diff --git a/.gitignore b/.gitignore
index 60afa6f..de07d14 100644
--- a/.gitignore
+++ b/.gitignore
@@ -19,4 +19,5 @@ __MACOSX/
 !real_right_hand.jpg
 !wrist_and_ring_mount.png
 teleop/data/
-teleop/utils/episode_0*
\ No newline at end of file
+teleop/utils/episode_0*
+teleop/utils/data/episode_0*
\ No newline at end of file
diff --git a/assets/g1/README.md b/assets/g1/README.md
index 991ce49..f666cf9 100644
--- a/assets/g1/README.md
+++ b/assets/g1/README.md
@@ -2,62 +2,21 @@
 
 ## Overview
 
-This package includes a streamlined robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
-
-<p align="center"><img src="g1.png" width="500"/></p>
-
-Unitree G1 have 43 DOFs:
-
-```text
-root [⚓] => /pelvis/
-    left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
-        left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
-            left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
-                left_knee_joint [⚙+Y] => /left_knee_link/
-                    left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
-                        left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
-    right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
-        right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
-            right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
-                right_knee_joint [⚙+Y] => /right_knee_link/
-                    right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
-                        right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
-    waist_yaw_joint [⚙+Z] => /waist_yaw_link/
-        waist_roll_joint [⚙+X] => /waist_roll_link/
-            waist_pitch_joint [⚙+Y] => /torso_link/
-                logo_joint [⚓] => /logo_link/
-                head_joint [⚓] => /head_link/
-                left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
-                    left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
-                        left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
-                            left_elbow_joint [⚙+Y] => /left_elbow_link/
-                                left_wrist_roll_joint [⚙+X] => /left_wrist_roll_link/
-                                    left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/
-                                        left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/
-                                            left_hand_palm_joint [⚓] => /left_hand_palm_link/
-                                                left_hand_zero_joint [⚙+Y] => /left_hand_zero_link/
-                                                    left_hand_one_joint [⚙+Z] => /left_hand_one_link/
-                                                        left_hand_two_joint [⚙+Z] => /left_hand_two_link/
-                                                left_hand_three_joint [⚙+Z] => /left_hand_three_link/
-                                                    left_hand_four_joint [⚙+Z] => /left_hand_four_link/
-                                                left_hand_five_joint [⚙+Z] => /left_hand_five_link/
-                                                    left_hand_six_joint [⚙+Z] => /left_hand_six_link/
-                right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
-                    right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
-                        right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
-                            right_elbow_joint [⚙+Y] => /right_elbow_link/
-                                right_wrist_roll_joint [⚙+X] => /right_wrist_roll_link/
-                                    right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/
-                                        right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/
-                                            right_hand_palm_joint [⚓] => /right_hand_palm_link/
-                                                right_hand_zero_joint [⚙+Y] => /right_hand_zero_link/
-                                                    right_hand_one_joint [⚙+Z] => /right_hand_one_link/
-                                                        right_hand_two_joint [⚙+Z] => /right_hand_two_link/
-                                                right_hand_three_joint [⚙+Z] => /right_hand_three_link/
-                                                    right_hand_four_joint [⚙+Z] => /right_hand_four_link/
-                                                right_hand_five_joint [⚙+Z] => /right_hand_five_link/
-                                                    right_hand_six_joint [⚙+Z] => /right_hand_six_link/
-```
+This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
+
+MJCF/URDF for the G1 robot:
+
+| MJCF/URDF file name           | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
+| ----------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
+| `g1_23dof`                    |       1        |           14.5           | Beta          |   6*2   |     1     |   5*2   |    0     |
+| `g1_29dof`                    |       2        |           14.5           | Beta          |   6*2   |     3     |   7*2   |    0     |
+| `g1_29dof_with_hand`          |       2        |           14.5           | Beta          |   6*2   |     3     |   7*2   |   7*2    |
+| `g1_29dof_lock_waist`         |       3        |           14.5           | Beta          |   6*2   |     1     |   7*2   |    0     |
+| `g1_23dof_rev_1_0`            |       4        |           22.5           | Up-to-date    |   6*2   |     1     |   5*2   |    0     |
+| `g1_29dof_rev_1_0`            |       5        |           22.5           | Up-to-date    |   6*2   |     3     |   7*2   |    0     |
+| `g1_29dof_with_hand_rev_1_0`  |       5        |           22.5           | Up-to-date    |   6*2   |     3     |   7*2   |   7*2    |
+| `g1_29dof_lock_waist_rev_1_0` |       6        |           22.5           | Up-to-date    |   6*2   |     1     |   7*2   |    0     |
+| `g1_dual_arm`                 |       9        |           null           | Up-to-date    |    0    |     0     |   7*2   |    0     |
 
 ## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
 
@@ -65,8 +24,10 @@ root [⚓] => /pelvis/
 
    ```bash
    pip install mujoco
-
    python -m mujoco.viewer
    ```
 
-2. Drag and drop the MJCF/URDF model file (`g1_body29_hand14.xml`/`g1_body29_hand14.urdf`) to the MuJoCo Viewer.
