../../../meshes/inspire_hand/palm_Link_1_convex_dec/part_74.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_1_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_1_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..290aa7c87a2efe34d12efdb98039e6ea2be50a45
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_1_geom_include.xml
@@ -0,0 +1,78 @@
+
+<mujocoinclude>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_0"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_1"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_2"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_3"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_4"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_5"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_6"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_7"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_8"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_9"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_10"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_11"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_12"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_13"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_14"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_15"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_16"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_17"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_18"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_19"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_20"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_21"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_22"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_23"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_24"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_25"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_26"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_27"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_28"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_29"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_30"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_31"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_32"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_33"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_34"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_35"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_36"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_37"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_38"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_39"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_40"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_41"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_42"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_43"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_44"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_45"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_46"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_47"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_48"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_49"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_50"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_51"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_52"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_53"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_54"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_55"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_56"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_57"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_58"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_59"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_60"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_61"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_62"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_63"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_64"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_65"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_66"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_67"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_68"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_69"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_70"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_71"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_72"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_73"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="1 1 1 1" mesh="palm_Link_1_part_74"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b062c7b20ca4149394a2f4ab2067ff38b7d3abac
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_asset_include.xml
@@ -0,0 +1,113 @@
+
+<mujocoinclude>
+  <mesh name="palm_Link_part_0" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_1" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_2" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_3" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_4" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_5" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_6" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_7" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_8" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_9" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_10" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_11" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_12" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_13" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_13.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_14" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_14.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_15" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_15.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_16" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_16.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_17" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_17.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_18" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_18.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_19" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_19.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_20" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_20.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_21" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_21.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_22" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_22.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_23" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_23.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_24" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_24.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_25" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_25.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_26" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_26.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_27" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_27.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_28" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_28.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_29" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_29.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_30" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_30.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_31" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_31.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_32" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_32.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_33" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_33.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_34" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_34.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_35" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_35.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_36" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_36.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_37" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_37.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_38" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_38.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_39" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_39.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_40" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_40.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_41" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_41.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_42" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_42.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_43" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_43.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_44" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_44.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_45" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_45.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_46" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_46.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_47" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_47.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_48" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_48.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_49" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_49.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_50" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_50.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_51" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_51.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_52" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_52.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_53" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_53.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_54" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_54.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_55" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_55.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_56" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_56.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_57" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_57.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_58" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_58.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_59" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_59.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_60" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_60.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_61" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_61.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_62" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_62.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_63" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_63.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_64" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_64.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_65" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_65.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_66" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_66.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_67" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_67.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_68" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_68.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_69" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_69.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_70" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_70.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_71" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_71.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_72" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_72.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_73" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_73.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_74" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_74.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_75" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_75.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_76" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_76.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_77" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_77.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_78" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_78.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_79" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_79.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_80" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_80.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_81" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_81.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_82" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_82.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_83" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_83.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_84" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_84.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_85" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_85.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_86" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_86.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_87" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_87.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_88" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_88.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_89" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_89.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_90" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_90.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_91" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_91.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_92" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_92.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_93" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_93.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_94" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_94.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_95" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_95.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_96" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_96.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_97" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_97.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_98" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_98.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_99" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_99.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_100" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_100.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_101" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_101.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_102" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_102.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_103" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_103.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_104" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_104.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_105" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_105.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_106" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_106.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_107" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_107.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_108" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_108.obj" scale="1 1 1"/>
+  <mesh name="palm_Link_part_109" file="../../../../meshes/inspire_hand/palm_Link_convex_dec/part_109.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e597ea6144e5802465168b5a6158f0c20e3b85d9
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_geom_include.xml
@@ -0,0 +1,113 @@
+
+<mujocoinclude>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_0"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_1"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_2"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_3"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_4"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_5"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_6"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_7"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_8"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_9"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_10"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_11"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_12"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_13"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_14"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_15"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_16"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_17"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_18"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_19"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_20"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_21"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_22"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_23"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_24"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_25"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_26"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_27"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_28"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_29"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_30"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_31"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_32"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_33"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_34"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_35"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_36"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_37"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_38"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_39"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_40"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_41"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_42"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_43"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_44"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_45"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_46"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_47"/>
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+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_49"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_50"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_51"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_52"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_53"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_54"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_55"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_56"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_57"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_58"/>
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+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_60"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_61"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_62"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_63"/>
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+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_108"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="palm_Link_part_109"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_1_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_1_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a4147344accd89bfb0d3015ccc35707d58163501
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_1_asset_include.xml
@@ -0,0 +1,39 @@
+
+<mujocoinclude>
+  <mesh name="right_index_1_part_0" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_1" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_2" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_3" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_4" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_5" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_6" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_7" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_8" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_9" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_10" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_11" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_12" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_13" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_13.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_14" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_14.obj" scale="1 1 1" inertia="shell"/>
+  <mesh name="right_index_1_part_15" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_15.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_16" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_16.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_17" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_17.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_18" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_18.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_19" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_19.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_20" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_20.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_21" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_21.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_22" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_22.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_23" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_23.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_24" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_24.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_25" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_25.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_26" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_26.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_27" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_27.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_28" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_28.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_29" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_29.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_30" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_30.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_31" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_31.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_32" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_32.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_33" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_33.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_34" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_34.obj" scale="1 1 1"/>
+  <mesh name="right_index_1_part_35" file="../../../../meshes/inspire_hand/right_index_1_convex_dec/part_35.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_1_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_1_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c03350abfd01a9203cc594d2a2f5520e974fd1cd
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_1_geom_include.xml
@@ -0,0 +1,39 @@
+
+<mujocoinclude>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_0"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_1"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_2"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_3"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_4"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_5"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_6"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_7"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_8"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_9"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_10"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_11"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_12"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_13"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_14"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_15"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_16"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_17"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_18"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_19"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_20"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_21"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_22"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_23"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_24"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_25"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_26"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_27"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_28"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_29"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_30"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_31"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_32"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_33"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_34"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_1_part_35"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_2_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_2_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f26db59d1571b8ee401726e4e579bf1a2363e665
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_2_asset_include.xml
@@ -0,0 +1,15 @@
+
+<mujocoinclude>
+  <mesh name="right_index_2_part_0" file="../../../../meshes/inspire_hand/right_index_2_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="right_index_2_part_1" file="../../../../meshes/inspire_hand/right_index_2_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="right_index_2_part_2" file="../../../../meshes/inspire_hand/right_index_2_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="right_index_2_part_3" file="../../../../meshes/inspire_hand/right_index_2_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="right_index_2_part_4" file="../../../../meshes/inspire_hand/right_index_2_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="right_index_2_part_5" file="../../../../meshes/inspire_hand/right_index_2_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="right_index_2_part_6" file="../../../../meshes/inspire_hand/right_index_2_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="right_index_2_part_7" file="../../../../meshes/inspire_hand/right_index_2_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="right_index_2_part_8" file="../../../../meshes/inspire_hand/right_index_2_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="right_index_2_part_9" file="../../../../meshes/inspire_hand/right_index_2_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="right_index_2_part_10" file="../../../../meshes/inspire_hand/right_index_2_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="right_index_2_part_11" file="../../../../meshes/inspire_hand/right_index_2_convex_dec/part_11.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_2_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_2_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f023b30f4619739aed5313b4ee51f82de64d9ad7
