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diff --git a/assets/discoverse/raw/collections/models/discoverse_models/metadata.yaml b/assets/discoverse/raw/collections/models/discoverse_models/metadata.yaml
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+asset_id: discoverse.collections.models.discoverse_models
+source: discoverse
+source_asset_id: models
+asset_type: collections
+category: models
+format: mixed_mjcf_urdf_mesh
+entry_file: .
+license: MIT
+origin_url: https://github.com/discoverse-dev/DISCOVERSE
+source_commit: d67f47c084aba0e0cf422a8725235f8b9238655a
+path: assets/discoverse/raw/collections/models/discoverse_models
+readiness_level: L1_L2_candidate_by_subasset
+validation_status: collection_root_validated
+tags:
+  - discoverse
+  - mujoco
+  - mjcf
+  - urdf
+  - mesh
+  - robotics
+  - simulation
+notes:
+  - Imported from upstream models/ as a collection asset to preserve internal relative references.
diff --git a/assets/discoverse/raw/collections/models/discoverse_models/mjcf/camera_env.xml b/assets/discoverse/raw/collections/models/discoverse_models/mjcf/camera_env.xml
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+++ b/assets/discoverse/raw/collections/models/discoverse_models/mjcf/camera_env.xml
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+<mujoco model="camera_env">
+  <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="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/raw/collections/models/discoverse_models/mjcf/capture.xml b/assets/discoverse/raw/collections/models/discoverse_models/mjcf/capture.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4a317d51d47e49b74590ceca52dba4ff13e276c9
--- /dev/null
+++ b/assets/discoverse/raw/collections/models/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/raw/collections/models/discoverse_models/mjcf/cooperative_aerial_ground_sim.xml b/assets/discoverse/raw/collections/models/discoverse_models/mjcf/cooperative_aerial_ground_sim.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f1b060bb1ed1a805961587c04845d6b235ddfc93
--- /dev/null
+++ b/assets/discoverse/raw/collections/models/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/raw/collections/models/discoverse_models/mjcf/cooperative_multi_robot_sim.xml b/assets/discoverse/raw/collections/models/discoverse_models/mjcf/cooperative_multi_robot_sim.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ef6428842b22456c075991477ea93b148fa0b334
--- /dev/null
+++ b/assets/discoverse/raw/collections/models/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/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/arm_mjcf/air_arm.xml b/assets/discoverse/raw/collections/models/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/raw/collections/models/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/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_arm_bridge.xml b/assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_arm_bridge.xml
new file mode 100644
index 0000000000000000000000000000000000000000..47c1317b1c2cbd02c02cd5d01696b56bbdc2bc3a
--- /dev/null
+++ b/assets/discoverse/raw/collections/models/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/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/auto_gen_sensor.ipynb b/assets/discoverse/raw/collections/models/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/raw/collections/models/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/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/base_link_asset_include.xml b/assets/discoverse/raw/collections/models/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/raw/collections/models/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/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/base_link_geom_include.xml b/assets/discoverse/raw/collections/models/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/raw/collections/models/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/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_1_asset_include.xml b/assets/discoverse/raw/collections/models/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/raw/collections/models/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/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_1_geom_include.xml b/assets/discoverse/raw/collections/models/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/raw/collections/models/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/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_asset_include.xml b/assets/discoverse/raw/collections/models/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/raw/collections/models/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/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/palm_Link_geom_include.xml b/assets/discoverse/raw/collections/models/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/raw/collections/models/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"/>
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diff --git a/assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_1_asset_include.xml b/assets/discoverse/raw/collections/models/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/raw/collections/models/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"/>
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+  <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"/>
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+  <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/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_1_geom_include.xml b/assets/discoverse/raw/collections/models/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/raw/collections/models/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"/>
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+  <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/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_2_asset_include.xml b/assets/discoverse/raw/collections/models/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/raw/collections/models/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>