+2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
+
+## Note for teleoperate
+g1_body29_hand14 is modified from [g1_29dof_with_hand_rev_1_0](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf)
diff --git a/assets/g1/g1_body29_hand14.urdf b/assets/g1/g1_body29_hand14.urdf
index 4d17f97..156a5fd 100644
--- a/assets/g1/g1_body29_hand14.urdf
+++ b/assets/g1/g1_body29_hand14.urdf
@@ -10,7 +10,6 @@
     <child link="pelvis"/>
   </joint> -->
 
-  <!-- Legs -->
   <link name="pelvis">
     <inertial>
       <origin xyz="0 0 -0.07605" rpy="0 0 0"/>
@@ -22,6 +21,22 @@
       <geometry>
         <mesh filename="meshes/pelvis.STL"/>
       </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="pelvis_contour_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/pelvis_contour_link.STL"/>
+      </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
@@ -29,10 +44,16 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/pelvis.STL"/>
+        <mesh filename="meshes/pelvis_contour_link.STL"/>
       </geometry>
     </collision>
   </link>
+  <joint name="pelvis_contour_joint" type="fixed">
+    <parent link="pelvis"/>
+    <child link="pelvis_contour_link"/>
+  </joint>
+
+  <!-- Legs -->
   <link name="left_hip_pitch_link">
     <inertial>
       <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
@@ -89,7 +110,7 @@
     <parent link="left_hip_pitch_link"/>
     <child link="left_hip_roll_link"/>
     <axis xyz="1 0 0"/>
-    <limit lower="-0.5236" upper="2.9671" effort="88" velocity="32"/>
+    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20"/>
   </joint>
   <link name="left_hip_yaw_link">
     <inertial>
@@ -194,9 +215,27 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_ankle_roll_link.STL"/>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
       </geometry>
     </collision>
   </link>
@@ -263,7 +302,7 @@
     <parent link="right_hip_pitch_link"/>
     <child link="right_hip_roll_link"/>
     <axis xyz="1 0 0"/>
-    <limit lower="-2.9671" upper="0.5236" effort="88" velocity="32"/>
+    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20"/>
   </joint>
   <link name="right_hip_yaw_link">
     <inertial>
@@ -368,9 +407,27 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_ankle_roll_link.STL"/>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
       </geometry>
     </collision>
   </link>
@@ -385,25 +442,19 @@
   <!-- Torso -->
   <link name="waist_yaw_link">
     <inertial>
-      <origin xyz="0.003964 0 0.018769" rpy="0 0 0"/>
-      <mass value="0.244"/>
-      <inertia ixx="9.9587E-05" ixy="-1.833E-06" ixz="-1.2617E-05" iyy="0.00012411" iyz="-1.18E-07" izz="0.00015586"/>
+      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0"/>
+      <mass value="0.214"/>
+      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/waist_yaw_link.STL"/>
+        <mesh filename="meshes/waist_yaw_link_rev_1_0.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/waist_yaw_link.STL"/>
-      </geometry>
-    </collision>
   </link>
   <joint name="waist_yaw_joint" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -414,28 +465,22 @@
   </joint>
   <link name="waist_roll_link">
     <inertial>
-      <origin xyz="0 -0.000236 0.010111" rpy="0 0 0"/>
-      <mass value="0.047"/>
-      <inertia ixx="7.515E-06" ixy="0" ixz="0" iyy="6.398E-06" iyz="9.9E-08" izz="3.988E-06"/>
+      <origin xyz="0 2.3E-05 0" rpy="0 0 0"/>
+      <mass value="0.086"/>
+      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/waist_roll_link.STL"/>
+        <mesh filename="meshes/waist_roll_link_rev_1_0.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/waist_roll_link.STL"/>
-      </geometry>
-    </collision>
   </link>
   <joint name="waist_roll_joint" type="revolute">
-    <origin xyz="-0.0039635 0 0.035" rpy="0 0 0"/>
+    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
     <parent link="waist_yaw_link"/>
     <child link="waist_roll_link"/>
     <axis xyz="1 0 0"/>
@@ -443,14 +488,14 @@
   </joint>
   <link name="torso_link">
     <inertial>
-      <origin xyz="0.002601 0.000257 0.153719" rpy="0 0 0"/>
-      <mass value="8.562"/>
-      <inertia ixx="0.065674966" ixy="-8.597E-05" ixz="-0.001737252" iyy="0.053535188" iyz="8.6899E-05" izz="0.030808125"/>
+      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
+      <mass value="6.78"/>
+      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/torso_link.STL"/>
+        <mesh filename="meshes/torso_link_rev_1_0.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -459,12 +504,12 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/torso_link.STL"/>
+        <mesh filename="meshes/torso_link_rev_1_0.STL"/>
       </geometry>
     </collision>
   </link>
   <joint name="waist_pitch_joint" type="revolute">
-    <origin xyz="0 0 0.019" rpy="0 0 0"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
     <parent link="waist_roll_link"/>
     <child link="torso_link"/>
     <axis xyz="0 1 0"/>
@@ -473,11 +518,16 @@
 
   <!-- LOGO -->
   <joint name="logo_joint" type="fixed">