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_2_geom_include.xml
@@ -0,0 +1,15 @@
+
+<mujocoinclude>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_0" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_1" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_2" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_3" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_4" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_5" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_6" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_7" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_8" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_9" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_10" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_11" friction="5.0 0.5 0.1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_1_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_1_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c817663da83d5270023294b6f4c04758b5dd5cae
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_1_asset_include.xml
@@ -0,0 +1,43 @@
+
+<mujocoinclude>
+  <mesh name="right_little_1_part_0" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_1" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_2" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_3" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_4" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_5" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_6" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_7" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_8" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_9" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_10" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_11" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_12" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_13" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_13.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_14" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_14.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_15" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_15.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_16" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_16.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_17" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_17.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_18" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_18.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_19" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_19.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_20" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_20.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_21" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_21.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_22" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_22.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_23" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_23.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_24" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_24.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_25" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_25.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_26" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_26.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_27" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_27.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_28" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_28.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_29" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_29.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_30" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_30.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_31" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_31.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_32" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_32.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_33" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_33.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_34" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_34.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_35" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_35.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_36" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_36.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_37" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_37.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_38" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_38.obj" scale="1 1 1"/>
+  <mesh name="right_little_1_part_39" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_39.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_1_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_1_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bd322d760b058b4117cf40006870564d81f4fd33
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_1_geom_include.xml
@@ -0,0 +1,43 @@
+
+<mujocoinclude>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_0"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_1"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_2"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_3"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_4"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_5"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_6"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_7"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_8"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_9"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_10"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_11"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_12"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_13"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_14"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_15"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_16"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_17"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_18"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_19"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_20"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_21"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_22"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_23"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_24"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_25"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_26"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_27"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_28"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_29"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_30"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_31"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_32"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_33"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_34"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_35"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_36"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_37"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_38"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_39"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_2_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_2_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..57417f1bd756f369e32c63191426744cd280e425
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_2_asset_include.xml
@@ -0,0 +1,31 @@
+
+<mujocoinclude>
+  <mesh name="right_little_2_part_0" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_1" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_2" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_3" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_4" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_5" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_6" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_7" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_8" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_9" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_10" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_11" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_12" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_13" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_13.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_14" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_14.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_15" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_15.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_16" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_16.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_17" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_17.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_18" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_18.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_19" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_19.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_20" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_20.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_21" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_21.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_22" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_22.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_23" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_23.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_24" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_24.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_25" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_25.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_26" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_26.obj" scale="1 1 1"/>
+  <mesh name="right_little_2_part_27" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_27.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_2_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_2_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..99991b02146ee71374127fda41847ae42b10bd5f
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_2_geom_include.xml
@@ -0,0 +1,31 @@
+
+<mujocoinclude>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_0"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_2"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_3"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_4"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_5"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_6"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_7"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_8"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_9"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_10"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_11"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_12"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_13"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_14"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_15"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_16"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_17"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_18"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_19"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_20"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_21"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_22"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_23"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_24"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_25"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_26"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_27"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_1_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_1_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0f77be88def0c7a54db84869fd0709c715e912ec
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_1_asset_include.xml
@@ -0,0 +1,44 @@
+
+<mujocoinclude>
+  <mesh name="right_middle_1_part_0" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_1" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_2" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_3" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_4" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_5" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_6" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_7" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_8" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_9" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_10" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_11" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_12" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_13" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_13.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_14" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_14.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_15" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_15.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_16" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_16.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_17" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_17.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_18" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_18.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_19" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_19.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_20" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_20.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_21" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_21.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_22" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_22.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_23" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_23.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_24" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_24.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_25" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_25.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_26" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_26.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_27" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_27.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_28" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_28.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_29" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_29.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_30" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_30.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_31" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_31.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_32" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_32.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_33" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_33.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_34" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_34.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_35" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_35.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_36" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_36.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_37" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_37.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_38" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_38.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_39" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_39.obj" scale="1 1 1"/>
+  <mesh name="right_middle_1_part_40" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_40.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_1_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_1_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..714381852c164b85a0b4dd87960bc076a2031802
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_1_geom_include.xml
@@ -0,0 +1,44 @@
+
+<mujocoinclude>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_0"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_1"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_2"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_3"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_4"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_5"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_6"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_7"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_8"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_9"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_10"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_11"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_12"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_13"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_14"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_15"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_16"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_17"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_18"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_19"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_20"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_21"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_22"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_23"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_24"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_25"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_26"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_27"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_28"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_29"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_30"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_31"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_32"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_33"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_34"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_35"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_36"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_37"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_38"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_39"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_40"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_2_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_2_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c93e17d3a123068201e10d528734e527b2b86795
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_2_asset_include.xml
@@ -0,0 +1,20 @@
+
+<mujocoinclude>
+  <mesh name="right_middle_2_part_0" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_1" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_2" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_3" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_4" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_5" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_6" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_7" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_8" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_9" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_10" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_11" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_12" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_13" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_13.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_14" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_14.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_15" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_15.obj" scale="1 1 1"/>
+  <mesh name="right_middle_2_part_16" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_16.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_2_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_2_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3f2bf0d56f89f6405e9f7986f3291df60bc38bb7
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_2_geom_include.xml
@@ -0,0 +1,20 @@
+
+<mujocoinclude>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_0"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_2"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_3"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_4"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_5"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_6"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_7"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_8"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_9"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_10"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_11"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_12"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_13"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_14"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_15"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_16"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_1_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_1_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a26b4c993bdfacbf84b98094aa15bda5e9da7cfe
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_1_asset_include.xml
@@ -0,0 +1,44 @@
+
+<mujocoinclude>
+  <mesh name="right_ring_1_part_0" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_1" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_2" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_3" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_4" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_5" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_6" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_7" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_8" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_9" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_10" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_11" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_12" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_13" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_13.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_14" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_14.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_15" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_15.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_16" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_16.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_17" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_17.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_18" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_18.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_19" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_19.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_20" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_20.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_21" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_21.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_22" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_22.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_23" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_23.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_24" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_24.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_25" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_25.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_26" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_26.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_27" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_27.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_28" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_28.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_29" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_29.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_30" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_30.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_31" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_31.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_32" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_32.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_33" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_33.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_34" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_34.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_35" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_35.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_36" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_36.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_37" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_37.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_38" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_38.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_39" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_39.obj" scale="1 1 1"/>
+  <mesh name="right_ring_1_part_40" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_40.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_1_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_1_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..55bc3e896ddb24734ce30c5b18b514086a2cd04f
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_1_geom_include.xml
@@ -0,0 +1,44 @@
+