-    <origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
     <parent link="torso_link"/>
     <child link="logo_link"/>
   </joint>
   <link name="logo_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
+    </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
@@ -519,35 +569,41 @@
     </collision>
   </link>
   <joint name="head_joint" type="fixed">
-    <origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
     <parent link="torso_link"/>
     <child link="head_link"/>
   </joint>
 
-  <!-- Waist Support -->
-  <link name="waist_support_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/waist_support_link.STL"/>
-      </geometry>
-      <material name="white">
-        <color rgba="0.7 0.7 0.7 1"/>
-      </material>
-    </visual>
-  </link>
-  <joint name="waist_support_joint" type="fixed">
-    <origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
+
+  <!-- IMU -->
+  <link name="imu_in_torso"></link>
+  <joint name="imu_in_torso_joint" type="fixed">
+    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
     <parent link="torso_link"/>
-    <child link="waist_support_link"/>
+    <child link="imu_in_torso"/>
   </joint>
 
-  <!-- IMU -->
-  <link name="imu_link"></link>
-  <joint name="imu_joint" type="fixed">
-    <origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
+  <link name="imu_in_pelvis"></link>
+  <joint name="imu_in_pelvis_joint" type="fixed">
+    <origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="imu_in_pelvis"/>
+  </joint>
+
+  <!-- d435 -->
+  <link name="d435_link"></link>
+  <joint name="d435_joint" type="fixed">
+    <origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0"/>
+    <parent link="torso_link"/>
+    <child link="d435_link"/>
+  </joint>
+
+  <!-- mid360 -->
+  <link name="mid360_link"></link>
+  <joint name="mid360_joint" type="fixed">
+    <origin xyz="0.0002835 0.00003 0.41618" rpy="0 0.04014257279586953 0"/>
     <parent link="torso_link"/>
-    <child link="imu_link"/>
+    <child link="mid360_link"/>
   </joint>
 
   <!-- Arm -->
@@ -567,14 +623,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
       <geometry>
-        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
+        <cylinder radius="0.03" length="0.05"/>
       </geometry>
     </collision>
   </link>
   <joint name="left_shoulder_pitch_joint" type="revolute">
-    <origin xyz="0.0039563 0.10022 0.23778" rpy="0.27931 5.4949E-05 -0.00019159"/>
+    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
     <parent link="torso_link"/>
     <child link="left_shoulder_pitch_link"/>
     <axis xyz="0 1 0"/>
@@ -596,9 +652,9 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
+        <cylinder radius="0.03" length="0.03"/>
       </geometry>
     </collision>
   </link>
@@ -781,23 +837,23 @@
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_zero_joint" type="revolute">
-    <origin xyz="0.028 0 0" rpy="0 0 0"/>
+  <joint name="left_hand_thumb_0_joint" type="revolute">
+    <origin xyz="0.0255 0 0" rpy="0 0 0"/>
     <axis xyz="0 1 0"/>
     <parent link="left_hand_palm_link"/>
-    <child link="left_hand_zero_link"/>
+    <child link="left_hand_thumb_0_link"/>
     <limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
   </joint>
-  <link name="left_hand_zero_link">
+  <link name="left_hand_thumb_0_link">
     <inertial>
-      <origin xyz="-0.00035441315 -0.01329887312 0.00041236207" rpy="0 0 0"/>
-      <mass value="0.08033018"/>
-      <inertia ixx="0.00001322529836" ixy="0.00000008155993" ixz="0.00000002632547" iyy="0.00001215546138" iyz="-0.00000064625786" izz="0.00001368834887"/>
+      <origin xyz="-0.00088424580 -0.00863407079 0.00094429336" rpy="0 0 0"/>
+      <mass value="0.08623657"/>
+      <inertia ixx="0.00001602919238" ixy="0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="-0.00000051094752" izz="0.00001637877663"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_zero_link.STL"/>
+        <mesh filename="meshes/left_hand_thumb_0_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -806,56 +862,56 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_zero_link.STL"/>
+        <mesh filename="meshes/left_hand_thumb_0_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_one_joint" type="revolute">
-    <origin xyz="0 -0.0246 0" rpy="0 0 0"/>
+  <joint name="left_hand_thumb_1_joint" type="revolute">
+    <origin xyz="-0.0025 -0.0193 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
-    <parent link="left_hand_zero_link"/>
-    <child link="left_hand_one_link"/>
-    <limit effort="0.7" velocity="24" lower="-0.72431163" upper="1.04719755"/>
+    <parent link="left_hand_thumb_0_link"/>
+    <child link="left_hand_thumb_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-0.72431163" upper="1.04719755"/>
   </joint>
-  <link name="left_hand_one_link">
+  <link name="left_hand_thumb_1_link">
     <inertial>
-      <origin xyz="0.00362060191 -0.04044395878 -0.00029771094" rpy="0 0 0"/>
-      <mass value="0.05619628"/>
-      <inertia ixx="0.00001234776425" ixy="0.00000026810498" ixz="-0.00000008482929" iyy="0.00000501619054" iyz="-0.00000007819408" izz="0.00001212011567"/>
+      <origin xyz="-0.00082788768 -0.03547435774 -0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00001274699945" ixy="-0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="-0.00000027839003" izz="0.00001234543582"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_one_link.STL"/>
+        <mesh filename="meshes/left_hand_thumb_1_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="-0.001 -0.032 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_one_link.STL"/>
+        <box size="0.02 0.03 0.02"/>
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_two_joint" type="revolute">
-    <origin xyz="0.0055 -0.0528 0" rpy="0 0 0"/>
+  <joint name="left_hand_thumb_2_joint" type="revolute">
+    <origin xyz="0 -0.0458 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
-    <parent link="left_hand_one_link"/>
-    <child link="left_hand_two_link"/>
-    <limit effort="0.7" velocity="24" lower="0" upper="2.09439510"/>
+    <parent link="left_hand_thumb_1_link"/>
+    <child link="left_hand_thumb_2_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
   </joint>
-  <link name="left_hand_two_link">
+  <link name="left_hand_thumb_2_link">
     <inertial>
-      <origin xyz="-0.00081405957 -0.03456206723 0.00012979919" rpy="0 0 0"/>
-      <mass value="0.02487314"/>
-      <inertia ixx="0.00000859888903" ixy="0.00000021727392" ixz="-0.00000000850093" iyy="0.00000198874543" iyz="-0.00000008230043" izz="0.00000768992891"/>
+      <origin xyz="-0.00171735242 -0.02628192939 0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000461267817" ixy="-0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="-0.00000002549885" izz="0.00000386625776"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_two_link.STL"/>
+        <mesh filename="meshes/left_hand_thumb_2_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -864,27 +920,27 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_two_link.STL"/>
+        <mesh filename="meshes/left_hand_thumb_2_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_three_joint" type="revolute">
-    <origin xyz="0.1 -0.0017 -0.0285" rpy="0 0 0"/>
+  <joint name="left_hand_middle_0_joint" type="revolute">
+    <origin xyz="0.0777 0.0016 -0.0285" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="left_hand_palm_link"/>
-    <child link="left_hand_three_link"/>
-    <limit effort="0.7" velocity="24" lower="-1.83259571" upper="0.19198621"/>
+    <child link="left_hand_middle_0_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
   </joint>
-  <link name="left_hand_three_link">
+  <link name="left_hand_middle_0_link">
     <inertial>
-      <origin xyz="0.04044395878 -0.00362060191 0.00028771094" rpy="0 0 0"/>
-      <mass value="0.05619628"/>
-      <inertia ixx="0.00000501619054" ixy="0.00000026810498" ixz="-0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
+      <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_three_link.STL"/>
+        <mesh filename="meshes/left_hand_middle_0_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -893,27 +949,27 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_three_link.STL"/>
+        <mesh filename="meshes/left_hand_middle_0_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_four_joint" type="revolute">
-    <origin xyz="0.0528 -0.0055 0" rpy="0 0 0"/>
+  <joint name="left_hand_middle_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
-    <parent link="left_hand_three_link"/>
-    <child link="left_hand_four_link"/>
-    <limit effort="0.7" velocity="24" lower="-2.09439510" upper="0"/>
+    <parent link="left_hand_middle_0_link"/>
+    <child link="left_hand_middle_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
   </joint>
-  <link name="left_hand_four_link">
+  <link name="left_hand_middle_1_link">
     <inertial>
-      <origin xyz="0.03456206723 0.00081405957 -0.00012979919" rpy="0 0 0"/>
-      <mass value="0.02487314"/>
-      <inertia ixx="0.00000198874543" ixy="0.00000021727392" ixz="-0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
+      <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_four_link.STL"/>
+        <mesh filename="meshes/left_hand_middle_1_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -922,27 +978,27 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_four_link.STL"/>
+        <mesh filename="meshes/left_hand_middle_1_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_five_joint" type="revolute">
-    <origin xyz="0.1 -0.0017 0.0285" rpy="0 0 0"/>
+  <joint name="left_hand_index_0_joint" type="revolute">
+    <origin xyz="0.0777 0.0016 0.0285" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="left_hand_palm_link"/>
-    <child link="left_hand_five_link"/>
-    <limit effort="0.7" velocity="24" lower="-1.83259571" upper="0.19198621"/>
+    <child link="left_hand_index_0_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
   </joint>
-  <link name="left_hand_five_link">
+  <link name="left_hand_index_0_link">
     <inertial>