+<mujocoinclude>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_0"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_1"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_2"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_3"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_4"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_5"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_6"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_7"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_8"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_9"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_10"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_11"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_12"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_13"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_14"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_15"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_16"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_17"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_18"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_19"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_20"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_21"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_22"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_23"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_24"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_25"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_26"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_27"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_28"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_29"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_30"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_31"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_32"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_33"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_34"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_35"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_36"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_37"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_38"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_39"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_40"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_2_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_2_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..78bb73ac0a89ee08eaae711382c3f7523ff70b73
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_2_asset_include.xml
@@ -0,0 +1,17 @@
+
+<mujocoinclude>
+  <mesh name="right_ring_2_part_0" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="right_ring_2_part_1" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="right_ring_2_part_2" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="right_ring_2_part_3" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="right_ring_2_part_4" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="right_ring_2_part_5" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="right_ring_2_part_6" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="right_ring_2_part_7" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="right_ring_2_part_8" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="right_ring_2_part_9" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="right_ring_2_part_10" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="right_ring_2_part_11" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="right_ring_2_part_12" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="right_ring_2_part_13" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_13.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_2_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_2_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2ff6b103d22d87f1d7d5a50ebdd03ce493bb4465
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_2_geom_include.xml
@@ -0,0 +1,17 @@
+
+<mujocoinclude>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_0"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_2"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_3"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_4"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_5"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_6"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_7"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_8"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_9"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_10"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_11"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_12"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_13"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_1_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_1_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..015c9dd1ef9ec679a1bb37161e7f2cff8bc771c7
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_1_asset_include.xml
@@ -0,0 +1,38 @@
+
+<mujocoinclude>
+  <mesh name="right_thumb_1_part_0" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_1" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_2" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_3" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_4" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_5" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_6" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_7" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_8" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_9" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_10" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_11" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_12" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_13" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_13.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_14" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_14.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_15" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_15.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_16" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_16.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_17" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_17.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_18" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_18.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_19" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_19.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_20" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_20.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_21" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_21.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_22" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_22.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_23" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_23.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_24" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_24.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_25" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_25.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_26" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_26.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_27" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_27.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_28" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_28.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_29" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_29.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_30" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_30.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_31" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_31.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_32" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_32.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_33" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_33.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_1_part_34" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_34.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_1_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_1_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d14eea3cf53d594747c305c8fdabd1051888a6ce
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_1_geom_include.xml
@@ -0,0 +1,38 @@
+
+<mujocoinclude>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_0"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_1"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_2"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_3"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_4"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_5"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_6"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_7"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_8"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_9"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_10"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_11"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_12"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_13"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_14"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_15"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_16"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_17"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_18"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_19"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_20"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_21"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_22"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_23"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_24"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_25"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_26"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_27"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_28"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_29"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_30"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_31"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_32"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_33"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_34"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_2_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_2_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f3cf13f1b261a007c2299a6da74a997f4fa9cb77
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_2_asset_include.xml
@@ -0,0 +1,80 @@
+
+<mujocoinclude>
+  <mesh name="right_thumb_2_part_0" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_1" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_2" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_3" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_4" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_5" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_6" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_7" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_8" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_9" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_10" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_11" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_12" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_13" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_13.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_14" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_14.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_15" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_15.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_16" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_16.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_17" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_17.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_18" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_18.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_19" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_19.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_20" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_20.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_21" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_21.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_22" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_22.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_23" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_23.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_24" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_24.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_25" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_25.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_26" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_26.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_27" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_27.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_28" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_28.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_29" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_29.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_30" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_30.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_31" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_31.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_32" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_32.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_33" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_33.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_34" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_34.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_35" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_35.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_36" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_36.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_37" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_37.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_38" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_38.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_39" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_39.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_40" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_40.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_41" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_41.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_42" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_42.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_43" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_43.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_44" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_44.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_45" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_45.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_46" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_46.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_47" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_47.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_48" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_48.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_49" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_49.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_50" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_50.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_51" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_51.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_52" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_52.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_53" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_53.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_54" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_54.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_55" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_55.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_56" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_56.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_57" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_57.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_58" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_58.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_59" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_59.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_60" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_60.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_61" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_61.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_62" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_62.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_63" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_63.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_64" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_64.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_65" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_65.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_66" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_66.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_67" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_67.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_68" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_68.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_69" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_69.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_70" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_70.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_71" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_71.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_72" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_72.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_73" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_73.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_74" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_74.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_75" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_75.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_2_part_76" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_76.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_2_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_2_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..723c638dbc3a74a959722505bcbb95347d6fe381
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_2_geom_include.xml
@@ -0,0 +1,80 @@
+
+<mujocoinclude>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_0"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_1"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_2"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_3"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_4"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_5"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_6"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_7"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_8"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_9"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_10"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_11"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_12"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_13"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_14"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_15"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_16"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_17"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_18"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_19"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_20"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_21"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_22"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_23"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_24"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_25"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_26"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_27"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_28"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_29"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_30"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_31"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_32"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_33"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_34"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_35"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_36"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_37"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_38"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_39"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_40"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_41"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_42"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_43"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_44"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_45"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_46"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_47"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_48"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_49"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_50"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_51"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_52"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_53"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_54"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_55"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_56"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_57"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_58"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_59"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_60"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_61"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_62"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_63"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_64"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_65"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_66"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_67"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_68"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_69"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_70"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_71"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_72"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_73"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_74"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_75"/>
+  <geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_76"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_3_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_3_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ffe30ca0cde815ceeef9defe8e95e5775573bac2
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_3_asset_include.xml
@@ -0,0 +1,140 @@
+
+<mujocoinclude>
+  <mesh name="right_thumb_3_part_0" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_1" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_2" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_3" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_4" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_5" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_6" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_7" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_8" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_9" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_10" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_11" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_12" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_13" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_13.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_14" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_14.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_15" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_15.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_16" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_16.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_17" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_17.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_18" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_18.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_19" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_19.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_20" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_20.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_21" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_21.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_22" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_22.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_23" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_23.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_24" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_24.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_25" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_25.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_26" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_26.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_27" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_27.obj" scale="1 1 1"/>
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+  <mesh name="right_thumb_3_part_123" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_123.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_124" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_124.obj" scale="1 1 1"/>
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+  <mesh name="right_thumb_3_part_128" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_128.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_129" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_129.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_130" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_130.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_131" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_131.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_132" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_132.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_133" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_133.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_134" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_134.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_135" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_135.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_3_part_136" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_136.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_3_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_3_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6d89af905497b7fb6544c86928a44d75c564fead
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_3_geom_include.xml
@@ -0,0 +1,140 @@
+
+<mujocoinclude>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_0"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_2"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_3"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_4"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_5"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_6"/>
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+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_9"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_10"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_11"/>
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+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_16"/>