-      <origin xyz="0.04044395878 -0.00362060191 0.00028771094" rpy="0 0 0"/>
-      <mass value="0.05619628"/>
-      <inertia ixx="0.00000501619054" ixy="0.00000026810498" ixz="-0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
+      <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_five_link.STL"/>
+        <mesh filename="meshes/left_hand_index_0_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -951,27 +1007,27 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_five_link.STL"/>
+        <mesh filename="meshes/left_hand_index_0_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_six_joint" type="revolute">
-    <origin xyz="0.0528 -0.0055 0" rpy="0 0 0"/>
+  <joint name="left_hand_index_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
-    <parent link="left_hand_five_link"/>
-    <child link="left_hand_six_link"/>
-    <limit effort="0.7" velocity="24" lower="-2.09439510" upper="0"/>
+    <parent link="left_hand_index_0_link"/>
+    <child link="left_hand_index_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
   </joint>
-  <link name="left_hand_six_link">
+  <link name="left_hand_index_1_link">
     <inertial>
-      <origin xyz="0.03456206723 0.00081405957 -0.00012979919" rpy="0 0 0"/>
-      <mass value="0.02487314"/>
-      <inertia ixx="0.00000198874543" ixy="0.00000021727392" ixz="-0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
+      <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_six_link.STL"/>
+        <mesh filename="meshes/left_hand_index_1_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -980,7 +1036,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_six_link.STL"/>
+        <mesh filename="meshes/left_hand_index_1_link.STL"/>
       </geometry>
     </collision>
   </link>
@@ -1000,14 +1056,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
       <geometry>
-        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
+        <cylinder radius="0.03" length="0.05"/>
       </geometry>
     </collision>
   </link>
   <joint name="right_shoulder_pitch_joint" type="revolute">
-    <origin xyz="0.0039563 -0.10021 0.23778" rpy="-0.27931 5.4949E-05 0.00019159"/>
+    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
     <parent link="torso_link"/>
     <child link="right_shoulder_pitch_link"/>
     <axis xyz="0 1 0"/>
@@ -1029,9 +1085,9 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
+        <cylinder radius="0.03" length="0.03"/>
       </geometry>
     </collision>
   </link>
@@ -1194,9 +1250,9 @@
   </joint>
   <link name="right_hand_palm_link">
     <inertial>
-      <origin xyz="0.06214634836 0.00050869656 0.00058171093" rpy="0 0 0"/>
+      <origin xyz="0.06214634836 0.00050869656 -0.00058171093" rpy="0 0 0"/>
       <mass value="0.37283854"/>
-      <inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="0.00000242161890" iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907"/>
+      <inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="0.00000042279435" izz="0.00039623390907"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -1214,23 +1270,23 @@
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_zero_joint" type="revolute">
-    <origin xyz="0.028 0 0" rpy="0 0 0"/>
+  <joint name="right_hand_thumb_0_joint" type="revolute">
+    <origin xyz="0.0255 0 0" rpy="0 0 0"/>
     <axis xyz="0 1 0"/>
     <parent link="right_hand_palm_link"/>
-    <child link="right_hand_zero_link"/>
+    <child link="right_hand_thumb_0_link"/>
     <limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
   </joint>
-  <link name="right_hand_zero_link">
+  <link name="right_hand_thumb_0_link">
     <inertial>
-      <origin xyz="-0.00035441315 0.01329887312 -0.00041236207" rpy="0 0 0"/>
-      <mass value="0.08033018"/>
-      <inertia ixx="0.00001322529836" ixy="-0.00000008155993" ixz="-0.00000002632547" iyy="0.00001215546138" iyz="-0.00000064625786" izz="0.00001368834887"/>
+      <origin xyz="-0.00088424580 0.00863407079 0.00094429336" rpy="0 0 0"/>
+      <mass value="0.08623657"/>
+      <inertia ixx="0.00001602919238" ixy="-0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="0.00000051094752" izz="0.00001637877663"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_zero_link.STL"/>
+        <mesh filename="meshes/right_hand_thumb_0_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -1239,56 +1295,56 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_zero_link.STL"/>
+        <mesh filename="meshes/right_hand_thumb_0_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_one_joint" type="revolute">
-    <origin xyz="0 0.0246 0" rpy="0 0 0"/>
+  <joint name="right_hand_thumb_1_joint" type="revolute">
+    <origin xyz="-0.0025 0.0193 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
-    <parent link="right_hand_zero_link"/>
-    <child link="right_hand_one_link"/>
-    <limit effort="0.7" velocity="24" lower="-1.04719755" upper="0.72431163"/>
+    <parent link="right_hand_thumb_0_link"/>
+    <child link="right_hand_thumb_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.04719755" upper="0.72431163"/>