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+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_24"/>
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+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_55"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_56"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_57"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_58"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_59"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_60"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_61"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_62"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_63"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_64"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_65"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_66"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_67"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_68"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_69"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_70"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_71"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_72"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_73"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_74"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_75"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_76"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_77"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_78"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_79"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_80"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_81"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_82"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_83"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_84"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_85"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_86"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_87"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_88"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_89"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_90"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_91"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_92"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_93"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_94"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_95"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_96"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_97"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_98"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_99"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_100"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_101"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_102"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_103"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_104"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_105"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_106"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_107"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_108"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_109"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_110"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_111"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_112"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_113"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_114"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_115"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_116"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_117"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_118"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_119"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_120"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_121"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_122"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_123"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_124"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_125"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_126"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_127"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_128"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_129"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_130"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_131"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_132"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_133"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_134"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_135"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_136"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_4_asset_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_4_asset_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..01559f73214216df1172e8f38d4852c316971465
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_4_asset_include.xml
@@ -0,0 +1,29 @@
+
+<mujocoinclude>
+  <mesh name="right_thumb_4_part_0" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_0.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_1" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_1.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_2" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_2.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_3" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_3.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_4" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_4.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_5" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_5.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_6" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_6.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_7" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_7.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_8" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_8.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_9" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_9.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_10" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_10.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_11" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_11.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_12" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_12.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_13" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_13.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_14" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_14.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_15" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_15.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_16" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_16.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_17" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_17.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_18" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_18.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_19" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_19.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_20" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_20.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_21" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_21.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_22" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_22.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_23" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_23.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_24" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_24.obj" scale="1 1 1"/>
+  <mesh name="right_thumb_4_part_25" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_25.obj" scale="1 1 1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_4_geom_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_4_geom_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..60d49e59a98f7093b7f4fa8b71c64da2e478aee4
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_4_geom_include.xml
@@ -0,0 +1,29 @@
+
+<mujocoinclude>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_0" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_1" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_2" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_3" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_4" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_5" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_6" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_7" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_8" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_9" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_10" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_11" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_12" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_13" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_14" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_15" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_16" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_17" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_18" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_19" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_20" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_21" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_22" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_23" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_24" friction="5.0 0.5 0.1"/>
+  <geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_25" friction="5.0 0.5 0.1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_decomposition.ipynb b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_decomposition.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..0f8a28c27c77f6fa1d7853d65856e8ff637d7a33
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_decomposition.ipynb
@@ -0,0 +1,104 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import os\n",
+    "import numpy as np\n",
+    "import coacd\n",
+    "import trimesh\n",
+    "\n",
+    "input_file = r\"/home/ltx/THU-AIR/AIR_winter/hand_asset/inspire_right_hand_model/meshes/right_little_2.STL\"\n",
+    "\n",
+    "\n",
+    "mesh = trimesh.load(input_file, force=\"mesh\")\n",
+    "mesh = coacd.Mesh(mesh.vertices, mesh.faces)\n",
+    "parts = coacd.run_coacd(mesh) # a list of convex hulls."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import shutil\n",
+    "output_dir = input_file.replace(\".STL\", \"_convex_dec\")\n",
+    "if os.path.exists(output_dir):\n",
+    "    shutil.rmtree(output_dir)\n",
+    "os.makedirs(output_dir)\n",
+    "\n",
+    "#------ different for each part\n",
+    "rgba = \"0.203922 0.203922 0.203922 1\"\n",
+    "\n",
+    "asset_name = input_file.split(\"/\")[-1].replace(\".STL\", \"\")\n",
+    "\n",
+    "asset_config = \"\"\"\n",
+    "<mujocoinclude>\n",
+    "\"\"\"\n",
+    "\n",
+    "geom_config = \"\"\"\n",
+    "<mujocoinclude>\n",
+    "\"\"\".format(asset_name)\n",
+    "\n",
+    "for i, part in enumerate(parts):\n",
+    "    output_file = os.path.join(output_dir, f\"part_{i}.obj\")\n",
+    "    part_mesh = trimesh.Trimesh(vertices=part[0], faces=part[1])\n",
+    "    part_mesh.export(output_file)\n",
+    "    asset_config += '  <mesh name=\"{}_part_{}\" file=\"../meshes/{}_convex_dec/part_{}.obj\" scale=\"1 1 1\"/>\\n'.format(asset_name, i, asset_name, i)\n",
+    "    geom_config += '  <geom type=\"mesh\" rgba=\"{}\" mesh=\"{}_part_{}\"/>\\n'.format(rgba, asset_name, i)\n",
+    "    # body_config += ' class=\"obj_collision\"/>\\n'\n",
+    "\n",
+    "\n",
+    "\n",
+    "\n",
+    "asset_config += \"</mujocoinclude>\\n\"\n",
+    "print(asset_config)\n",
+    "with open(f\"convex_dec_include/{asset_name}_asset_include.xml\", \"w\") as fa:\n",
+    "    fa.write(asset_config)\n",
+    "print(f\"{asset_name}_asset_include.xml 写入成功！\")\n",
+    "\n",
+    "\n",
+    "\n",
+    "\n",
+    "geom_config += \"</mujocoinclude>\\n\"\n",
+    "print(geom_config)\n",
+    "with open(f\"convex_dec_include/{asset_name}_geom_include.xml\", \"w\") as fg:\n",
+    "    fg.write(geom_config)\n",
+    "print(f\"{asset_name}_geom_include.xml 写入成功！\")\n",
+    "\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "discoverse",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
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diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/inspire_right_hand.urdf b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/inspire_right_hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..05c395cb99b5ddaddc038ceff0d2757cd52a13ea
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/inspire_right_hand.urdf
@@ -0,0 +1,894 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="urdf_right_2025_1_17">
+    
+   <link name="world"/>
+
+    <joint name="R_hand_base_joint" type="fixed">
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+      <parent link="world"/>
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+    name="palm_Link">
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+      <inertia
+        ixx="2.26332196405867E-06"
+        ixy="3.92172318180451E-07"
+        ixz="-3.6571544042071E-10"
+        iyy="3.83108005467821E-07"
+        iyz="2.80158649618187E-09"
+        izz="2.30200501593561E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../../../meshes/right_ring_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.203921568627451 0.203921568627451 0.203921568627451 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../../../meshes/right_ring_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_2_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0031431 0.032624 -0.00055"
+      rpy="0 0 0" />
+    <parent
+      link="right_ring_1" />
+    <child
+      link="right_ring_2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="10"
+      velocity="1" />
+    <mimic
+        joint="right_ring_1_joint"
+        multiplier="1.05"
+        offset="0" />
+  </joint>
+  <link
+    name="right_little_1">
+    <inertial>
+      <origin
+        xyz="-0.00232893365325346 0.0122718105314716 -0.00664923191534179"
+        rpy="0 0 0" />
+      <mass
+        value="0.00719999323057743" />
+      <inertia
+        ixx="1.27919761097102E-06"
+        ixy="7.02115784565391E-08"
+        ixz="-6.243226865727E-12"
+        iyy="5.83984396985745E-07"
+        iyz="6.31578908783105E-11"
+        izz="1.32923638925969E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../../../meshes/right_little_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.203921568627451 0.203921568627451 0.203921568627451 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../../../meshes/right_little_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_little_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.025916 -0.00056467 0.15365"
+      rpy="1.4661 0 1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="right_little_1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.6"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="right_little_2">
+    <inertial>
+      <origin
+        xyz="0.00160931492359033 0.0209120615208183 -0.00610003894171886"
+        rpy="0 0 0" />
+      <mass
+        value="0.00759283159700144" />
+      <inertia
+        ixx="1.23228349635539E-06"
+        ixy="2.22877215949825E-07"
+        ixz="4.69505975018065E-12"
+        iyy="2.75902655754916E-07"
+        iyz="2.40449146255173E-11"
+        izz="1.23909532768127E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../../../meshes/right_little_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.203921568627451 0.203921568627451 0.203921568627451 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../../../meshes/right_little_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_little_2_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0029412 0.032643 -0.00055"
+      rpy="0 0 0" />
+    <parent
+      link="right_little_1" />
+    <child
+      link="right_little_2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="1"
+      velocity="100" />
+    <mimic
+        joint="right_little_1_joint"
+        multiplier="1.05"
+        offset="0" />  
+  </joint>
+</robot>
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/inspire_right_hand.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/inspire_right_hand.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ce62cf417e532064998fb6ca6370ef24e5360715
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/inspire_right_hand.xml
@@ -0,0 +1,188 @@
+<mujoco model="urdf_right_2025_1_17">
+  <compiler angle="radian"/>
+  
+  <option solver="Newton" tolerance="1e-6" timestep=".001" integrator="RK4"/>
+  
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global offwidth="1920" offheight="1080" azimuth="-35" elevation="-50" fovy="8"/>
+  </visual>
+  
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+
+    <include file="convex_dec_include/base_link_asset_include.xml"/>
+    <include file="convex_dec_include/palm_Link_asset_include.xml"/>
+    <include file="convex_dec_include/palm_Link_1_asset_include.xml"/>
+
+    <include file="convex_dec_include/right_thumb_1_asset_include.xml"/>
+    <include file="convex_dec_include/right_thumb_2_asset_include.xml"/>
+    <include file="convex_dec_include/right_thumb_3_asset_include.xml"/>
+    <include file="convex_dec_include/right_thumb_4_asset_include.xml"/>
+
+    <include file="convex_dec_include/right_index_1_asset_include.xml"/>
+    <include file="convex_dec_include/right_index_2_asset_include.xml"/>
+
+    <include file="convex_dec_include/right_middle_1_asset_include.xml"/>
+    <include file="convex_dec_include/right_middle_2_asset_include.xml"/>
+
+    <include file="convex_dec_include/right_ring_1_asset_include.xml"/>
+    <include file="convex_dec_include/right_ring_2_asset_include.xml"/>
+
+    <include file="convex_dec_include/right_little_1_asset_include.xml"/>
+    <include file="convex_dec_include/right_little_2_asset_include.xml"/>
+  </asset>
+
+  <worldbody>
+    <light name="1" pos="0.5 0.5 0.5" dir="-1 -1 -1" diffuse="1 1 1" specular="0.5 0.5 0.5" castshadow="false"/>
+    <light name="2" pos="-0.5 -0.5 -0.5" dir="1 1 1" diffuse="1 1 1" specular="0.5 0.5 0.5" castshadow="false"/>
+
+    <body name="base_link" quat="0.707388 0 0 0.706825">
+      <include file="convex_dec_include/base_link_geom_include.xml"/>
+    </body>
+    
+    <body name="palm_link" pos="0 0 0.041" quat="0.707388 0 0 0.706825">
+      <include file="convex_dec_include/palm_Link_geom_include.xml"/>
+      <include file="sensor_include/palm_site_include.xml"/>
+    </body>
+
+    <body name="palm_link_1" pos="0 0 0.041" quat="0.707388 0 0 0.706825">
+      <include file="convex_dec_include/palm_Link_1_geom_include.xml"/>
+    </body>
+
+    <!-- Thumb -->
+    <body name="right_thumb_1" pos="0.0210314 0.0268833 0.069" quat="-0.706828 0 0 0.707386">
+      <inertial pos="-0.00178423 0.000649411 0.00488589" quat="0.609481 0.695344 0.128437 -0.358515" mass="0.00115519" diaginertia="6.58579e-08 5.87769e-08 3.77927e-08"/>
+      <joint name="right_thumb_1_joint" pos="0 0 0" axis="0 0 -1" range="0 1.15" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
+      <include file="convex_dec_include/right_thumb_1_geom_include.xml"/>
+
+      <body name="right_thumb_2" pos="-0.0063016 0.011924 0.003" quat="0.122797 0.122797 0.696364 0.696361">
+        <inertial pos="0.0141071 0.013272 -0.0090503" quat="0.653094 0.270971 -0.653141 0.271017" mass="0.0064504" diaginertia="1.39688e-06 1.14175e-06 9.89349e-07"/>
+        <joint name="right_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 0.55" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
+        <include file="convex_dec_include/right_thumb_2_geom_include.xml"/>
+
+        <body name="right_thumb_3" pos="0.034968 0.021325 -0.0015">
+          <inertial pos="0.00937844 0.00404408 -0.00753947" quat="0.686654 0.690582 -0.161401 -0.159853" mass="0.00397613" diaginertia="4.9004e-07 4.24794e-07 3.76617e-07"/>
+          <joint name="right_thumb_3_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
+          <include file="convex_dec_include/right_thumb_3_geom_include.xml"/>
+
+          <body name="right_thumb_4" pos="0.018887 0.011501 -0.0002">
+            <inertial pos="0.0159974 0.00631063 -0.00734352" quat="0.306916 0.308192 0.637344 0.636092" mass="0.00913038" diaginertia="9.67919e-07 9.25691e-07 4.39361e-07"/>
+            <joint name="right_thumb_4_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
+            <include file="convex_dec_include/right_thumb_4_geom_include.xml"/>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <!-- Index -->
+    <body name="right_index_1" pos="0.000595471 0.0386785 0.1564" quat="0.000275312 0.000285093 0.719339 0.694659">
+      <inertial pos="-0.00228224 0.0122806 -0.00664924" quat="0.475493 0.523357 -0.475453 0.523401" mass="0.0072" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
+      <joint name="right_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-10 10"/>
+      <include file="convex_dec_include/right_index_1_geom_include.xml"/>
+
+      <body name="right_index_2" pos="-0.002817 0.032654 -0.00055">
+        <inertial pos="0.000405081 0.0257028 -0.00609276" quat="0.703612 0.702971 0.0715956 0.0750715" mass="0.00968594" diaginertia="2.34184e-06 2.30201e-06 3.04584e-07"/>
+        <joint name="right_index_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10"/>
+        <include file="convex_dec_include/right_index_2_geom_include.xml"/>
+      </body>
+    </body>
+
+    <!-- Middle -->
+    <body name="right_middle" pos="0.000578287 0.0170995 0.157" quat="0.000280245 0.000280246 0.707108 0.707105">
+      <inertial pos="-0.00229221 0.0122787 -0.00664924" quat="0.47528 0.52355 -0.47524 0.523594" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
+      <joint name="right_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-1 1"/>
+      <include file="convex_dec_include/right_middle_1_geom_include.xml"/>
+
+      <body name="right_middle_2" pos="-0.0028436 0.032651 -0.00055">
+        <inertial pos="7.55635e-05 0.0274472 -0.00610051" quat="0.703921 0.703917 0.0669721 0.067155" mass="0.0104603" diaginertia="2.8477e-06 2.80695e-06 3.32744e-07"/>
+        <joint name="right_middle_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-1 1"/>
+        <include file="convex_dec_include/right_middle_2_geom_include.xml"/>
+      </body>
+    </body>
+
+    <!-- Ring -->
+    <body name="right_ring_1" pos="0.000561062 -0.00453065 0.15683" quat="0.00028749 0.000272808 0.688341 0.725387">
+      <inertial pos="-0.00240481 0.0122572 -0.00664924" quat="0.472873 0.525725 -0.472833 0.52577" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
+      <joint name="right_ring_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-10 10"/>
+      <include file="convex_dec_include/right_ring_1_geom_include.xml"/>
+      
+      <body name="right_ring_2" pos="-0.0031431 0.032624 -0.00055">
+        <inertial pos="0.000666831 0.0256973 -0.00609277" quat="0.703985 0.703327 0.0680113 0.0714909" mass="0.00968594" diaginertia="2.34184e-06 2.30201e-06 3.04584e-07"/>
+        <joint name="right_ring_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10"/>
+        <include file="convex_dec_include/right_ring_2_geom_include.xml"/>
+      </body>
+    </body>
+
+    <!-- Little -->
+    <body name="right_little_1" pos="0.000544032 -0.0259164 0.15365" quat="0.000294525 0.000265198 0.669139 0.743137">
+      <inertial pos="-0.00232893 0.0122718 -0.00664923" quat="0.474497 0.52426 -0.474457 0.524304" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
+      <joint name="right_little_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-1 1"/>
+      <include file="convex_dec_include/right_little_1_geom_include.xml"/>
+
+      <body name="right_little_2" pos="-0.0029412 0.032643 -0.00055">
+        <inertial pos="0.00160931 0.0209121 -0.00610004" quat="0.702906 0.702909 0.0768667 0.0770299" mass="0.00759283" diaginertia="1.28167e-06 1.2391e-06 2.26513e-07"/>
+        <joint name="right_little_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-1 1"/>
+        <include file="convex_dec_include/right_little_2_geom_include.xml"/>
+      </body>
+    </body>
+
+    <light pos="0 0.5 1" dir="0 -1 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+
+  <sensor>
+    <include file="sensor_include/palm_touch_include.xml"/>
+  </sensor>
+  
+  <keyframe>
+    <key name="0" qpos='0 0 0 0 0 0 0 0 0 0 0 0'/>
+    <key name="1" qpos='0.322 0.452629 0.584079 0.390745 0.0807463 0.0882835 0.0808664 0.0895169 1.49839 1.50633 1.50595 1.51428'/>
+    <key name="2" qpos='0 0 0 0 0 0 0 0 0 0 0 0'/>
+    <key name="3" qpos='0.322 0.452629 0.584079 0.390745 0.0807463 0.0882835 0.0808664 0.0895169 1.49839 1.50633 1.50595 1.51428'/>
+    <key name="4" qpos='0 0 0 0 0 0 0 0 0 0 0 0'/>
+    <key name="5" qpos='0.322 0.452629 0.584079 0.390745 0.0807463 0.0882835 0.0808664 0.0895169 1.49839 1.50633 1.50595 1.51428'/>
+    <key name="6" qpos='0 0 0 0 0 0 0 0 0 0 0 0'/>
+
+  </keyframe>
+
+  <actuator>
+    <!-- Thumb -->
+    <position name="right_thumb_1_joint" joint="right_thumb_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+    <position name="right_thumb_2_joint" joint="right_thumb_2_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+    <!-- Index -->
+    <position name="right_index_1_joint" joint="right_index_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+    <!-- Middle -->
+    <position name="right_middle_1_joint" joint="right_middle_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+    <!-- Ring -->
+    <position name="right_ring_1_joint" joint="right_ring_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+    <!-- Little -->
+    <position name="right_little_1_joint" joint="right_little_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+  </actuator>
+
+  <equality>
+    <!-- Thumb -->
+    <joint name="right_thumb_3_joint" joint1="right_thumb_2_joint" joint2="right_thumb_3_joint" polycoef="0 0.8 0 0"/>
+    <joint name="right_thumb_4_joint" joint1="right_thumb_2_joint" joint2="right_thumb_4_joint" polycoef="0 1.2 0 0"/>
+
+    <!-- Index -->
+    <joint name="right_index_2_joint" joint1="right_index_1_joint" joint2="right_index_2_joint" polycoef="0 1 0 0"/>
+
+    <!-- Middle -->
+    <joint name="right_middle_2_joint" joint1="right_middle_1_joint" joint2="right_middle_2_joint" polycoef="0 1 0 0"/>
+
+    <!-- Ring -->
+    <joint name="right_ring_2_joint" joint1="right_ring_1_joint" joint2="right_ring_2_joint" polycoef="0 1 0 0"/>
+
+    <!-- Little -->
+    <joint name="right_little_2_joint" joint1="right_little_1_joint" joint2="right_little_2_joint" polycoef="0 1 0 0"/>
+  </equality>
+</mujoco>
\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/sensor_include/palm_site_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/sensor_include/palm_site_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..82371367c1f7c6585bcef04e023230deffb50852
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/sensor_include/palm_site_include.xml
@@ -0,0 +1,114 @@
+<mujcocoinclude>
+<site name="palm_0_0" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.025 -0.012 0.09"/>
+<site name="palm_0_1" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0219 -0.012 0.09"/>
+<site name="palm_0_2" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0188 -0.012 0.09"/>
+<site name="palm_0_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.09"/>
+<site name="palm_0_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.09"/>
+<site name="palm_0_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.09"/>
+<site name="palm_0_6" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0064 -0.012 0.09"/>
+<site name="palm_0_7" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0033 -0.012 0.09"/>
+<site name="palm_0_8" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0002 -0.012 0.09"/>
+<site name="palm_0_9" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0029 -0.012 0.09"/>
+<site name="palm_0_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.09"/>
+<site name="palm_0_11" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0091 -0.012 0.09"/>
+<site name="palm_0_12" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0122 -0.012 0.09"/>
+<site name="palm_0_13" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0153 -0.012 0.09"/>
+<site name="palm_1_0" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.025 -0.012 0.0869"/>
+<site name="palm_1_1" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0219 -0.012 0.0869"/>
+<site name="palm_1_2" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0188 -0.012 0.0869"/>
+<site name="palm_1_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.0869"/>
+<site name="palm_1_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.0869"/>
+<site name="palm_1_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.0869"/>
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+<site name="palm_2_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.0838"/>
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+<site name="palm_4_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.0776"/>
+<site name="palm_4_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.0776"/>
+<site name="palm_4_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.0776"/>
+<site name="palm_4_6" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0064 -0.012 0.0776"/>
+<site name="palm_4_7" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0033 -0.012 0.0776"/>
+<site name="palm_4_8" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0002 -0.012 0.0776"/>
+<site name="palm_4_9" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0029 -0.012 0.0776"/>
+<site name="palm_4_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.0776"/>
+<site name="palm_4_11" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0091 -0.012 0.0776"/>
+<site name="palm_4_12" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0122 -0.012 0.0776"/>
+<site name="palm_4_13" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0153 -0.012 0.0776"/>
+<site name="palm_5_0" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.025 -0.012 0.0745"/>
+<site name="palm_5_1" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0219 -0.012 0.0745"/>
+<site name="palm_5_2" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0188 -0.012 0.0745"/>
+<site name="palm_5_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.0745"/>
+<site name="palm_5_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.0745"/>
+<site name="palm_5_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.0745"/>
+<site name="palm_5_6" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0064 -0.012 0.0745"/>
+<site name="palm_5_7" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0033 -0.012 0.0745"/>
+<site name="palm_5_8" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0002 -0.012 0.0745"/>
+<site name="palm_5_9" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0029 -0.012 0.0745"/>
+<site name="palm_5_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.0745"/>
+<site name="palm_5_11" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0091 -0.012 0.0745"/>
+<site name="palm_5_12" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0122 -0.012 0.0745"/>
+<site name="palm_5_13" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0153 -0.012 0.0745"/>
+<site name="palm_6_0" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.025 -0.012 0.0714"/>
+<site name="palm_6_1" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0219 -0.012 0.0714"/>
+<site name="palm_6_2" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0188 -0.012 0.0714"/>
+<site name="palm_6_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.0714"/>
+<site name="palm_6_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.0714"/>
+<site name="palm_6_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.0714"/>
+<site name="palm_6_6" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0064 -0.012 0.0714"/>
+<site name="palm_6_7" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0033 -0.012 0.0714"/>
+<site name="palm_6_8" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0002 -0.012 0.0714"/>
+<site name="palm_6_9" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0029 -0.012 0.0714"/>
+<site name="palm_6_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.0714"/>
+<site name="palm_6_11" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0091 -0.012 0.0714"/>
+<site name="palm_6_12" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0122 -0.012 0.0714"/>
+<site name="palm_6_13" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0153 -0.012 0.0714"/>
+<site name="palm_7_0" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.025 -0.012 0.0683"/>
+<site name="palm_7_1" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0219 -0.012 0.0683"/>
+<site name="palm_7_2" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0188 -0.012 0.0683"/>
+<site name="palm_7_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.0683"/>
+<site name="palm_7_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.0683"/>
+<site name="palm_7_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.0683"/>
+<site name="palm_7_6" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0064 -0.012 0.0683"/>
+<site name="palm_7_7" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0033 -0.012 0.0683"/>
+<site name="palm_7_8" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0002 -0.012 0.0683"/>
+<site name="palm_7_9" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0029 -0.012 0.0683"/>
+<site name="palm_7_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.0683"/>
+<site name="palm_7_11" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0091 -0.012 0.0683"/>
+<site name="palm_7_12" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0122 -0.012 0.0683"/>
+<site name="palm_7_13" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0153 -0.012 0.0683"/>
+</mujcocoinclude>
\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/sensor_include/palm_touch_include.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/sensor_include/palm_touch_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3d0717a19a60f5b7fcee00ad34583218b19a8624
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/sensor_include/palm_touch_include.xml
@@ -0,0 +1,114 @@
+<mujcocoinclude>
+<touch name="palm_0_0" site="palm_0_0"/>
+<touch name="palm_0_1" site="palm_0_1"/>
+<touch name="palm_0_2" site="palm_0_2"/>
+<touch name="palm_0_3" site="palm_0_3"/>
+<touch name="palm_0_4" site="palm_0_4"/>
+<touch name="palm_0_5" site="palm_0_5"/>
+<touch name="palm_0_6" site="palm_0_6"/>
+<touch name="palm_0_7" site="palm_0_7"/>
+<touch name="palm_0_8" site="palm_0_8"/>
+<touch name="palm_0_9" site="palm_0_9"/>
+<touch name="palm_0_10" site="palm_0_10"/>
+<touch name="palm_0_11" site="palm_0_11"/>
+<touch name="palm_0_12" site="palm_0_12"/>
+<touch name="palm_0_13" site="palm_0_13"/>
+<touch name="palm_1_0" site="palm_1_0"/>
+<touch name="palm_1_1" site="palm_1_1"/>
+<touch name="palm_1_2" site="palm_1_2"/>
+<touch name="palm_1_3" site="palm_1_3"/>
+<touch name="palm_1_4" site="palm_1_4"/>
+<touch name="palm_1_5" site="palm_1_5"/>
+<touch name="palm_1_6" site="palm_1_6"/>
+<touch name="palm_1_7" site="palm_1_7"/>
+<touch name="palm_1_8" site="palm_1_8"/>
+<touch name="palm_1_9" site="palm_1_9"/>
+<touch name="palm_1_10" site="palm_1_10"/>
+<touch name="palm_1_11" site="palm_1_11"/>
+<touch name="palm_1_12" site="palm_1_12"/>
+<touch name="palm_1_13" site="palm_1_13"/>
+<touch name="palm_2_0" site="palm_2_0"/>
+<touch name="palm_2_1" site="palm_2_1"/>
+<touch name="palm_2_2" site="palm_2_2"/>
+<touch name="palm_2_3" site="palm_2_3"/>
+<touch name="palm_2_4" site="palm_2_4"/>
+<touch name="palm_2_5" site="palm_2_5"/>
+<touch name="palm_2_6" site="palm_2_6"/>
+<touch name="palm_2_7" site="palm_2_7"/>
+<touch name="palm_2_8" site="palm_2_8"/>
+<touch name="palm_2_9" site="palm_2_9"/>
+<touch name="palm_2_10" site="palm_2_10"/>
+<touch name="palm_2_11" site="palm_2_11"/>
+<touch name="palm_2_12" site="palm_2_12"/>
+<touch name="palm_2_13" site="palm_2_13"/>
+<touch name="palm_3_0" site="palm_3_0"/>
+<touch name="palm_3_1" site="palm_3_1"/>
+<touch name="palm_3_2" site="palm_3_2"/>
+<touch name="palm_3_3" site="palm_3_3"/>
+<touch name="palm_3_4" site="palm_3_4"/>
+<touch name="palm_3_5" site="palm_3_5"/>
+<touch name="palm_3_6" site="palm_3_6"/>
+<touch name="palm_3_7" site="palm_3_7"/>
+<touch name="palm_3_8" site="palm_3_8"/>
+<touch name="palm_3_9" site="palm_3_9"/>
+<touch name="palm_3_10" site="palm_3_10"/>
+<touch name="palm_3_11" site="palm_3_11"/>
+<touch name="palm_3_12" site="palm_3_12"/>
+<touch name="palm_3_13" site="palm_3_13"/>
+<touch name="palm_4_0" site="palm_4_0"/>
+<touch name="palm_4_1" site="palm_4_1"/>
+<touch name="palm_4_2" site="palm_4_2"/>
+<touch name="palm_4_3" site="palm_4_3"/>
+<touch name="palm_4_4" site="palm_4_4"/>
+<touch name="palm_4_5" site="palm_4_5"/>
+<touch name="palm_4_6" site="palm_4_6"/>
+<touch name="palm_4_7" site="palm_4_7"/>
+<touch name="palm_4_8" site="palm_4_8"/>
+<touch name="palm_4_9" site="palm_4_9"/>
+<touch name="palm_4_10" site="palm_4_10"/>
+<touch name="palm_4_11" site="palm_4_11"/>
+<touch name="palm_4_12" site="palm_4_12"/>
+<touch name="palm_4_13" site="palm_4_13"/>
+<touch name="palm_5_0" site="palm_5_0"/>
+<touch name="palm_5_1" site="palm_5_1"/>
+<touch name="palm_5_2" site="palm_5_2"/>
+<touch name="palm_5_3" site="palm_5_3"/>
+<touch name="palm_5_4" site="palm_5_4"/>
+<touch name="palm_5_5" site="palm_5_5"/>
+<touch name="palm_5_6" site="palm_5_6"/>
+<touch name="palm_5_7" site="palm_5_7"/>
+<touch name="palm_5_8" site="palm_5_8"/>
+<touch name="palm_5_9" site="palm_5_9"/>
+<touch name="palm_5_10" site="palm_5_10"/>
+<touch name="palm_5_11" site="palm_5_11"/>
+<touch name="palm_5_12" site="palm_5_12"/>
+<touch name="palm_5_13" site="palm_5_13"/>
+<touch name="palm_6_0" site="palm_6_0"/>
+<touch name="palm_6_1" site="palm_6_1"/>
+<touch name="palm_6_2" site="palm_6_2"/>
+<touch name="palm_6_3" site="palm_6_3"/>
+<touch name="palm_6_4" site="palm_6_4"/>
+<touch name="palm_6_5" site="palm_6_5"/>
+<touch name="palm_6_6" site="palm_6_6"/>
+<touch name="palm_6_7" site="palm_6_7"/>
+<touch name="palm_6_8" site="palm_6_8"/>
+<touch name="palm_6_9" site="palm_6_9"/>
+<touch name="palm_6_10" site="palm_6_10"/>
+<touch name="palm_6_11" site="palm_6_11"/>
+<touch name="palm_6_12" site="palm_6_12"/>
+<touch name="palm_6_13" site="palm_6_13"/>
+<touch name="palm_7_0" site="palm_7_0"/>
+<touch name="palm_7_1" site="palm_7_1"/>
+<touch name="palm_7_2" site="palm_7_2"/>
+<touch name="palm_7_3" site="palm_7_3"/>
+<touch name="palm_7_4" site="palm_7_4"/>
+<touch name="palm_7_5" site="palm_7_5"/>
+<touch name="palm_7_6" site="palm_7_6"/>
+<touch name="palm_7_7" site="palm_7_7"/>
+<touch name="palm_7_8" site="palm_7_8"/>
+<touch name="palm_7_9" site="palm_7_9"/>
+<touch name="palm_7_10" site="palm_7_10"/>
+<touch name="palm_7_11" site="palm_7_11"/>
+<touch name="palm_7_12" site="palm_7_12"/>
+<touch name="palm_7_13" site="palm_7_13"/>
+</mujcocoinclude>
\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_with_arm.xml b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_with_arm.xml
new file mode 100644
index 0000000000000000000000000000000000000000..497a7b53aeddd5d88641c6c6cecee318531c7bb2
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/inspire_hand_arm/hand_with_arm.xml
@@ -0,0 +1,272 @@
+<mujoco model="air_arm_with_hand">
+
+  <include file="../scene.xml"/>
+  <include file="../airbot_play/airbot_play_dependencies.xml"/>
+
+  <option integrator="RK4" solver="Newton" />
+  <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5" meshdir="../../meshes/" texturedir="../../textures/"/>
+  <size njmax="10000" nconmax="10000"/>
+
+  <asset>
+    <include file="hand_mjcf/convex_dec_include/base_link_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/palm_Link_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/palm_Link_1_asset_include.xml"/>
+
+    <include file="hand_mjcf/convex_dec_include/right_thumb_1_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_thumb_2_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_thumb_3_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_thumb_4_asset_include.xml"/>
+
+    <include file="hand_mjcf/convex_dec_include/right_index_1_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_index_2_asset_include.xml"/>
+
+    <include file="hand_mjcf/convex_dec_include/right_middle_1_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_middle_2_asset_include.xml"/>
+
+    <include file="hand_mjcf/convex_dec_include/right_ring_1_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_ring_2_asset_include.xml"/>
+
+    <include file="hand_mjcf/convex_dec_include/right_little_1_asset_include.xml"/>
+    <include file="hand_mjcf/convex_dec_include/right_little_2_asset_include.xml"/>
+  </asset>
+
+  <contact>
+    <exclude body1='arm_base' body2='link2'/>
+  </contact>
+
+  <worldbody>
+    <!-- ======= 原机械臂结构 ======= -->
+    <body name="arm_base" pos="0 0 0.78" euler="0 0 0">
+      <!-- 原机械臂的几何定义... -->
+      <geom type="box" pos="-0.02 0 0.005" size="0.0806 0.1375 0.0025" rgba="0.2 0.2 0.2 1"/>
+      <geom mesh="arm_base_0" pos="0 0 -0.0015" material="Gree_Light_Base" class="obj_visual"/>
+      <geom mesh="arm_base_1" material="Paint_Matte_Black" class="obj_visual"/>
+      <body name="link1" pos="0 0 0.1172">
+        <inertial pos="7.9126e-05 -0.002527 -0.0041359" quat="0.696716 0.716558 0.0238919 -0.0236876" mass="0.54639" diaginertia="0.000346294 0.000325437 0.000286269"/>
+        <joint name="joint1" class="joint1"/>
+        <geom type="mesh" contype="0" conaffinity="0" density="0" rgba="0.1 0.1 0.1 1" mesh="link1"/>
+        <body name="link2" quat="0.135866 0.135867 -0.69393 0.693932">
+          <inertial pos="0.22493 0.0047721 0.008023" quat="-0.210875 0.632473 -0.273056 0.693506" mass="0.64621" diaginertia="0.00516535 0.00505042 0.000418626"/>
+          <joint name="joint2" class="joint2"/>
+          <geom type="box" pos="0.08 0.015 0" euler="0 0 0.15" size="0.11 0.03 0.04" rgba="1 0 0 0"/>
+          <geom type="box" pos="0.235 0.015 0" euler="0 0 -0.3" size="0.065 0.025 0.045" rgba="1 0 0 0"/>
+          <geom mesh="link2_0" material="Paint_Matte_Black" class="obj_visual"/>
+          <geom mesh="link2_1" material="Paint_Metallic_White" class="obj_visual"/>
+          <body name="link3" pos="0.27009 0 0" quat="0.192144 0 0 -0.981367">
+            <inertial pos="0.16813 -5.5576e-05 0.0031184" quat="0.511278 0.488423 0.489191 0.510617" mass="0.26829" diaginertia="0.0031527 0.0030951 0.000239403"/>
+            <joint name="joint3" class="joint3"/>
+            <geom type="box" pos="0.13 0 0" size="0.13 0.025 0.025" rgba="1 0 0 0"/>
+            <geom mesh="link3_0" material="Paint_Matte_Black" class="obj_visual"/>
+            <geom mesh="link3_1" material="Paint_Metallic_White" class="obj_visual"/>
+            <body name="link4" pos="0.29015 0 0" quat="-2.59734e-06 0.707105 2.59735e-06 0.707108">
+              <inertial pos="5.2436e-06 0.00040412 -0.03228" quat="0.999969 -0.000174762 -0.00792041 -6.98144e-05" mass="0.34876" diaginertia="0.000423574 0.000412 0.000126826"/>
+              <joint name="joint4" class="joint4"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link4"/>
+              <body name="link5" quat="0.707105 0.707108 0 0">
+                <inertial pos="8.3328e-06 0.026148 0.002525" quat="0.531568 0.4663 0.4663 0.531568" mass="0.36132" diaginertia="0.0004677 0.000432922 0.000178178"/>
+                <joint name="joint5" class="joint5"/>
+                <geom mesh="link5_0" material="Paint_Matte_Black" class="obj_visual"/>
+                <geom mesh="link5_1" material="Paint_Metallic_White" class="obj_visual"/>
+                <body name="link6" pos="0 0.070314 0" quat="0.499998 -0.5 0.5 0.500002">
+                  <inertial pos="-0.0047053 7.3857e-05 -0.12293" mass="0.53855" diaginertia="5e-05 5e-05 3.85e-05"/>
+                  <joint name="joint6" class="joint6"/>
+                  <site name="endpoint" pos='0 0 0' euler="0 -1.5708 0"/>
+                    <!-- ======= 连接手部模型 ======= -->
+                    <body name="base_link" pos="0 0 0" quat="0.707388 0 0 0.706825">
+                      <include file="hand_mjcf/convex_dec_include/base_link_geom_include.xml"/>
+                    </body>
+                    
+                    <body name="palm_link" pos="0 0 0.041" quat="0.707388 0 0 0.706825">
+                      <include file="hand_mjcf/convex_dec_include/palm_Link_geom_include.xml"/>
+                      <include file="hand_mjcf/sensor_include/palm_site_include.xml"/>
+                    </body>
+
+                    <body name="palm_link_1" pos="0 0 0.041" quat="0.707388 0 0 0.706825">
+                      <include file="hand_mjcf/convex_dec_include/palm_Link_1_geom_include.xml"/>
+                    </body>
+
+                    <!-- Thumb -->
+                    <body name="right_thumb_1" pos="0.0210314 0.0268833 0.069" quat="-0.706828 0 0 0.707386">
+                      <inertial pos="-0.00178423 0.000649411 0.00488589" quat="0.609481 0.695344 0.128437 -0.358515" mass="0.00115519" diaginertia="6.58579e-08 5.87769e-08 3.77927e-08"/>
+                      <joint name="right_thumb_1_joint" pos="0 0 0" axis="0 0 -1" range="0 1.15" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
+                      <include file="hand_mjcf/convex_dec_include/right_thumb_1_geom_include.xml"/>
+
+                      <body name="right_thumb_2" pos="-0.0063016 0.011924 0.003" quat="0.122797 0.122797 0.696364 0.696361">
+                        <inertial pos="0.0141071 0.013272 -0.0090503" quat="0.653094 0.270971 -0.653141 0.271017" mass="0.0064504" diaginertia="1.39688e-06 1.14175e-06 9.89349e-07"/>
+                        <joint name="right_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 0.55" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
+                        <include file="hand_mjcf/convex_dec_include/right_thumb_2_geom_include.xml"/>
+
+                        <body name="right_thumb_3" pos="0.034968 0.021325 -0.0015">
+                          <inertial pos="0.00937844 0.00404408 -0.00753947" quat="0.686654 0.690582 -0.161401 -0.159853" mass="0.00397613" diaginertia="4.9004e-07 4.24794e-07 3.76617e-07"/>
+                          <joint name="right_thumb_3_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
+                          <include file="hand_mjcf/convex_dec_include/right_thumb_3_geom_include.xml"/>
+
+                          <body name="right_thumb_4" pos="0.018887 0.011501 -0.0002">
+                            <inertial pos="0.0159974 0.00631063 -0.00734352" quat="0.306916 0.308192 0.637344 0.636092" mass="0.00913038" diaginertia="9.67919e-07 9.25691e-07 4.39361e-07"/>
+                            <joint name="right_thumb_4_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
+                            <include file="hand_mjcf/convex_dec_include/right_thumb_4_geom_include.xml"/>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+
+                    <!-- Index -->
+                    <body name="right_index_1" pos="0.000595471 0.0386785 0.1564" quat="0.000275312 0.000285093 0.719339 0.694659">
+                      <inertial pos="-0.00228224 0.0122806 -0.00664924" quat="0.475493 0.523357 -0.475453 0.523401" mass="0.0072" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
+                      <joint name="right_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-10 10"/>
+                      <include file="hand_mjcf/convex_dec_include/right_index_1_geom_include.xml"/>
+
+                      <body name="right_index_2" pos="-0.002817 0.032654 -0.00055">
+                        <inertial pos="0.000405081 0.0257028 -0.00609276" quat="0.703612 0.702971 0.0715956 0.0750715" mass="0.00968594" diaginertia="2.34184e-06 2.30201e-06 3.04584e-07"/>
+                        <joint name="right_index_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10"/>
+                        <include file="hand_mjcf/convex_dec_include/right_index_2_geom_include.xml"/>
+                      </body>
+                    </body>
+
+                    <!-- Middle -->
+                    <body name="right_middle" pos="0.000578287 0.0170995 0.157" quat="0.000280245 0.000280246 0.707108 0.707105">
+                      <inertial pos="-0.00229221 0.0122787 -0.00664924" quat="0.47528 0.52355 -0.47524 0.523594" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
+                      <joint name="right_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-1 1"/>
+                      <include file="hand_mjcf/convex_dec_include/right_middle_1_geom_include.xml"/>
+
+                      <body name="right_middle_2" pos="-0.0028436 0.032651 -0.00055">
+                        <inertial pos="7.55635e-05 0.0274472 -0.00610051" quat="0.703921 0.703917 0.0669721 0.067155" mass="0.0104603" diaginertia="2.8477e-06 2.80695e-06 3.32744e-07"/>
+                        <joint name="right_middle_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-1 1"/>
+                        <include file="hand_mjcf/convex_dec_include/right_middle_2_geom_include.xml"/>
+                      </body>
+                    </body>
+
+                    <!-- Ring -->
+                    <body name="right_ring_1" pos="0.000561062 -0.00453065 0.15683" quat="0.00028749 0.000272808 0.688341 0.725387">
+                      <inertial pos="-0.00240481 0.0122572 -0.00664924" quat="0.472873 0.525725 -0.472833 0.52577" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
+                      <joint name="right_ring_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-10 10"/>
+                      <include file="hand_mjcf/convex_dec_include/right_ring_1_geom_include.xml"/>
+                      
+                      <body name="right_ring_2" pos="-0.0031431 0.032624 -0.00055">
+                        <inertial pos="0.000666831 0.0256973 -0.00609277" quat="0.703985 0.703327 0.0680113 0.0714909" mass="0.00968594" diaginertia="2.34184e-06 2.30201e-06 3.04584e-07"/>
+                        <joint name="right_ring_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10"/>
+                        <include file="hand_mjcf/convex_dec_include/right_ring_2_geom_include.xml"/>
+                      </body>
+                    </body>
+
+                    <!-- Little -->
+                    <body name="right_little_1" pos="0.000544032 -0.0259164 0.15365" quat="0.000294525 0.000265198 0.669139 0.743137">
+                      <inertial pos="-0.00232893 0.0122718 -0.00664923" quat="0.474497 0.52426 -0.474457 0.524304" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
+                      <joint name="right_little_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-1 1"/>
+                      <include file="hand_mjcf/convex_dec_include/right_little_1_geom_include.xml"/>
+
+                      <body name="right_little_2" pos="-0.0029412 0.032643 -0.00055">
+                        <inertial pos="0.00160931 0.0209121 -0.00610004" quat="0.702906 0.702909 0.0768667 0.0770299" mass="0.00759283" diaginertia="1.28167e-06 1.2391e-06 2.26513e-07"/>
+                        <joint name="right_little_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-1 1"/>
+                        <include file="hand_mjcf/convex_dec_include/right_little_2_geom_include.xml"/>
+                      </body>
+                    </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    
+
+    <!-- ======= TABLE write ======= -->
+    <body name="table-a" pos="0 0 0">
+      <geom size="0.3 0.6 0.01" pos="0 0 0.77" type="box" rgba="0.8 0.8 0.8 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
+      <geom size="0.02 0.02 0.385" pos=" 0.28  0.56 0.385" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
+      <geom size="0.02 0.02 0.385" pos="-0.28  0.56 0.385" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
+      <geom size="0.02 0.02 0.385" pos=" 0.28 -0.56 0.385" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
+      <geom size="0.02 0.02 0.385" pos="-0.28 -0.56 0.385" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position name="joint1" ctrllimited="true" ctrlrange="-3.14 2.09"  joint="joint1" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint2" ctrllimited="true" ctrlrange="-2.96 0.17"  joint="joint2" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint3" ctrllimited="true" ctrlrange="-0.087 3.14" joint="joint3" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint4" ctrllimited="true" ctrlrange="-2.96 2.96"  joint="joint4" kp="350" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint5" ctrllimited="true" ctrlrange="-1.74 1.74"  joint="joint5" kp="350" user="1" forcelimited="true" forcerange="-300 300"/>
+    <position name="joint6" ctrllimited="true" ctrlrange="-3.14 3.14"  joint="joint6" kp="100" user="1" forcelimited="true" forcerange="-300 300"/>
+  
+    <!-- Thumb -->
+    <position name="right_thumb_1_joint" joint="right_thumb_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+    <position name="right_thumb_2_joint" joint="right_thumb_2_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+    <!-- Index -->
+    <position name="right_index_1_joint" joint="right_index_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+    <!-- Middle -->
+    <position name="right_middle_1_joint" joint="right_middle_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+    <!-- Ring -->
+    <position name="right_ring_1_joint" joint="right_ring_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+    <!-- Little -->
+    <position name="right_little_1_joint" joint="right_little_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
+
+  </actuator>
+
+  <equality>
+    <!-- Thumb -->
+    <joint name="right_thumb_3_joint" joint1="right_thumb_2_joint" joint2="right_thumb_3_joint" polycoef="0 0.8 0 0"/>
+    <joint name="right_thumb_4_joint" joint1="right_thumb_2_joint" joint2="right_thumb_4_joint" polycoef="0 1.2 0 0"/>
+
+    <!-- Index -->
+    <joint name="right_index_2_joint" joint1="right_index_1_joint" joint2="right_index_2_joint" polycoef="0 1 0 0"/>
+
+    <!-- Middle -->
+    <joint name="right_middle_2_joint" joint1="right_middle_1_joint" joint2="right_middle_2_joint" polycoef="0 1 0 0"/>
+
+    <!-- Ring -->
+    <joint name="right_ring_2_joint" joint1="right_ring_1_joint" joint2="right_ring_2_joint" polycoef="0 1 0 0"/>
+
+    <!-- Little -->
+    <joint name="right_little_2_joint" joint1="right_little_1_joint" joint2="right_little_2_joint" polycoef="0 1 0 0"/>
+  </equality>
+
+  <sensor>
+
+    <jointpos name="joint1_pos" joint="joint1" />
+    <jointpos name="joint2_pos" joint="joint2" />
+    <jointpos name="joint3_pos" joint="joint3" />
+    <jointpos name="joint4_pos" joint="joint4" />
+    <jointpos name="joint5_pos" joint="joint5" />
+    <jointpos name="joint6_pos" joint="joint6" />
+
+    <jointvel name="joint1_vel" joint="joint1" />
+    <jointvel name="joint2_vel" joint="joint2" />