   </joint>
-  <link name="right_hand_one_link">
+  <link name="right_hand_thumb_1_link">
     <inertial>
-      <origin xyz="0.00362060191 0.04044395878 0.00029771094" rpy="0 0 0"/>
-      <mass value="0.05619628"/>
-      <inertia ixx="0.00001234776425" ixy="-0.00000026810498" ixz="0.00000008482929" iyy="0.00000501619054" iyz="-0.00000007819408" izz="0.00001212011567"/>
+      <origin xyz="-0.00082788768 0.03547435774 -0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00001274699945" ixy="0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="0.00000027839003" izz="0.00001234543582"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_one_link.STL"/>
+        <mesh filename="meshes/right_hand_thumb_1_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="-0.001 0.032 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_one_link.STL"/>
+        <box size="0.02 0.03 0.02"/>
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_two_joint" type="revolute">
-    <origin xyz="0.0055 0.0528 0" rpy="0 0 0"/>
+  <joint name="right_hand_thumb_2_joint" type="revolute">
+    <origin xyz="0 0.0458 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
-    <parent link="right_hand_one_link"/>
-    <child link="right_hand_two_link"/>
-    <limit effort="0.7" velocity="24" lower="-2.09439510" upper="0"/>
+    <parent link="right_hand_thumb_1_link"/>
+    <child link="right_hand_thumb_2_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
   </joint>
-  <link name="right_hand_two_link">
+  <link name="right_hand_thumb_2_link">
     <inertial>
-      <origin xyz="-0.00081405957 0.03456206723 -0.00012979919" rpy="0 0 0"/>
-      <mass value="0.02487314"/>
-      <inertia ixx="0.00000859888903" ixy="-0.00000021727392" ixz="0.00000000850093" iyy="0.00000198874543" iyz="-0.00000008230043" izz="0.00000768992891"/>
+      <origin xyz="-0.00171735242 0.02628192939 0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000461267817" ixy="0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="0.00000002549885" izz="0.00000386625776"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_two_link.STL"/>
+        <mesh filename="meshes/right_hand_thumb_2_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -1297,27 +1353,27 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_two_link.STL"/>
+        <mesh filename="meshes/right_hand_thumb_2_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_three_joint" type="revolute">
-    <origin xyz="0.1 0.0017 0.0285" rpy="0 0 0"/>
+  <joint name="right_hand_middle_0_joint" type="revolute">
+    <origin xyz="0.0777 -0.0016 -0.0285" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="right_hand_palm_link"/>
-    <child link="right_hand_three_link"/>
-    <limit effort="0.7" velocity="24" lower="-0.19198621" upper="1.83259571"/>
+    <child link="right_hand_middle_0_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
   </joint>
-  <link name="right_hand_three_link">
+  <link name="right_hand_middle_0_link">
     <inertial>
-      <origin xyz="0.04044395878 0.00362060191 -0.00028771094" rpy="0 0 0"/>
-      <mass value="0.05619628"/>
-      <inertia ixx="0.00000501619054" ixy="-0.00000026810498" ixz="0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
+      <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_three_link.STL"/>
+        <mesh filename="meshes/right_hand_middle_0_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -1326,27 +1382,27 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_three_link.STL"/>
+        <mesh filename="meshes/right_hand_middle_0_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_four_joint" type="revolute">
-    <origin xyz="0.0528 0.0055 0" rpy="0 0 0"/>
+  <joint name="right_hand_middle_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
-    <parent link="right_hand_three_link"/>
-    <child link="right_hand_four_link"/>
-    <limit effort="0.7" velocity="24" lower="0" upper="2.09439510"/>
+    <parent link="right_hand_middle_0_link"/>
+    <child link="right_hand_middle_1_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
   </joint>
-  <link name="right_hand_four_link">
+  <link name="right_hand_middle_1_link">
     <inertial>
-      <origin xyz="0.03456206723 -0.00081405957 0.00012979919" rpy="0 0 0"/>
-      <mass value="0.02487314"/>
-      <inertia ixx="0.00000198874543" ixy="-0.00000021727392" ixz="0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
+      <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_four_link.STL"/>
+        <mesh filename="meshes/right_hand_middle_1_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -1355,27 +1411,27 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_four_link.STL"/>
+        <mesh filename="meshes/right_hand_middle_1_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_five_joint" type="revolute">
-    <origin xyz="0.1 0.0017 -0.0285" rpy="0 0 0"/>
+  <joint name="right_hand_index_0_joint" type="revolute">
+    <origin xyz="0.0777 -0.0016 0.0285" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="right_hand_palm_link"/>