+    <jointvel name="joint3_vel" joint="joint3" />
+    <jointvel name="joint4_vel" joint="joint4" />
+    <jointvel name="joint5_vel" joint="joint5" />
+    <jointvel name="joint6_vel" joint="joint6" />
+
+    <jointactuatorfrc name="joint1_torque" joint="joint1" />
+    <jointactuatorfrc name="joint2_torque" joint="joint2" />
+    <jointactuatorfrc name="joint3_torque" joint="joint3" />
+    <jointactuatorfrc name="joint4_torque" joint="joint4" />
+    <jointactuatorfrc name="joint5_torque" joint="joint5" />
+    <jointactuatorfrc name="joint6_torque" joint="joint6" />
+
+    <framepos name="endpoint_pos" objtype="site" objname="endpoint" reftype="body" refname="arm_base"/>
+    <framequat name="endpoint_quat" objtype="site" objname="endpoint" reftype="body" refname="arm_base"/>
+    <framelinvel name="endpoint_vel" objtype="site" objname="endpoint" reftype="body" refname="arm_base"/>
+    <gyro name="endpoint_gyro" site="endpoint"/>
+    <accelerometer name="endpoint_acc" site="endpoint" />
+
+    <jointpos name="thumb_pos_1" joint="right_thumb_1_joint" />
+    <jointpos name="thumb_pos_2" joint="right_thumb_2_joint" />
+    <jointpos name="index_pos" joint="right_index_1_joint" />
+    <jointpos name="middle_pos" joint="right_middle_1_joint" />
+    <jointpos name="ring_pos" joint="right_ring_1_joint" />
+    <jointpos name="little_pos" joint="right_little_1_joint" />
+
+    <include file="hand_mjcf/sensor_include/palm_touch_include.xml"/>
+
+  </sensor>
+
+  <keyframe>
+    <key name="init" qpos='-0.6819 -0.48601 1.44344 -0.414428 0.452438 0.470939 0.466508 0.493995 0.463505 0.375305 0.54805 0.593241 0.580446 0.62519 0.851218 0.878289 0.914336 0.936303'/>
+  </keyframe>
+
+</mujoco>
diff --git a/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/auto_gen_xml.py b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/auto_gen_xml.py
new file mode 100644
index 0000000000000000000000000000000000000000..7c9f6d555671a49e9887527abe187c6a4066628a
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/auto_gen_xml.py
@@ -0,0 +1,52 @@
+def generate_site_and_geom_tags():
+    base_pos = [-0.0115 ,-0.0425 ,0.0181]
+    offset_outer = [0, 0.0025, 0]
+    offset_inner = [0, 0, -0.0025]
+    
+    geom_tags = []
+    site_tags = []
+    
+    for i in range(8):
+        pos_outer = [round(base_pos[j] + i * offset_outer[j], 4) for j in range(3)]
+        for k in range(4):
+            pos_inner = [round(pos_outer[j] + k * offset_inner[j], 4) for j in range(3)]
+            site_name = f"mid_tip_{i}_{k}"
+            geom_name = f"mid_tip_geom_{i}_{k}"
+            
+            site_tag = f'<site name="{site_name}" pos="{" ".join(map(str, pos_inner))}" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>'
+            geom_tag = f'<geom name="{geom_name}" pos="{" ".join(map(str, pos_inner))}" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>'
+            
+            geom_tags.append(geom_tag)
+            site_tags.append(site_tag)
+    
+    return geom_tags, site_tags
+
+if __name__ == "__main__":
+    geom_tags, site_tags = generate_site_and_geom_tags()
+    
+    for tag in geom_tags:
+        print(tag)
+    
+    for tag in site_tags:
+        print(tag)
+
+
+# def generate_touch_tags(finger_names):
+#     touch_tags = []
+    
+#     for finger in finger_names:
+#         for i in range(8):
+#             for k in range(4):
+#                 touch_name = f"{finger}_tip_{i}_{k}"
+#                 touch_tag = f'<touch name="{touch_name}" site="{touch_name}"/>'
+#                 touch_tags.append(touch_tag)
+    
+#     return touch_tags
+
+# if __name__ == "__main__":
+#     finger_names = ["thumb", "index", "mid", "ring"]
+#     touch_tags = generate_touch_tags(finger_names)
+    
+#     for tag in touch_tags:
+#         print(tag)
+
diff --git a/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/index_sensor_array.xml b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/index_sensor_array.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e68f0c95ee615b9262dd7dcb3d593c7f607b415d
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/index_sensor_array.xml
@@ -0,0 +1,66 @@
+<mujcocoinclude>
+<geom name="index_tip_geom_0_0" pos="-0.0115 -0.0425 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_0_1" pos="-0.0115 -0.0425 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_0_2" pos="-0.0115 -0.0425 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_0_3" pos="-0.0115 -0.0425 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_1_0" pos="-0.0115 -0.04 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_1_1" pos="-0.0115 -0.04 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_1_2" pos="-0.0115 -0.04 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_1_3" pos="-0.0115 -0.04 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_2_0" pos="-0.0115 -0.0375 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_2_1" pos="-0.0115 -0.0375 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_2_2" pos="-0.0115 -0.0375 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_2_3" pos="-0.0115 -0.0375 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_3_0" pos="-0.0115 -0.035 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_3_1" pos="-0.0115 -0.035 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_3_2" pos="-0.0115 -0.035 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_3_3" pos="-0.0115 -0.035 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_4_0" pos="-0.0115 -0.0325 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_4_1" pos="-0.0115 -0.0325 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_4_2" pos="-0.0115 -0.0325 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_4_3" pos="-0.0115 -0.0325 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_5_0" pos="-0.0115 -0.03 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_5_1" pos="-0.0115 -0.03 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_5_2" pos="-0.0115 -0.03 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_5_3" pos="-0.0115 -0.03 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_6_0" pos="-0.0115 -0.0275 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_6_1" pos="-0.0115 -0.0275 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_6_2" pos="-0.0115 -0.0275 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_6_3" pos="-0.0115 -0.0275 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_7_0" pos="-0.0115 -0.025 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_7_1" pos="-0.0115 -0.025 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_7_2" pos="-0.0115 -0.025 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="index_tip_geom_7_3" pos="-0.0115 -0.025 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<site name="index_tip_0_0" pos="-0.0115 -0.0425 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_0_1" pos="-0.0115 -0.0425 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_0_2" pos="-0.0115 -0.0425 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_0_3" pos="-0.0115 -0.0425 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_1_0" pos="-0.0115 -0.04 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_1_1" pos="-0.0115 -0.04 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_1_2" pos="-0.0115 -0.04 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_1_3" pos="-0.0115 -0.04 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_2_0" pos="-0.0115 -0.0375 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_2_1" pos="-0.0115 -0.0375 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_2_2" pos="-0.0115 -0.0375 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_2_3" pos="-0.0115 -0.0375 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_3_0" pos="-0.0115 -0.035 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_3_1" pos="-0.0115 -0.035 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_3_2" pos="-0.0115 -0.035 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_3_3" pos="-0.0115 -0.035 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_4_0" pos="-0.0115 -0.0325 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_4_1" pos="-0.0115 -0.0325 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_4_2" pos="-0.0115 -0.0325 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_4_3" pos="-0.0115 -0.0325 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_5_0" pos="-0.0115 -0.03 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_5_1" pos="-0.0115 -0.03 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_5_2" pos="-0.0115 -0.03 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_5_3" pos="-0.0115 -0.03 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_6_0" pos="-0.0115 -0.0275 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_6_1" pos="-0.0115 -0.0275 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_6_2" pos="-0.0115 -0.0275 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_6_3" pos="-0.0115 -0.0275 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_7_0" pos="-0.0115 -0.025 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_7_1" pos="-0.0115 -0.025 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_7_2" pos="-0.0115 -0.025 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="index_tip_7_3" pos="-0.0115 -0.025 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+</mujcocoinclude>
\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/leaphand_sensor.xml b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/leaphand_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0cea6debc5ea7b56b3ae6e514613568a81f2efb8
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/leaphand_sensor.xml
@@ -0,0 +1,196 @@
+<mujoco model="right leap hand">
+  <compiler angle="radian" autolimits="true" meshdir="assets"/>
+
+  <option integrator="implicitfast" cone="elliptic" impratio="10"/>
+
+  <default>
+    <default class="right_leap">
+      <!-- <site size="0.002" rgba="0.5 0.5 0.5 0.3" /> -->
+      <joint axis="0 0 -1" armature="0.01"/>
+      <position inheritrange="1" kp="20" dampratio="1"/>
+      <default class="obj_visual">
+        <geom group="2" type="mesh" contype="0" conaffinity="0" density="0" material="black"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="mesh"/>
+      </default>
+    </default> 
+    <!-- <default class="sensor_unit">
+      <site size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+    </default> -->
+  </default>
+
+  <asset>
+    <material name="black" rgba=".2 .2 .2 1"/>
+
+    <mesh file="../../meshes/leap_hand_sensor/palm_lower.stl"/>
+    <mesh file="../../meshes/leap_hand_sensor/mcp_joint.stl"/>
+    <mesh file="../../meshes/leap_hand_sensor/pip.stl"/>
+    <mesh file="../../meshes/leap_hand_sensor/dip.stl"/>
+    <mesh file="../../meshes/leap_hand_sensor/fingertip.stl"/>
+    <mesh file="../../meshes/leap_hand_sensor/thumb_pip.stl"/>
+    <mesh file="../../meshes/leap_hand_sensor/thumb_dip.stl"/>
+    <mesh file="../../meshes/leap_hand_sensor/thumb_fingertip.stl"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 2"/>
+    <body name="palm_lower" childclass="right_leap" pos="0 0 .2" quat="0 1 0 0">
+    <!-- <freejoint/> -->
+      <inertial pos="0 0 0" quat="0.497095 0.495942 -0.509424 0.497419" mass="0.237"
+        diaginertia="0.000529322 0.000354076 0.000260868"/>
+      <geom pos="-0.0200952 0.0257578 -0.0347224" quat="1 0 0 0" mesh="palm_lower" class="obj_visual"/>
+      <geom pos="-0.0200952 0.0257578 -0.0347224" quat="1 0 0 0" mesh="palm_lower" class="collision"/>
+      <body name="mcp_joint" pos="-0.00709525 0.0230578 -0.0187224" quat="1 1 1 -1">
+        <inertial pos="0 0 0" quat="0.388585 0.626468 -0.324549 0.592628" mass="0.044"
+          diaginertia="1.47756e-05 1.31982e-05 6.0802e-06"/>
+        <joint name="index_mcp_bend" range="-0.314 2.23" actuatorfrcrange="-5 5"/>
+        <geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="obj_visual"/>
+        <geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="collision"/>
+        <body name="pip" pos="-0.0122 0.0381 0.0145" quat="1 -1 -1 1">
+          <inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
+            diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
+          <joint name="index_mcp_widen" range="-1.047 1.047" actuatorfrcrange="-5 5"/>
+          <geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="obj_visual"/>
+          <geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
+          <body name="dip" pos="0.015 0.0143 -0.013" quat="1 1 -1 1">
+            <inertial pos="0 0 0" quat="-0.252689 0.659216 0.238844 0.666735" mass="0.037"
+              diaginertia="6.68256e-06 6.24841e-06 5.02002e-06"/>
+            <joint name="index_pip" range="-0.506 1.885" actuatorfrcrange="-5 5"/>
+            <geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="obj_visual"/>
+            <geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="collision"/>
+            <body name="fingertip" pos="-4.08806e-09 -0.0361 0.0002">
+              <inertial pos="0 0 0" quat="0.706755 0.706755 0.0223155 0.0223155" mass="0.016"
+                diaginertia="3.37527e-06 2.863e-06 1.54873e-06"/>
+              <joint name="index_dip" range="-0.366 2.042" actuatorfrcrange="-5 5"/>
+              <geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="obj_visual"/>
+              <geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="collision"/>
+              <include file="index_sensor_array.xml"/>  
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="mcp_joint_2" pos="-0.00709525 -0.0223922 -0.0187224" quat="1 1 1 -1">
+        <inertial pos="0 0 0" quat="0.388585 0.626468 -0.324549 0.592628" mass="0.044"
+          diaginertia="1.47756e-05 1.31982e-05 6.0802e-06"/>
+        <joint name="mid_mcp_bend" range="-0.314 2.23" actuatorfrcrange="-5 5"/>
+        <geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="obj_visual"/>
+        <geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="collision"/>
+        <body name="pip_2" pos="-0.0122 0.0381 0.0145" quat="1 -1 -1 1">
+          <inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
+            diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
+          <joint name="mid_mcp_widen" range="-1.047 1.047" actuatorfrcrange="-5 5"/>
+          <geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="obj_visual"/>
+          <geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
+          <body name="dip_2" pos="0.015 0.0143 -0.013" quat="1 1 -1 1">
+            <inertial pos="0 0 0" quat="-0.252689 0.659216 0.238844 0.666735" mass="0.037"
+              diaginertia="6.68256e-06 6.24841e-06 5.02002e-06"/>
+            <joint name="mid_pip" range="-0.506 1.885" actuatorfrcrange="-5 5"/>
+            <geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="obj_visual"/>
+            <geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="collision"/>
+            <body name="fingertip_2" pos="0 -0.0361 0.0002">
+              <inertial pos="0 0 0" quat="0.706755 0.706755 0.0223155 0.0223155" mass="0.016"
+                diaginertia="3.37527e-06 2.863e-06 1.54873e-06"/>
+              <joint name="mid_dip" range="-0.366 2.042" actuatorfrcrange="-5 5"/>
+              <geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="obj_visual"/>
+              <geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="collision"/>
+              <include file="mid_sensor_array.xml"/>  
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="mcp_joint_3" pos="-0.00709525 -0.0678422 -0.0187224" quat="1 1 1 -1">
+        <inertial pos="0 0 0" quat="0.388585 0.626468 -0.324549 0.592628" mass="0.044"
+          diaginertia="1.47756e-05 1.31982e-05 6.0802e-06"/>
+        <joint name="ring_mcp_bend" range="-0.314 2.23" actuatorfrcrange="-5 5"/>
+        <geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="obj_visual"/>
+        <geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="collision"/>
+        <body name="pip_3" pos="-0.0122 0.0381 0.0145" quat="1 -1 -1 1">
+          <inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
+            diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
+          <joint name="ring_mcp_widen" range="-1.047 1.047" actuatorfrcrange="-5 5"/>
+          <geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="obj_visual"/>
+          <geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
+          <body name="dip_3" pos="0.015 0.0143 -0.013" quat="1 1 -1 1">
+            <inertial pos="0 0 0" quat="-0.252689 0.659216 0.238844 0.666735" mass="0.037"
+              diaginertia="6.68256e-06 6.24841e-06 5.02002e-06"/>
+            <joint name="ring_pip" range="-0.506 1.885" actuatorfrcrange="-5 5"/>
+            <geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="obj_visual"/>
+            <geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="collision"/>
+            <body name="fingertip_3" pos="0 -0.0361 0.0002">
+              <inertial pos="0 0 0" quat="0.706755 0.706755 0.0223155 0.0223155" mass="0.016"
+                diaginertia="3.37527e-06 2.863e-06 1.54873e-06"/>
+              <joint name="ring_dip" range="-0.366 2.042" actuatorfrcrange="-5 5"/>
+              <geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="obj_visual"/>
+              <geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="collision"/>
+              <include file="ring_sensor_array.xml"/>  
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="pip_4" pos="-0.0693952 -0.00124224 -0.0216224" quat="1 0 1 0">
+        <inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
+          diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
+        <joint name="thumb_mcp_range" range="-0.349 2.094" actuatorfrcrange="-5 5"/>
+        <geom pos="-0.00535664 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="obj_visual"/>
+        <geom pos="-0.00535664 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
+        <body name="thumb_pip" pos="0 0.0143 -0.013" quat="1 1 -1 1">
+          <inertial pos="0 0 0" mass="0.003" diaginertia="5.93e-07 5.49e-07 2.24e-07"/>
+          <joint name="thumb_mcp_rotate" range="-0.47 2.443" actuatorfrcrange="-5 5"/>
+          <geom pos="0.0119619 0 -0.0158526" quat="1 1 0 0" mesh="thumb_pip" class="obj_visual"/>
+          <geom pos="0.0119619 0 -0.0158526" quat="1 1 0 0" mesh="thumb_pip" class="collision"/>
+          <body name="thumb_dip" pos="0 0.0145 -0.017" quat="1 -1 0 0">
+            <inertial pos="0 0 0" quat="0.708624 0.704906 0.00637342 0.0303153" mass="0.038"
+              diaginertia="8.48742e-06 7.67823e-06 3.82835e-06"/>
+            <joint name="thumb_pip" range="-1.2 1.9" actuatorfrcrange="-5 5"/>
+            <geom pos="0.0439687 0.057953 -0.00862868" quat="1 0 0 0" mesh="thumb_dip" class="obj_visual"/>
+            <geom pos="0.0439687 0.057953 -0.00862868" quat="1 0 0 0" mesh="thumb_dip" class="collision"/>
+            <body name="thumb_fingertip" pos="0 0.0466 0.0002" quat="0 0 0 1">
+              <inertial pos="0 0 0" quat="0.704307 0.709299 0.006848 -0.0282727" mass="0.049"
+                diaginertia="2.03882e-05 1.98443e-05 4.32049e-06"/>
+              <joint name="thumb_dip" range="-1.34 1.88" actuatorfrcrange="-5 5"/>
+              <geom pos="0.0625595 0.0784597 0.0489929" quat="1 0 0 0" mesh="thumb_fingertip" class="obj_visual"/>
+              <geom pos="0.0625595 0.0784597 0.0489929" quat="1 0 0 0" mesh="thumb_fingertip" class="collision"/>
+              <include file="thumb_sensor_array.xml"/>  
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <contact>
+    <exclude body1="palm_lower" body2="mcp_joint"/>
+    <exclude body1="palm_lower" body2="mcp_joint_2"/>
+    <exclude body1="palm_lower" body2="mcp_joint_3"/>
+    <exclude body1="palm_lower" body2="thumb_dip"/>
+    <exclude body1="palm_lower" body2="thumb_pip"/>
+    <exclude body1="palm_lower" body2="pip_4"/>
+    <exclude body1="mcp_joint" body2="dip"/>
+    <exclude body1="mcp_joint_3" body2="dip_3"/>
+    <exclude body1="mcp_joint_2" body2="dip_2"/>
+  </contact>
+
+  <actuator>
+    <position class="right_leap" name="index_mcp_bend" joint="index_mcp_bend" />
+    <position class="right_leap" name="index_mcp_widen" joint="index_mcp_widen" />
+    <position class="right_leap" name="index_pip" joint="index_pip" />
+    <position class="right_leap" name="index_dip" joint="index_dip" />
+    <position class="right_leap" name="mid_mcp_bend" joint="mid_mcp_bend" />
+    <position class="right_leap" name="mid_mcp_widen" joint="mid_mcp_widen" />
+    <position class="right_leap" name="mid_pip" joint="mid_pip" />
+    <position class="right_leap" name="mid_dip" joint="mid_dip" />
+    <position class="right_leap" name="ring_mcp_bend" joint="ring_mcp_bend" />
+    <position class="right_leap" name="ring_mcp_widen" joint="ring_mcp_widen" />
+    <position class="right_leap" name="ring_pip" joint="ring_pip" />
+    <position class="right_leap" name="ring_dip" joint="ring_dip" />
+    <position class="right_leap" name="thumb_mcp_range" joint="thumb_mcp_range" />
+    <position class="right_leap" name="thumb_mcp_rotate" joint="thumb_mcp_rotate" />
+    <position class="right_leap" name="thumb_pip" joint="thumb_pip" />
+    <position class="right_leap" name="thumb_dip" joint="thumb_dip" />
+  </actuator>
+
+  <sensor>
+    <include file="sensor_include.xml"/>  
+  </sensor>
+</mujoco>
diff --git a/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/mid_sensor_array.xml b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/mid_sensor_array.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8cdcd910d37fdddd9d58fc8b292d7327107962d0
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/mid_sensor_array.xml
@@ -0,0 +1,66 @@
+<mujcocoinclude>
+<geom name="mid_tip_geom_0_0" pos="-0.0115 -0.0425 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_0_1" pos="-0.0115 -0.0425 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_0_2" pos="-0.0115 -0.0425 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_0_3" pos="-0.0115 -0.0425 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_1_0" pos="-0.0115 -0.04 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_1_1" pos="-0.0115 -0.04 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_1_2" pos="-0.0115 -0.04 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_1_3" pos="-0.0115 -0.04 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_2_0" pos="-0.0115 -0.0375 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_2_1" pos="-0.0115 -0.0375 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_2_2" pos="-0.0115 -0.0375 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_2_3" pos="-0.0115 -0.0375 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_3_0" pos="-0.0115 -0.035 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_3_1" pos="-0.0115 -0.035 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_3_2" pos="-0.0115 -0.035 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_3_3" pos="-0.0115 -0.035 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_4_0" pos="-0.0115 -0.0325 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_4_1" pos="-0.0115 -0.0325 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_4_2" pos="-0.0115 -0.0325 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_4_3" pos="-0.0115 -0.0325 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_5_0" pos="-0.0115 -0.03 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_5_1" pos="-0.0115 -0.03 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_5_2" pos="-0.0115 -0.03 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_5_3" pos="-0.0115 -0.03 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_6_0" pos="-0.0115 -0.0275 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_6_1" pos="-0.0115 -0.0275 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_6_2" pos="-0.0115 -0.0275 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_6_3" pos="-0.0115 -0.0275 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_7_0" pos="-0.0115 -0.025 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_7_1" pos="-0.0115 -0.025 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_7_2" pos="-0.0115 -0.025 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="mid_tip_geom_7_3" pos="-0.0115 -0.025 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<site name="mid_tip_0_0" pos="-0.0115 -0.0425 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_0_1" pos="-0.0115 -0.0425 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_0_2" pos="-0.0115 -0.0425 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_0_3" pos="-0.0115 -0.0425 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_1_0" pos="-0.0115 -0.04 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_1_1" pos="-0.0115 -0.04 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_1_2" pos="-0.0115 -0.04 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_1_3" pos="-0.0115 -0.04 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_2_0" pos="-0.0115 -0.0375 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_2_1" pos="-0.0115 -0.0375 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_2_2" pos="-0.0115 -0.0375 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_2_3" pos="-0.0115 -0.0375 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_3_0" pos="-0.0115 -0.035 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_3_1" pos="-0.0115 -0.035 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_3_2" pos="-0.0115 -0.035 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_3_3" pos="-0.0115 -0.035 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_4_0" pos="-0.0115 -0.0325 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_4_1" pos="-0.0115 -0.0325 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_4_2" pos="-0.0115 -0.0325 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_4_3" pos="-0.0115 -0.0325 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_5_0" pos="-0.0115 -0.03 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_5_1" pos="-0.0115 -0.03 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_5_2" pos="-0.0115 -0.03 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_5_3" pos="-0.0115 -0.03 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_6_0" pos="-0.0115 -0.0275 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_6_1" pos="-0.0115 -0.0275 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_6_2" pos="-0.0115 -0.0275 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_6_3" pos="-0.0115 -0.0275 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_7_0" pos="-0.0115 -0.025 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_7_1" pos="-0.0115 -0.025 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_7_2" pos="-0.0115 -0.025 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="mid_tip_7_3" pos="-0.0115 -0.025 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+</mujcocoinclude>
\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/ring_sensor_array.xml b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/ring_sensor_array.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bd23b84dd0d5a7efcf469b441eaf0918035434d8
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/ring_sensor_array.xml
@@ -0,0 +1,66 @@
+<mujcocoinclude>