-    <child link="right_hand_five_link"/>
-    <limit effort="0.7" velocity="24" lower="-0.19198621" upper="1.83259571"/>
+    <child link="right_hand_index_0_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
   </joint>
-  <link name="right_hand_five_link">
+  <link name="right_hand_index_0_link">
     <inertial>
-      <origin xyz="0.04044395878 0.00362060191 -0.00028771094" rpy="0 0 0"/>
-      <mass value="0.05619628"/>
-      <inertia ixx="0.00000501619054" ixy="-0.00000026810498" ixz="0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
+      <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_five_link.STL"/>
+        <mesh filename="meshes/right_hand_index_0_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -1384,27 +1440,27 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_five_link.STL"/>
+        <mesh filename="meshes/right_hand_index_0_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_six_joint" type="revolute">
-    <origin xyz="0.0528 0.0055 0" rpy="0 0 0"/>
+  <joint name="right_hand_index_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
-    <parent link="right_hand_five_link"/>
-    <child link="right_hand_six_link"/>
-    <limit effort="0.7" velocity="24" lower="0" upper="2.09439510"/>
+    <parent link="right_hand_index_0_link"/>
+    <child link="right_hand_index_1_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
   </joint>
-  <link name="right_hand_six_link">
+  <link name="right_hand_index_1_link">
     <inertial>
-      <origin xyz="0.03456206723 -0.00081405957 0.00012979919" rpy="0 0 0"/>
-      <mass value="0.02487314"/>
-      <inertia ixx="0.00000198874543" ixy="-0.00000021727392" ixz="0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
+      <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_six_link.STL"/>
+        <mesh filename="meshes/right_hand_index_1_link.STL"/>
       </geometry>
       <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -1413,7 +1469,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_six_link.STL"/>
+        <mesh filename="meshes/right_hand_index_1_link.STL"/>
       </geometry>
     </collision>
   </link>
diff --git a/assets/g1/g1_body29_hand14.xml b/assets/g1/g1_body29_hand14.xml
index 0461973..01fd5e2 100644
--- a/assets/g1/g1_body29_hand14.xml
+++ b/assets/g1/g1_body29_hand14.xml
@@ -3,6 +3,7 @@
 
   <asset>
     <mesh name="pelvis" file="pelvis.STL"/>
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
     <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
     <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
     <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
@@ -15,12 +16,11 @@
     <mesh name="right_knee_link" file="right_knee_link.STL"/>
     <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
     <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
-    <mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
-    <mesh name="waist_roll_link" file="waist_roll_link.STL"/>
-    <mesh name="torso_link" file="torso_link.STL"/>
+    <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
+    <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
+    <mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
     <mesh name="logo_link" file="logo_link.STL"/>
     <mesh name="head_link" file="head_link.STL"/>
-    <mesh name="waist_support_link" file="waist_support_link.STL"/>
     <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
     <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
     <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
@@ -29,13 +29,13 @@
     <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
     <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
     <mesh name="left_hand_palm_link" file="left_hand_palm_link.STL"/>
-    <mesh name="left_hand_zero_link" file="left_hand_zero_link.STL"/>
-    <mesh name="left_hand_one_link" file="left_hand_one_link.STL"/>
-    <mesh name="left_hand_two_link" file="left_hand_two_link.STL"/>
-    <mesh name="left_hand_three_link" file="left_hand_three_link.STL"/>
-    <mesh name="left_hand_four_link" file="left_hand_four_link.STL"/>
-    <mesh name="left_hand_five_link" file="left_hand_five_link.STL"/>
-    <mesh name="left_hand_six_link" file="left_hand_six_link.STL"/>
+    <mesh name="left_hand_thumb_0_link" file="left_hand_thumb_0_link.STL"/>
+    <mesh name="left_hand_thumb_1_link" file="left_hand_thumb_1_link.STL"/>
+    <mesh name="left_hand_thumb_2_link" file="left_hand_thumb_2_link.STL"/>
+    <mesh name="left_hand_middle_0_link" file="left_hand_middle_0_link.STL"/>
+    <mesh name="left_hand_middle_1_link" file="left_hand_middle_1_link.STL"/>
+    <mesh name="left_hand_index_0_link" file="left_hand_index_0_link.STL"/>
+    <mesh name="left_hand_index_1_link" file="left_hand_index_1_link.STL"/>
     <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
     <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
     <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
@@ -44,21 +44,23 @@
     <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