+<geom name="ring_tip_geom_0_0" pos="-0.0115 -0.0425 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_0_1" pos="-0.0115 -0.0425 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_0_2" pos="-0.0115 -0.0425 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_0_3" pos="-0.0115 -0.0425 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_1_0" pos="-0.0115 -0.04 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_1_1" pos="-0.0115 -0.04 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_1_2" pos="-0.0115 -0.04 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_1_3" pos="-0.0115 -0.04 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_2_0" pos="-0.0115 -0.0375 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_2_1" pos="-0.0115 -0.0375 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_2_2" pos="-0.0115 -0.0375 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_2_3" pos="-0.0115 -0.0375 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_3_0" pos="-0.0115 -0.035 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_3_1" pos="-0.0115 -0.035 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_3_2" pos="-0.0115 -0.035 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_3_3" pos="-0.0115 -0.035 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_4_0" pos="-0.0115 -0.0325 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_4_1" pos="-0.0115 -0.0325 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_4_2" pos="-0.0115 -0.0325 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_4_3" pos="-0.0115 -0.0325 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_5_0" pos="-0.0115 -0.03 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_5_1" pos="-0.0115 -0.03 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_5_2" pos="-0.0115 -0.03 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_5_3" pos="-0.0115 -0.03 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_6_0" pos="-0.0115 -0.0275 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_6_1" pos="-0.0115 -0.0275 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_6_2" pos="-0.0115 -0.0275 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_6_3" pos="-0.0115 -0.0275 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_7_0" pos="-0.0115 -0.025 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_7_1" pos="-0.0115 -0.025 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_7_2" pos="-0.0115 -0.025 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="ring_tip_geom_7_3" pos="-0.0115 -0.025 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<site name="ring_tip_0_0" pos="-0.0115 -0.0425 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_0_1" pos="-0.0115 -0.0425 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_0_2" pos="-0.0115 -0.0425 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_0_3" pos="-0.0115 -0.0425 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_1_0" pos="-0.0115 -0.04 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_1_1" pos="-0.0115 -0.04 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_1_2" pos="-0.0115 -0.04 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_1_3" pos="-0.0115 -0.04 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_2_0" pos="-0.0115 -0.0375 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_2_1" pos="-0.0115 -0.0375 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_2_2" pos="-0.0115 -0.0375 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_2_3" pos="-0.0115 -0.0375 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_3_0" pos="-0.0115 -0.035 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_3_1" pos="-0.0115 -0.035 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_3_2" pos="-0.0115 -0.035 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_3_3" pos="-0.0115 -0.035 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_4_0" pos="-0.0115 -0.0325 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_4_1" pos="-0.0115 -0.0325 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_4_2" pos="-0.0115 -0.0325 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_4_3" pos="-0.0115 -0.0325 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_5_0" pos="-0.0115 -0.03 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_5_1" pos="-0.0115 -0.03 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_5_2" pos="-0.0115 -0.03 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_5_3" pos="-0.0115 -0.03 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_6_0" pos="-0.0115 -0.0275 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_6_1" pos="-0.0115 -0.0275 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_6_2" pos="-0.0115 -0.0275 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_6_3" pos="-0.0115 -0.0275 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_7_0" pos="-0.0115 -0.025 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_7_1" pos="-0.0115 -0.025 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_7_2" pos="-0.0115 -0.025 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="ring_tip_7_3" pos="-0.0115 -0.025 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+</mujcocoinclude>
\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/sensor_include.xml b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/sensor_include.xml
new file mode 100644
index 0000000000000000000000000000000000000000..910980a7fba9e84b654f39c9babaf35e0e81d117
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/sensor_include.xml
@@ -0,0 +1,130 @@
+<mujocoinclude>
+<touch name="thumb_tip_0_0" site="thumb_tip_0_0"/>
+<touch name="thumb_tip_0_1" site="thumb_tip_0_1"/>
+<touch name="thumb_tip_0_2" site="thumb_tip_0_2"/>
+<touch name="thumb_tip_0_3" site="thumb_tip_0_3"/>
+<touch name="thumb_tip_1_0" site="thumb_tip_1_0"/>
+<touch name="thumb_tip_1_1" site="thumb_tip_1_1"/>
+<touch name="thumb_tip_1_2" site="thumb_tip_1_2"/>
+<touch name="thumb_tip_1_3" site="thumb_tip_1_3"/>
+<touch name="thumb_tip_2_0" site="thumb_tip_2_0"/>
+<touch name="thumb_tip_2_1" site="thumb_tip_2_1"/>
+<touch name="thumb_tip_2_2" site="thumb_tip_2_2"/>
+<touch name="thumb_tip_2_3" site="thumb_tip_2_3"/>
+<touch name="thumb_tip_3_0" site="thumb_tip_3_0"/>
+<touch name="thumb_tip_3_1" site="thumb_tip_3_1"/>
+<touch name="thumb_tip_3_2" site="thumb_tip_3_2"/>
+<touch name="thumb_tip_3_3" site="thumb_tip_3_3"/>
+<touch name="thumb_tip_4_0" site="thumb_tip_4_0"/>
+<touch name="thumb_tip_4_1" site="thumb_tip_4_1"/>
+<touch name="thumb_tip_4_2" site="thumb_tip_4_2"/>
+<touch name="thumb_tip_4_3" site="thumb_tip_4_3"/>
+<touch name="thumb_tip_5_0" site="thumb_tip_5_0"/>
+<touch name="thumb_tip_5_1" site="thumb_tip_5_1"/>
+<touch name="thumb_tip_5_2" site="thumb_tip_5_2"/>
+<touch name="thumb_tip_5_3" site="thumb_tip_5_3"/>
+<touch name="thumb_tip_6_0" site="thumb_tip_6_0"/>
+<touch name="thumb_tip_6_1" site="thumb_tip_6_1"/>
+<touch name="thumb_tip_6_2" site="thumb_tip_6_2"/>
+<touch name="thumb_tip_6_3" site="thumb_tip_6_3"/>
+<touch name="thumb_tip_7_0" site="thumb_tip_7_0"/>
+<touch name="thumb_tip_7_1" site="thumb_tip_7_1"/>
+<touch name="thumb_tip_7_2" site="thumb_tip_7_2"/>
+<touch name="thumb_tip_7_3" site="thumb_tip_7_3"/>
+<touch name="index_tip_0_0" site="index_tip_0_0"/>
+<touch name="index_tip_0_1" site="index_tip_0_1"/>
+<touch name="index_tip_0_2" site="index_tip_0_2"/>
+<touch name="index_tip_0_3" site="index_tip_0_3"/>
+<touch name="index_tip_1_0" site="index_tip_1_0"/>
+<touch name="index_tip_1_1" site="index_tip_1_1"/>
+<touch name="index_tip_1_2" site="index_tip_1_2"/>
+<touch name="index_tip_1_3" site="index_tip_1_3"/>
+<touch name="index_tip_2_0" site="index_tip_2_0"/>
+<touch name="index_tip_2_1" site="index_tip_2_1"/>
+<touch name="index_tip_2_2" site="index_tip_2_2"/>
+<touch name="index_tip_2_3" site="index_tip_2_3"/>
+<touch name="index_tip_3_0" site="index_tip_3_0"/>
+<touch name="index_tip_3_1" site="index_tip_3_1"/>
+<touch name="index_tip_3_2" site="index_tip_3_2"/>
+<touch name="index_tip_3_3" site="index_tip_3_3"/>
+<touch name="index_tip_4_0" site="index_tip_4_0"/>
+<touch name="index_tip_4_1" site="index_tip_4_1"/>
+<touch name="index_tip_4_2" site="index_tip_4_2"/>
+<touch name="index_tip_4_3" site="index_tip_4_3"/>
+<touch name="index_tip_5_0" site="index_tip_5_0"/>
+<touch name="index_tip_5_1" site="index_tip_5_1"/>
+<touch name="index_tip_5_2" site="index_tip_5_2"/>
+<touch name="index_tip_5_3" site="index_tip_5_3"/>
+<touch name="index_tip_6_0" site="index_tip_6_0"/>
+<touch name="index_tip_6_1" site="index_tip_6_1"/>
+<touch name="index_tip_6_2" site="index_tip_6_2"/>
+<touch name="index_tip_6_3" site="index_tip_6_3"/>
+<touch name="index_tip_7_0" site="index_tip_7_0"/>
+<touch name="index_tip_7_1" site="index_tip_7_1"/>
+<touch name="index_tip_7_2" site="index_tip_7_2"/>
+<touch name="index_tip_7_3" site="index_tip_7_3"/>
+<touch name="mid_tip_0_0" site="mid_tip_0_0"/>
+<touch name="mid_tip_0_1" site="mid_tip_0_1"/>
+<touch name="mid_tip_0_2" site="mid_tip_0_2"/>
+<touch name="mid_tip_0_3" site="mid_tip_0_3"/>
+<touch name="mid_tip_1_0" site="mid_tip_1_0"/>
+<touch name="mid_tip_1_1" site="mid_tip_1_1"/>
+<touch name="mid_tip_1_2" site="mid_tip_1_2"/>
+<touch name="mid_tip_1_3" site="mid_tip_1_3"/>
+<touch name="mid_tip_2_0" site="mid_tip_2_0"/>
+<touch name="mid_tip_2_1" site="mid_tip_2_1"/>
+<touch name="mid_tip_2_2" site="mid_tip_2_2"/>
+<touch name="mid_tip_2_3" site="mid_tip_2_3"/>
+<touch name="mid_tip_3_0" site="mid_tip_3_0"/>
+<touch name="mid_tip_3_1" site="mid_tip_3_1"/>
+<touch name="mid_tip_3_2" site="mid_tip_3_2"/>
+<touch name="mid_tip_3_3" site="mid_tip_3_3"/>
+<touch name="mid_tip_4_0" site="mid_tip_4_0"/>
+<touch name="mid_tip_4_1" site="mid_tip_4_1"/>
+<touch name="mid_tip_4_2" site="mid_tip_4_2"/>
+<touch name="mid_tip_4_3" site="mid_tip_4_3"/>
+<touch name="mid_tip_5_0" site="mid_tip_5_0"/>
+<touch name="mid_tip_5_1" site="mid_tip_5_1"/>
+<touch name="mid_tip_5_2" site="mid_tip_5_2"/>
+<touch name="mid_tip_5_3" site="mid_tip_5_3"/>
+<touch name="mid_tip_6_0" site="mid_tip_6_0"/>
+<touch name="mid_tip_6_1" site="mid_tip_6_1"/>
+<touch name="mid_tip_6_2" site="mid_tip_6_2"/>
+<touch name="mid_tip_6_3" site="mid_tip_6_3"/>
+<touch name="mid_tip_7_0" site="mid_tip_7_0"/>
+<touch name="mid_tip_7_1" site="mid_tip_7_1"/>
+<touch name="mid_tip_7_2" site="mid_tip_7_2"/>
+<touch name="mid_tip_7_3" site="mid_tip_7_3"/>
+<touch name="ring_tip_0_0" site="ring_tip_0_0"/>
+<touch name="ring_tip_0_1" site="ring_tip_0_1"/>
+<touch name="ring_tip_0_2" site="ring_tip_0_2"/>
+<touch name="ring_tip_0_3" site="ring_tip_0_3"/>
+<touch name="ring_tip_1_0" site="ring_tip_1_0"/>
+<touch name="ring_tip_1_1" site="ring_tip_1_1"/>
+<touch name="ring_tip_1_2" site="ring_tip_1_2"/>
+<touch name="ring_tip_1_3" site="ring_tip_1_3"/>
+<touch name="ring_tip_2_0" site="ring_tip_2_0"/>
+<touch name="ring_tip_2_1" site="ring_tip_2_1"/>
+<touch name="ring_tip_2_2" site="ring_tip_2_2"/>
+<touch name="ring_tip_2_3" site="ring_tip_2_3"/>
+<touch name="ring_tip_3_0" site="ring_tip_3_0"/>
+<touch name="ring_tip_3_1" site="ring_tip_3_1"/>
+<touch name="ring_tip_3_2" site="ring_tip_3_2"/>
+<touch name="ring_tip_3_3" site="ring_tip_3_3"/>
+<touch name="ring_tip_4_0" site="ring_tip_4_0"/>
+<touch name="ring_tip_4_1" site="ring_tip_4_1"/>
+<touch name="ring_tip_4_2" site="ring_tip_4_2"/>
+<touch name="ring_tip_4_3" site="ring_tip_4_3"/>
+<touch name="ring_tip_5_0" site="ring_tip_5_0"/>
+<touch name="ring_tip_5_1" site="ring_tip_5_1"/>
+<touch name="ring_tip_5_2" site="ring_tip_5_2"/>
+<touch name="ring_tip_5_3" site="ring_tip_5_3"/>
+<touch name="ring_tip_6_0" site="ring_tip_6_0"/>
+<touch name="ring_tip_6_1" site="ring_tip_6_1"/>
+<touch name="ring_tip_6_2" site="ring_tip_6_2"/>
+<touch name="ring_tip_6_3" site="ring_tip_6_3"/>
+<touch name="ring_tip_7_0" site="ring_tip_7_0"/>
+<touch name="ring_tip_7_1" site="ring_tip_7_1"/>
+<touch name="ring_tip_7_2" site="ring_tip_7_2"/>
+<touch name="ring_tip_7_3" site="ring_tip_7_3"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/thumb_sensor_array.xml b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/thumb_sensor_array.xml
new file mode 100644
index 0000000000000000000000000000000000000000..db4ff540207c9160aabd1a8a1ba7b088b6046bec
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dex_hand/leaphand_sensor_env/thumb_sensor_array.xml
@@ -0,0 +1,66 @@
+<mujcocoinclude>
+<geom name="thumb_tip_geom_0_0" pos="-0.0115 -0.0555 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_0_1" pos="-0.0115 -0.0555 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_0_2" pos="-0.0115 -0.0555 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_0_3" pos="-0.0115 -0.0555 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_1_0" pos="-0.0115 -0.053 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_1_1" pos="-0.0115 -0.053 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_1_2" pos="-0.0115 -0.053 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_1_3" pos="-0.0115 -0.053 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_2_0" pos="-0.0115 -0.0505 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_2_1" pos="-0.0115 -0.0505 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_2_2" pos="-0.0115 -0.0505 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_2_3" pos="-0.0115 -0.0505 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_3_0" pos="-0.0115 -0.048 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_3_1" pos="-0.0115 -0.048 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_3_2" pos="-0.0115 -0.048 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_3_3" pos="-0.0115 -0.048 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_4_0" pos="-0.0115 -0.0455 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_4_1" pos="-0.0115 -0.0455 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_4_2" pos="-0.0115 -0.0455 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_4_3" pos="-0.0115 -0.0455 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_5_0" pos="-0.0115 -0.043 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_5_1" pos="-0.0115 -0.043 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_5_2" pos="-0.0115 -0.043 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_5_3" pos="-0.0115 -0.043 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_6_0" pos="-0.0115 -0.0405 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_6_1" pos="-0.0115 -0.0405 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_6_2" pos="-0.0115 -0.0405 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_6_3" pos="-0.0115 -0.0405 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_7_0" pos="-0.0115 -0.038 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_7_1" pos="-0.0115 -0.038 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_7_2" pos="-0.0115 -0.038 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<geom name="thumb_tip_geom_7_3" pos="-0.0115 -0.038 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
+<site name="thumb_tip_0_0" pos="-0.0115 -0.0555 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_0_1" pos="-0.0115 -0.0555 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_0_2" pos="-0.0115 -0.0555 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_0_3" pos="-0.0115 -0.0555 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_1_0" pos="-0.0115 -0.053 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_1_1" pos="-0.0115 -0.053 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_1_2" pos="-0.0115 -0.053 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_1_3" pos="-0.0115 -0.053 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_2_0" pos="-0.0115 -0.0505 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_2_1" pos="-0.0115 -0.0505 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_2_2" pos="-0.0115 -0.0505 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_2_3" pos="-0.0115 -0.0505 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_3_0" pos="-0.0115 -0.048 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_3_1" pos="-0.0115 -0.048 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_3_2" pos="-0.0115 -0.048 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_3_3" pos="-0.0115 -0.048 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_4_0" pos="-0.0115 -0.0455 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_4_1" pos="-0.0115 -0.0455 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_4_2" pos="-0.0115 -0.0455 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_4_3" pos="-0.0115 -0.0455 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_5_0" pos="-0.0115 -0.043 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_5_1" pos="-0.0115 -0.043 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_5_2" pos="-0.0115 -0.043 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_5_3" pos="-0.0115 -0.043 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_6_0" pos="-0.0115 -0.0405 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_6_1" pos="-0.0115 -0.0405 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_6_2" pos="-0.0115 -0.0405 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_6_3" pos="-0.0115 -0.0405 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_7_0" pos="-0.0115 -0.038 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_7_1" pos="-0.0115 -0.038 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_7_2" pos="-0.0115 -0.038 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+<site name="thumb_tip_7_3" pos="-0.0115 -0.038 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
+</mujcocoinclude>
\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/dummy_robot.xml b/assets/discoverse/models/mjcf/dummy_robot.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ebfdca34b4179a001e03ee80e9c654329c550528
--- /dev/null
+++ b/assets/discoverse/models/mjcf/dummy_robot.xml
@@ -0,0 +1,38 @@
+<mujoco model="free_camera">
+  <option integrator="RK4" solver="Newton" gravity="0 0 0"/>
+  <compiler angle="radian" meshdir="../meshes" texturedir="../textures/"/>
+
+  <visual>
+    <global offwidth="1920" offheight="1080"/>
+    <quality shadowsize="4096" offsamples="4"/>
+    <headlight diffuse='0.6 0.6 0.6' ambient='.3 .3 .3' specular='0 0 0'/>
+    <scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.1" contactwidth="0.01" contactheight="0.05"/>
+  </visual>
+
+  <asset>
+    <texture type='2d' name='groundplane' builtin='checker' mark='edge' rgb1='0.2 0.3 0.4' rgb2='0.1 0.2 0.3' markrgb='0.8 0.8 0.8' width='300' height='300'/>
+    <material name='groundplane' texture='groundplane' texuniform='true' texrepeat='5 5' reflectance='0.2'/>
+  </asset>
+
+  <worldbody>
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1' dir='1 1 -1'/>
+    <light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 0 1' dir='-1 1 -1'/>
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1' dir='0 -1 -1'/>
+    <geom name='floor' type='plane' size='0 0 0.01' material='groundplane' pos='0 0 0'/>
+
+    <body name="dummy_robot" pos="0 0 1">
+      <body euler="0 -1.5708 -1.5708">
+        <joint axis='-1 0 0' range="-1.5708 1.5708"/>
+        <inertial pos="0 0 0" mass="0.001" diaginertia="1e-5 1e-5 1e-5"/>
+        <camera name='_dummy_robot'/>
+        <site name="dummy_robot" euler="3.1416 0 0" size='0.001' type='sphere'/>
+      </body>
+      <geom type="box" size="0.1 0.1 0.1" rgba="1 1 1 0.1"/>
+    </body>
+
+    <geom type="box" pos="0.5 0 1" size="0.01 0.03 0.1" rgba="1 0 0 1"/>
+
+
+  </worldbody>
+
+</mujoco>
diff --git a/assets/discoverse/models/mjcf/exhibition.xml b/assets/discoverse/models/mjcf/exhibition.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f73778a5eab71dc9eb4f0a6afece276df48c1d66
--- /dev/null
+++ b/assets/discoverse/models/mjcf/exhibition.xml
@@ -0,0 +1,122 @@
+<mujoco model="mmk2">
+
+  <include file="mmk2/mmk2_options.xml"/>
+  <include file="mmk2/mmk2_dependencies.xml"/>
+
+  <visual>
+    <global offwidth="1920" offheight="1080"/>
+    <quality shadowsize="4096" offsamples="4"/>
+    <headlight diffuse='0.6 0.6 0.6' ambient='.3 .3 .3' specular='0 0 0'/>
+    <scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.1" contactwidth="0.01" contactheight="0.05"/>
+  </visual>
+
+  <asset>
+    <texture type='2d' name='groundplane' builtin='checker' mark='edge' rgb1='0.2 0.3 0.4' rgb2='0.1 0.2 0.3' markrgb='0.8 0.8 0.8' width='300' height='300'/>
+    <material name='groundplane' texture='groundplane' texuniform='true' texrepeat='5 5' reflectance='0.2'/>
+  </asset>
+
+  <worldbody>
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1' dir='1 1 -1'/>
+    <light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 0 1' dir='-1 1 -1'/>
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1' dir='0 -1 -1'/>
+    <geom name='floor' type='plane' size='0 0 0.01' material='groundplane' pos='0 0 0'/>
+
+    <body name='mmk2' pos="0 0 0">
+      <joint type="free" frictionloss="0.0001" />
+      <include file="mmk2/mmk2.xml"/>
+    </body>
+
+    <body name="red_box" pos="-0.7 -1.81 0.8">
+      <geom size="0.1 0.1 0.1" type="box" rgba="1 0 0 1"/>
+    </body>
+
+    <body name="table" pos="-1.17 -1.81 0">
+      <geom size="0.3 0.9 0.01" pos="0 0 0.7" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
+      <geom size="0.02 0.02 0.35" pos=" 0.85  0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+      <geom size="0.02 0.02 0.35" pos=" 0.85 -0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+      <geom size="0.02 0.02 0.35" pos=" 0.00  0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+      <geom size="0.02 0.02 0.35" pos=" 0.00 -0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+      <geom size="0.02 0.02 0.35" pos="-0.85  0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+      <geom size="0.02 0.02 0.35" pos="-0.85 -0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />  
+    </body>
+
+    <body name="front_wall" pos="1.415 -0.03 0">
+      <geom size="1.0 0.44 0.015" pos="0  0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+      <geom size="1.0 0.44 0.015" pos="0  0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+      <geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+      <geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+    </body>
+
+    <body name="left_wall" pos="-0.03 1.415 0" euler="0 0 -1.5708">
+      <geom size="1.0 0.44 0.015" pos="0  0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+      <geom size="1.0 0.44 0.015" pos="0  0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+      <geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+      <geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+      <geom size="1.0 0.44 0.015" pos="0 -2.7 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+      <geom size="1.0 0.44 0.015" pos="0 -3.6 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+    </body>
+    
+    <body name="cabinet_1" pos="0.36 1.22 0" euler="0 0 1.5708">
+      <geom size="0.15 0.01 1.015" pos="0  0.4 1.015"   type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015"   type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
+
+      <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 1.69"  type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 2.02"  type="box" rgba="0.9 0.9 0.9 1" />
+    </body>
+
+    <body name="cabinet_2" pos="1.03 1.03 0" euler="0 0 0.7854">
+      <geom size="0.15 0.01 1.015" pos="0  0.2 1.015"   type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.01 1.015" pos="0 -0.2 1.015"   type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.01 0.20 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
+
+      <geom size="0.15 0.2 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.2 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.2 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.2 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.2 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.2 0.01" pos="0 0 1.69"  type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.2 0.01" pos="0 0 2.02"  type="box" rgba="0.9 0.9 0.9 1" />
+    </body>
+
+    <body name="cabinet_3" pos="1.22 0.36 0">
+      <geom size="0.15 0.01 1.015" pos="0  0.4 1.015"   type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015"   type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
+
+      <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 1.69"  type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 2.02"  type="box" rgba="0.9 0.9 0.9 1" />
+    </body>
+
+  </worldbody>
+
+  <actuator>
+    <include file="mmk2/mmk2_control.xml"/>
+  </actuator>
+
+  <sensor>
+    <include file="mmk2/mmk2_sensor.xml"/>
+  </sensor>
+
+  <keyframe>
+    <key name="home"  qpos='0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0'/>
+    <key name="front_table" qpos='
+      -1.15 -1.1 0.00145442 
+      0.7071 0 0 -0.7071 
+      0 0 
+      0.45 0 0 
+      0 -1.9 2.7 0 0 0 0 0 
+      0 -1.9 2.7 0 0 0 0 0'/>
+  </keyframe>
+
+</mujoco>
\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/exhibition_conference.xml b/assets/discoverse/models/mjcf/exhibition_conference.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fedc7e5d0f0321fcef7599e0b6beaada21778983
--- /dev/null
+++ b/assets/discoverse/models/mjcf/exhibition_conference.xml
@@ -0,0 +1,486 @@
+<mujoco model="mmk2">
+
+  <include file="mmk2/mmk2_options.xml"/>
+  <include file="mmk2/mmk2_dependencies.xml"/>
+
+  <visual>
+    <global offwidth="1920" offheight="1080"/>
+    <quality shadowsize="4096" offsamples="4"/>
+    <headlight diffuse='0.6 0.6 0.6' ambient='.3 .3 .3' specular='0 0 0'/>
+    <scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.1" contactwidth="0.01" contactheight="0.05"/>
+  </visual>
+
+  <asset>
+    <texture type='2d' name='groundplane' builtin='checker' mark='edge' rgb1='0.2 0.3 0.4' rgb2='0.1 0.2 0.3' markrgb='0.8 0.8 0.8' width='300' height='300'/>
+    <material name='groundplane' texture='groundplane' texuniform='true' texrepeat='5 5' reflectance='0.2'/>
+
+    <texture name="aruco_000" rgb1="0 0 0" gridsize="1 1" gridlayout="U" file="aruco/000.png"/>
+    <material name="aruco_000" texture="aruco_000"/>
+    <texture name="aruco_001" rgb1="0 0 0" gridsize="1 1" gridlayout="U" file="aruco/001.png"/>
+    <material name="aruco_001" texture="aruco_001"/>
+    <texture name="aruco_002" rgb1="0 0 0" gridsize="1 1" gridlayout="U" file="aruco/002.png"/>
+    <material name="aruco_002" texture="aruco_002"/>
+
+    <texture name="white_airbot_logo" rgb1="0 0 0" gridsize="1 1" gridlayout="U" file="logo/white_airbot.png"/>
+    <material name="white_airbot_logo" texture="white_airbot_logo"/>
+  </asset>
+
+  <worldbody>
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1' dir='1 1 -1'/>
+    <light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 0 1' dir='-1 1 -1'/>
+    <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1' dir='0 -1 -1'/>
+    <geom name='floor' type='plane' size='0 0 0.01' material='groundplane' pos='0 0 0'/>
+
+    <body name='mmk2' pos="0 0 0">
+      <joint type="free" frictionloss="0.0001" />
+      <include file="mmk2/mmk2.xml"/>
+    </body>
+
+    <!-- <body name="table" pos="0.74 0 0" euler="0 0 1.5708">
+      <geom size="0.3 0.9 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 0.5"/>
+      <geom size="0.02 0.02 0.37" pos=" 0.85  0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+      <geom size="0.02 0.02 0.37" pos=" 0.85 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+      <geom size="0.02 0.02 0.37" pos=" 0.00  0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+      <geom size="0.02 0.02 0.37" pos=" 0.00 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+      <geom size="0.02 0.02 0.37" pos="-0.85  0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+      <geom size="0.02 0.02 0.37" pos="-0.85 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+    </body> -->
+
+    <!-- <body name="aruco_head_000" pos="-1 0 -0.3">
+      <geom material="aruco_000" size="0.02 0.02 0.001" type="box" contype="0" conaffinity="0"/>
+      <body name="box_001" pos="0 0.015 -0.115" euler="-1.5708 0 1.5708">
+        <site name="box_001" size='0.001' type='sphere'/>
+        <geom size="0.11 0.075 0.0003" pos="0 0 0.048" type="box" contype="0" conaffinity="0" rgba="0.1 0.1 0.1 1" />
+        <geom size="0.111 0.076 0.05" pos="0 0 -0.0025" type="box" contype="0" conaffinity="0" rgba="0.9 0.9 0.9 0.5" />
+        <geom size="0.001 0.076 0.025" pos="0.11 0 0.0725" type="box" contype="0" conaffinity="0" rgba="0.9 0.9 0.9 1" />
+        <geom size="0.07 0.001 0.025" pos="0.04 0.075 0.0725" type="box" contype="0" conaffinity="0" rgba="0.9 0.9 0.9 1" />
+        <geom size="0.07 0.001 0.025" pos="0.04 -0.075 0.0725" type="box" contype="0" conaffinity="0" rgba="0.9 0.9 0.9 1" />        
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+      </body>
+    </body>
+
+    <body name="aruco_head_001" pos="-1 0.2 -0.3">
+      <geom material="aruco_001" size="0.02 0.02 0.001" type="box" contype="0" conaffinity="0"/>
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+    </body> -->
+
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+          <geom size="0.07 0.001 0.025" pos="0.04 -0.075 0.0725" type="box" contype="0" conaffinity="0" rgba="0.9 0.9 0.9 1" />
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+        </body>
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+        </body>
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+      <geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+      <geom size="1.0 0.44 0.015" pos="0 -2.7 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+      <geom size="1.0 0.44 0.015" pos="0 -3.6 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+    </body>
+    
+    <!-- <body name="cabinet_1" pos="0.36 1.22 0" euler="0 0 1.5708"> -->
+    <body name="cabinet_1" pos="0.665 1.22 0" euler="0 0 1.5708">
+      <geom size="0.15 0.01 1.015" pos="0  0.4 1.015"   type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015"   type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
+
+      <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 1.69"  type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 2.02"  type="box" rgba="0.9 0.9 0.9 1" />
+    </body>
+
+    <!-- <body name="cabinet_2" pos="1.03 1.03 0" euler="0 0 0.7854"> -->
+    <body name="cabinet_2" pos="1.23 0.86 0" euler="0 0 0">
+      <geom size="0.15 0.01 1.015" pos="0  0.2 1.015"   type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.01 1.015" pos="0 -0.2 1.015"   type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.01 0.20 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
+
+      <geom size="0.15 0.2 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.2 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.2 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.2 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.2 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.2 0.01" pos="0 0 1.69"  type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.2 0.01" pos="0 0 2.02"  type="box" rgba="0.9 0.9 0.9 1" />
+    </body>
+
+    <!-- <body name="cabinet_3" pos="1.22 0.36 0"> -->
+    <body name="cabinet_3" pos="1.23 0.238 0">
+      <geom size="0.15 0.01 1.015" pos="0  0.4 1.015"   type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015"   type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
+
+      <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 1.69"  type="box" rgba="0.9 0.9 0.9 1" />
+      <geom size="0.15 0.4 0.01" pos="0 0 2.02"  type="box" rgba="0.9 0.9 0.9 1" />
+    </body>
+  </worldbody>
+
+  <actuator>
+    <include file="mmk2/mmk2_control.xml"/>
+  </actuator>
+
+  <sensor>
+    <include file="mmk2/mmk2_sensor.xml"/>
+  </sensor>
+
+  <keyframe>
+    <!-- base position -->
+    <!-- base quat     -->
+    <!-- wheel         -->
+    <!-- slide         -->
+    <!-- head yaw pitch -->
+    <key name="home" qpos='
+      0 0 0   
+      1 0 0 0 
+      0 0     
+      0       
+      0 0     
+      0 0 0 0 0 0  0 0 
+      0 0 0 0 0 0  0 0'/>
+
+    <key name="look" qpos='
+      0 0 0   
+      1 0 0 0 
+      0 0     
+      0       
+      0 0     
+       0.751 -0.269 -0.079  2.0916 1.324 -0.7236 0 0 
+      -0.751 -0.269 -0.079  1.05   1.324 -2.418  0 0'/>
+
+    <key name="pick" qpos='
+      0 0 0   
+      1 0 0 0 
+      0 0     
+      0       
+      0 0     
+      -0. -0.166 0.032 0.  1.5708  2.223 0 0 
+      -0. -0.166 0.032 0. -1.5708 -2.223 0 0'/>
+
+    <key name="carry" qpos='
+      0 0 0   
+      1 0 0 0 
+      0 0     
+      0       
+      0 0
+      -0. -0.166 0.032 0.  1.5708  0.6522 0 0 
+      -0. -0.166 0.032 0. -1.5708 -0.6522 0 0'/>
+
+    <key name="pick_side" qpos='
+      0 0 0   
+      1 0 0 0 
+      0 0     
+      0       
+      0 0     
+       0.07716 -0.57907  0.36637  0.85839  1.08184  0.31861  0 0 
+      -0.41945 -0.56029  0.29396 -1.37813 -0.96719  0.18565  0 0'/>
+
+  </keyframe>
+
+</mujoco>
\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/grasp_apple.xml b/assets/discoverse/models/mjcf/grasp_apple.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6f754c79844677039709b06061dd9643e9be89a0
--- /dev/null
+++ b/assets/discoverse/models/mjcf/grasp_apple.xml
@@ -0,0 +1,60 @@
+<mujoco model="grasp_apple">
+
+    <include file="mmk2/mmk2_options.xml"/>
+    <include file="mmk2/mmk2_dependencies.xml"/>
+
+    <visual>
+        <global offwidth="1920" offheight="1080"/>
+        <quality shadowsize="4096" offsamples="4"/>
+        <headlight diffuse='0.6 0.6 0.6' ambient='.3 .3 .3' specular='0 0 0'/>
+        <scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.1" contactwidth="0.01" contactheight="0.05"/>
+    </visual>
+
+    <asset>
+        <texture type='2d' name='groundplane' builtin='checker' mark='edge' rgb1='0.2 0.3 0.4' rgb2='0.1 0.2 0.3' markrgb='0.8 0.8 0.8' width='300' height='300'/>
+        <material name='groundplane' texture='groundplane' texuniform='true' texrepeat='5 5' reflectance='0.2'/>
+    </asset>
+
+    <include file="s2r2025_dependencies.xml"/>
+
+    <worldbody>
+        <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 2.5' dir='1 1 -1'/>
+        <light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='1 -1 2.5' dir='-1 1 -1'/>
+        <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 2.5' dir='0 -1 -1'/>
+        <geom name='floor' type='plane' size='0 0 0.01' material='groundplane' pos='0 0 0'/>
+
+        <site name="site_round2_target" pos="-1.0 -0.05 0.75" size="0.005" rgba="0 0 0 1" type="sphere"/>
+        <site name="site_round3_target" pos="-1.0  0.15 0.75" size="0.005" rgba="0 0 0 1" type="sphere"/>
+
+        <body name='mmk2' pos="0 0 0" euler="0 0 -1.5708">
+            <joint type="free" frictionloss="0.0001" />
+            <include file="mmk2/mmk2.xml"/>
+        </body>
+
+        <body name="table" pos="0.0 -0.75 0">
+            <geom size="0.4 0.8 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
+            <geom size="0.02 0.02 0.37" pos=" 0.75  0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+            <geom size="0.02 0.02 0.37" pos=" 0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+            <geom size="0.02 0.02 0.37" pos="-0.75  0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+            <geom size="0.02 0.02 0.37" pos="-0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+        </body>
+
+        <body name="apple" quat="1 0 0 0">
+            <freejoint name="apple_free_joint"/>
+            <inertial pos="0 0 0" mass="0.005" diaginertia="0.00002 0.00002 0.00002" />
+            <geom mesh="apple" material="apple_texture" class="obj_visual"/>
+            <geom mesh="apple" class="obj_collision"/>
+        </body>
+
+    </worldbody>
+
+    <actuator>
+        <include file="mmk2/mmk2_control.xml"/>
+    </actuator>
+
+    <sensor>
+        <include file="mmk2/mmk2_sensor.xml"/>
+    </sensor>
+
+
+</mujoco>
\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/lab3_env.xml b/assets/discoverse/models/mjcf/lab3_env.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a76416d97f1911544b7bd37d5a256628fba51e94
--- /dev/null
+++ b/assets/discoverse/models/mjcf/lab3_env.xml
@@ -0,0 +1,29 @@
+<mujocoinclude>
+
+    <body name="table" pos="-0.18 1.02 0">
+      <!-- <geom size="0.3 0.6 0.01" pos="0 0 0.69" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="0.7529 0.6863 0.4235 1"/> -->
+      <geom size="0.3 0.6 0.01" pos="0 0 0.69" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" material="tc_texture"/>
+      <geom size="0.02 0.02 0.34" pos=" 0.55  0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+      <geom size="0.02 0.02 0.34" pos=" 0.55 -0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+      <geom size="0.02 0.02 0.34" pos="-0.55  0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+      <geom size="0.02 0.02 0.34" pos="-0.55 -0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
+    </body>
+
+    <body name="front_wall" pos="1.1 0.25 0">
+      <geom size="0.015 1 1" pos="0 0 1" type="box" rgba="0 0 0 1"/>
+    </body>
+
+    <body name="back_wall" pos="-1.1 0.35 0">
+      <geom size="1.0 0.44 0.015" pos="0  0.45 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+      <geom size="1.0 0.44 0.015" pos="0 -0.45 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
+    </body>
+
+    <!-- <body name="left_wall" pos="0 1.34 0">
+      <geom size="1.1 0.015 1" pos="0 0 1" type="box" rgba="0 0 0 1"/>
+    </body> -->
+
+    <!-- <body name="right_wall" pos="0 -0.8 0">
+      <geom size="1.1 0.015 1" pos="0 0 1" type="box" rgba="0 0 0 1"/>
+    </body> -->
+
+</mujocoinclude>
\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/leaphand_sensor_env.xml b/assets/discoverse/models/mjcf/leaphand_sensor_env.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4f41cca285ccbdc52efd1fc5ec4fe324d4c28c79
--- /dev/null
+++ b/assets/discoverse/models/mjcf/leaphand_sensor_env.xml
@@ -0,0 +1,63 @@
+<mujoco>
+  <include file="dex_hand/leaphand_sensor_env/leaphand_sensor.xml"/>
+  <compiler autolimits="true"/>
+
+  <option solver="Newton" tolerance="1e-6" timestep=".001" integrator="RK4"/>
+
+  <size memory="1000M"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global offwidth="1920" offheight="1080" azimuth="-35" elevation="-50" fovy="8"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody> 
+    <light pos="0 0.5 1" dir="0 -1 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+
+  </worldbody>
+
+  <keyframe>
+  <key name="0" qpos='-0.00226135 8.37106e-07 -0.000283312 -3.4303e-130 -0.00226135 8.37106e-07 -0.000283312 -8.67362e-20 -0.00226135 8.37106e-07 -0.000283312 -8.67362e-20 -0.00247518 -1.96501e-130 -1.35525e-21 -6.77626e-22 '/>
+  <!-- thumb up -->
+  <key name="1" qpos='-0.00226135 8.37106e-07 -0.000283312 -1.27324e-65 -0.00226135 8.37106e-07 -0.000283312 8.67362e-20 -0.00226135 8.37106e-07 -0.000283312 -1.81304e-66 1.49489 0.374717 0.474483 0.0446 '/>
+  <!-- thumb down -->
+  <key name="2" qpos='-0.00226135 8.37106e-07 -0.000283312 6.63378e-20 -0.00226135 8.37106e-07 -0.000283312 3.74001e-21 -0.00226135 8.37106e-07 -0.000283312 6.83426e-22 1.54813 0.419963 0.516416 0.804056 '/>
+  <!-- thumb up again -->
+  <key name="3" qpos='-0.00226135 8.37106e-07 -0.000283312 -1.27324e-65 -0.00226135 8.37106e-07 -0.000283312 8.67362e-20 -0.00226135 8.37106e-07 -0.000283312 -1.81304e-66 1.49489 0.374717 0.474483 0.0446 '/>
+  <!-- index up -->
+  <key name="4"qpos='0.282126 -0.785448 0.521922 0.28416 -0.00226135 8.37106e-07 -0.000283312 -8.67362e-20 -0.00226135 8.37106e-07 -0.000283312 -8.67362e-20 1.32344 0.345489 0.396834 1.997e-23 '/>
+  <!-- index down -->
+  <key name="5" qpos='0.186744 -0.800004 0.943361 1.38124 -0.00226135 8.37106e-07 -0.000283312 2.00081e-21 -0.00226135 8.37106e-07 -0.000283312 1.05584e-21 1.32344 0.345489 0.396834 6.9146e-20 '/>
+  <!-- index up gain, mid and ring up -->
+  <key name="6" qpos='0.142133 -0.785353 0.306681 0.74168 0.141628 0.0837159 -0.000280487 0.45272 -0.00216142 1.047 1.15563 -2.83058e-23 1.32344 0.345489 0.396834 1.30291e-23 '/>
+  <!-- mid and ring down -->
+  <key name="7" qpos='0.142133 -0.785353 0.306681 0.74168 0.18398 -0.0110543 0.0270942 1.86068 0.0516132 1.04715 1.40686 1.07264 1.32344 0.345489 0.396834 6.40245e-20 '/>
+  <!-- all up -->
+  <key name="8" qpos='0.142133 -0.785353 0.306681 0.74168 0.027188 -0.0314206 -0.135677 0.58516 0.0907952 1.047 0.187115 0.4768 1.26204 0.345603 -0.0842046 0.5115 '/>
+  <!-- all down -->
+  <key name="9" qpos='0.0161844 -0.798912 0.917464 1.73854 -0.198523 -0.0509074 0.669925 1.58385 0.00492535 1.04923 1.58919 1.43572 1.09496 0.305141 0.88478 0.968157 '/>
+  <!-- all up again -->
+  <key name="10" qpos='0.142131 -0.785353 0.294725 -0.366 0.0271868 -0.0314206 0.0316922 0.44068 0.0907919 1.047 0.115381 0.44068 1.26207 0.476654 -0.0532127 0.2217 '/>
+  <!-- all down again -->
+  <key name="11" qpos='0.275747 -1.04437 0.896376 1.56445 -0.202941 -0.0241462 0.798701 1.16818 -0.0212646 1.01949 1.57181 1.0231 1.22192 0.379443 0.273375 1.60597 '/>
+  <!-- back to init -->
+  <key name="12" qpos='-0.00226135 8.37106e-07 -0.000283312 -3.4303e-130 -0.00226135 8.37106e-07 -0.000283312 -8.67362e-20 -0.00226135 8.37106e-07 -0.000283312 -8.67362e-20 -0.00247518 -1.96501e-130 -1.35525e-21 -6.77626e-22 '/>
+
+
+  </keyframe>
+
+</mujoco>
+
+
+
+
+
diff --git a/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper.png b/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper.png
new file mode 100644
index 0000000000000000000000000000000000000000..0aff5d1c17e78bd71f5fb0e0d03ff869008f182f
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:588c425f9dd9f1d4c2ff636fe453331041d28350ab32e10ce32ea1ce8870c60e
+size 635879
diff --git a/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper.xml b/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9d659dc0da734da730c39f8aa434ba2347e6fbfd
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper.xml
@@ -0,0 +1,74 @@
+<mujocoinclude>
+  <body name="base_link" childclass="piper">
+    <site name="armbase"/>
+    <geom name="base_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="base_link.STL" class="collision" />
+    <geom name="base_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="base_link.obj" material="black" class="visual" />
+    <body name="link1" pos="0 0 0.123" quat="0.7071054825112363 0.0 0.0 -0.7071080798594735">
+      <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1.0 0.0 0.0 0.0" mass="0.0978679932242825" diaginertia="7.76684558296782e-05 9.24967780161547e-05 8.24589062407807e-05" />
+      <joint name="joint1" type="hinge" range="-2.618 2.618" axis="0 0 1" damping="20"/>
+      <geom name="link1_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link1.STL" class="collision" />
+      <geom name="link1_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link1.obj" material="black" class="visual" />
+      <body name="link2" pos="0 0 0" quat="0.4999981633974483 0.49999999999662686 -0.5000018366025516 -0.49999999999662686">
+        <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1.0 0.0 0.0 0.0" mass="0.290888938633388" diaginertia="0.000148959640166183 0.00172800946632652 0.0017754628344594" />
+        <joint name="joint2" type="hinge" range="0 3.14" axis="0 0 1" damping="20"/>
+        <geom name="link2_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2.STL" class="collision" />
+        <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link2_visual_0" mesh="link2_0" material="link2_material_5" />
+        <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link2_visual_1" mesh="link2_1" material="link2_material_4" />
+        <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link2_visual_2" mesh="link2_2" material="link2_material_3" />
+        <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link2_visual_3" mesh="link2_3" material="link2_material_2" />
+        <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link2_visual_4" mesh="link2_4" material="link2_material_1" />
+        <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link2_visual_5" mesh="link2_5" material="link2_material_0" />
+        <body name="link3" pos="0.28358 0.028726 0" quat="0.9987264076189438 0.0 0.0 0.05045356998825135">
+          <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1.0 0.0 0.0 0.0" mass="0.290847697793211" diaginertia="0.000107879011637167 0.000214751671792086 0.000241923439340319" />
+          <joint name="joint3" type="hinge" range="-2.697 0" axis="0 0 1" damping="20"/>
+          <geom name="link3_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3.STL" class="collision" />
+          <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link3_visual_0" mesh="link3_0" material="link2_material_4" />
+          <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link3_visual_1" mesh="link3_1" material="link2_material_2" />
+          <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link3_visual_2" mesh="link3_2" material="link2_material_5" />
+          <body name="link4" pos="-0.24221 0.068514 0" quat="0.5447666963008092 -0.5447686973442933 -0.4508091647208976 0.45080750880941434">
+            <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1.0 0.0 0.0 0.0" mass="0.127087348341362" diaginertia="3.82011730423416e-05 4.87048555222578e-05 4.10592077565559e-05" />
+            <joint name="joint4" type="hinge" range="-1.832 1.832" axis="0 0 1" damping="10"/>
+            <geom name="link4_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4.STL" class="collision" />
+            <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link4_visual_0" mesh="link4_0" material="link2_material_4" />
+            <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link4_visual_1" mesh="link4_1" material="link2_material_5" />
+            <body name="link5" pos="0 0 0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
+              <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1.0 0.0 0.0 0.0" mass="0.144711242639457" diaginertia="4.39644313662493e-05 5.63173920951307e-05 4.88713664675268e-05" />
+              <joint name="joint5" type="hinge" range="-1.22 1.22" axis="0 0 1" damping="10"/>
+              <geom name="link5_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5.STL" class="collision" />
+              <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link5_visual_0" mesh="link5_0" material="link2_material_0" />
+              <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link5_visual_1" mesh="link5_1" material="link2_material_4" />
+              <geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link5_visual_2" mesh="link5_2" material="link2_material_5" />
+              <body name="link6" pos="0 0.091 0.0014165" quat="1.894681827859535e-08 -1.894688787427276e-08 -0.7071054825112361 -0.7071080798594733">
+                <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1.0 0.0 0.0 0.0" mass="0.195187143240719" diaginertia="6.43790256535539e-05 0.000126146396374301 0.000154087076816444" />
+                <joint name="joint6" type="hinge" range="-3.14 3.14" axis="0 0 1" damping="10"/>
+                <geom name="link6_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6.STL" class="collision" />
+                <geom name="link6_visual" pos="0 0 0" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" type="mesh" mesh="link6.obj" material="black" class="visual" />
+                <site name="endpoint" pos='0 0 0.13' quat="-0.707 0 0.707 0"/>
+                <body name="camera_mount" pos="0 0 -0.077" quat="0.7071054825112363 0.0 0.0 0.7071080798594735">
+                  <geom name="camera_mount_visual" pos="0 0 0.08" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="camera_link.obj" material="camera_link_black_medium_gloss_plastic" class="visual" />
+                  <body name="camera" pos="0.045 0.09 0.115" quat="0.6006548037091628 -0.3731136646936255 -0.37311366469362556 -0.6006548037091627">
+                    <geom name="camera_visual" pos="0.014 -0.045 -0.03" quat="0.7062230818371108 0.03534060950936697 -0.03534060950936696 -0.7062230818371107" type="mesh" mesh="camera.obj" material="default_material" class="visual" />
+                  </body>
+                </body>
+                <body name="link7" pos="0 0 0.13503" quat="1.894681827859535e-08 1.894688787427276e-08 0.7071080798594733 0.7071054825112361">
+                  <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1.0 0.0 0.0 0.0" mass="0.02648229234527" diaginertia="9.99787479924589e-06 6.1795212293655e-06 1.42102717246564e-05" />
+                  <joint name="finger_joint1" type="slide" range="0 0.04" axis="0 0 -1" damping="1"/>
+                  <geom name="link7_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7.STL" class="collision" />
+                  <geom name="link7_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7.obj" material="black" class="visual" />
+                  <geom type="box" size=".01 .025 .002" pos="0 -0.02 -0.002" rgba="1 0 0 1" class="collision"/>
+                </body>
+                <body name="link8" pos="0 0 0.13503" quat="1.894681827859535e-08 -1.894688787427276e-08 -0.7071080798594733 0.7071054825112361">
+                  <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1.0 0.0 0.0 0.0" mass="0.0264822021416248" diaginertia="9.99779119357223e-06 6.17952441557932e-06 1.4210192754512e-05" />
+                  <joint name="finger_joint2" type="slide" range="0 0.04" axis="0 0 -1" damping="1"/>
+                  <geom name="link8_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link8.STL" class="collision" />
+                  <geom name="link8_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link8.obj" material="black" class="visual" />
+                  <geom type="box" size=".01 .025 .002" pos="0 0.02 -0.002" rgba="1 0 0 1" class="collision"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </body>
+</mujocoinclude>
\ No newline at end of file
diff --git a/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper_control.xml b/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper_control.xml
new file mode 100644
index 0000000000000000000000000000000000000000..79fb05602567d0d43e03799863f38b9a019bcfcc
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper_control.xml
@@ -0,0 +1,9 @@
+<mujocoinclude>
+  <position name="joint1" joint="joint1" kp="300" kv="5" ctrlrange="-2.618 2.618" forcerange="-100 100"/>
+  <position name="joint2" joint="joint2" kp="300" kv="5" ctrlrange="0 3.14" forcerange="-100 100"/>
+  <position name="joint3" joint="joint3" kp="300" kv="5" ctrlrange="-2.697 0" forcerange="-100 100"/>
+  <position name="joint4" joint="joint4" kp="150" kv="2" ctrlrange="-1.832 1.832" forcerange="-50 50"/>
+  <position name="joint5" joint="joint5" kp="150" kv="2" ctrlrange="-1.22 1.22" forcerange="-50 50"/>
+  <position name="joint6" joint="joint6" kp="150" kv="2" ctrlrange="-3.14 3.14" forcerange="-50 50"/>
+  <position name="gripper" joint="finger_joint1" kp="300" kv="2" ctrlrange="0 0.04" forcerange="-100 100"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper_dependencies.xml b/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper_dependencies.xml
new file mode 100644
index 0000000000000000000000000000000000000000..22d188d980877fb5ab30911a78dfffa0a175975b
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper_dependencies.xml
@@ -0,0 +1,77 @@
+<mujocoinclude>
+
+  <default>
+    <default class="piper">
+      <default class="visual">
+        <geom material="visualgeom" contype="0" conaffinity="0" group="2" />
+      </default>
+      <default class="collision">
+        <geom material="collision_material" condim="3" contype="0" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
+        <equality solimp="0.99 0.999 1e-05" solref="0.005 1" />
+      </default>
+      <site size="0.001" group="3"/>
+    </default>
+  </default>
+
+  <asset>
+    <material name="camera_link_black_medium_gloss_plastic" rgba="0.101961 0.101961 0.101961 1.000000" />
+    <material name="black" rgba="0.2 0.2 0.2 1" />
+    <material name="default_material" rgba="0.7 0.7 0.7 1" />
+    <material name="collision_material" rgba="1.0 0.28 0.1 0.9" />
+    <material name="link2_material_0" rgba="0.976471 0.976471 0.976471 1.0" />
+    <material name="link2_material_1" rgba="0.086275 0.086275 0.086275 1.0" />
+    <material name="link2_material_2" rgba="0.811765 0.149020 0.149020 1.0" />
+    <material name="link2_material_3" rgba="0.501961 0.501961 0.501961 1.0" />
+    <material name="link2_material_4" rgba="0.137255 0.137255 0.137255 1.0" />
+    <material name="link2_material_5" rgba="0.584314 0.584314 0.584314 1.0" />
+  </asset>
+
+  <asset>
+    <mesh name="base_link.STL" file="piper/collisions/base_link.STL" />
+    <mesh name="base_link.obj" file="piper/visual/base_link.obj" />
+    <mesh name="link1.STL" file="piper/collisions/link1.STL" />
+    <mesh name="link1.obj" file="piper/visual/link1.obj" />
+    <mesh name="link2.STL" file="piper/collisions/link2.STL" />
+    <mesh name="link3.STL" file="piper/collisions/link3.STL" />
+    <mesh name="link4.STL" file="piper/collisions/link4.STL" />
+    <mesh name="link5.STL" file="piper/collisions/link5.STL" />
+    <mesh name="link6.STL" file="piper/collisions/link6.STL" />
+    <mesh name="link6.obj" file="piper/visual/link6.obj" />
+    <mesh name="camera_link.obj" file="piper/visual/camera_link.obj" />
+    <mesh name="camera.obj" file="piper/visual/camera.obj" />
+    <mesh name="link7.STL" file="piper/collisions/link7.STL" />
+    <mesh name="link7.obj" file="piper/visual/link7.obj" />
+    <mesh name="link8.STL" file="piper/collisions/link8.STL" />
+    <mesh name="link8.obj" file="piper/visual/link8.obj" />
+    <mesh name="link2_0" file="piper/visual/link2/link2_0.obj" />
+    <mesh name="link2_1" file="piper/visual/link2/link2_1.obj" />
+    <mesh name="link2_2" file="piper/visual/link2/link2_2.obj" />
+    <mesh name="link2_3" file="piper/visual/link2/link2_3.obj" />
+    <mesh name="link2_4" file="piper/visual/link2/link2_4.obj" />
+    <mesh name="link2_5" file="piper/visual/link2/link2_5.obj" />
+    <mesh name="link3_0" file="piper/visual/link3/link3_0.obj" />
+    <mesh name="link3_1" file="piper/visual/link3/link3_1.obj" />
+    <mesh name="link3_2" file="piper/visual/link3/link3_2.obj" />
+    <mesh name="link4_0" file="piper/visual/link4/link4_0.obj" />
+    <mesh name="link4_1" file="piper/visual/link4/link4_1.obj" />
+    <mesh name="link5_0" file="piper/visual/link5/link5_0.obj" />
+    <mesh name="link5_1" file="piper/visual/link5/link5_1.obj" />
+    <mesh name="link5_2" file="piper/visual/link5/link5_2.obj" />
+  </asset>
+
+  <equality>
+    <joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+  </equality>
+
+  <contact>
+    <exclude body1="base_link" body2="link1" />
+    <exclude body1="link1" body2="link2" />
+    <exclude body1="link2" body2="link3" />
+    <exclude body1="link3" body2="link4" />
+    <exclude body1="link4" body2="link5" />
+    <exclude body1="link5" body2="link6" />
+    <exclude body1="link6" body2="link7" />
+    <exclude body1="link6" body2="link8" />
+  </contact>
+
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper_sensor.xml b/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9bafcc31982d3f807460f30ff9137cf085ea12d5
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/agilex_piper/piper_sensor.xml
@@ -0,0 +1,9 @@
+<mujocoinclude>
+  <jointpos name="joint1_pos" joint="joint1"/>
+  <jointpos name="joint2_pos" joint="joint2"/>
+  <jointpos name="joint3_pos" joint="joint3"/>
+  <jointpos name="joint4_pos" joint="joint4"/>
+  <jointpos name="joint5_pos" joint="joint5"/>
+  <jointpos name="joint6_pos" joint="joint6"/>
+  <jointpos name="gripper_pos" joint="finger_joint1"/>
+</mujocoinclude>
diff --git a/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play.png b/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play.png
new file mode 100644
index 0000000000000000000000000000000000000000..9497d271802478d5f4929cd7f27ee41b0617f5b7
--- /dev/null
+++ b/assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6088a354de1fc7f63317a6ae5a4a649ab0e1f09804900a5c5e5fa0acb1e4924
+size 559004