     <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
     <mesh name="right_hand_palm_link" file="right_hand_palm_link.STL"/>
-    <mesh name="right_hand_zero_link" file="right_hand_zero_link.STL"/>
-    <mesh name="right_hand_one_link" file="right_hand_one_link.STL"/>
-    <mesh name="right_hand_two_link" file="right_hand_two_link.STL"/>
-    <mesh name="right_hand_three_link" file="right_hand_three_link.STL"/>
-    <mesh name="right_hand_four_link" file="right_hand_four_link.STL"/>
-    <mesh name="right_hand_five_link" file="right_hand_five_link.STL"/>
-    <mesh name="right_hand_six_link" file="right_hand_six_link.STL"/>
+    <mesh name="right_hand_thumb_0_link" file="right_hand_thumb_0_link.STL"/>
+    <mesh name="right_hand_thumb_1_link" file="right_hand_thumb_1_link.STL"/>
+    <mesh name="right_hand_thumb_2_link" file="right_hand_thumb_2_link.STL"/>
+    <mesh name="right_hand_middle_0_link" file="right_hand_middle_0_link.STL"/>
+    <mesh name="right_hand_middle_1_link" file="right_hand_middle_1_link.STL"/>
+    <mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL"/>
+    <mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL"/>
   </asset>
 
   <worldbody>
     <body name="pelvis" pos="0 0 0.793">
       <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
       <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
-      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis"/>
-      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
       <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
         <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
         <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@@ -66,7 +68,7 @@
         <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
         <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
           <inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
-          <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
+          <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
           <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
           <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
@@ -88,7 +90,10 @@
                   <inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
                   <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
                   <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
-                  <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
                 </body>
               </body>
             </body>
@@ -102,7 +107,7 @@
         <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
         <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
           <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
-          <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88"/>
+          <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
           <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
           <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
@@ -124,7 +129,10 @@
                   <inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
                   <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
                   <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
-                  <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
                 </body>
               </body>
             </body>
@@ -132,36 +140,33 @@
         </body>
       </body>
       <body name="waist_yaw_link">
-        <inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121" mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05"/>
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205"/>
         <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
-        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
-        <body name="waist_roll_link" pos="-0.0039635 0 0.035">
-          <inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047" diaginertia="7.515e-06 6.40206e-06 3.98394e-06"/>
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
           <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
-          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
-          <body name="torso_link" pos="0 0 0.019">
-            <inertial pos="0.00331122 0.00027687 0.180534" quat="0.999833 0.000360976 0.0180196 -0.00292551" mass="9.7741" diaginertia="0.124509 0.112709 0.0332404"/>
+          <body name="torso_link">
+            <inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
             <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
             <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
             <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
-            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
-            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
-            <geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
-            <geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
-            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
-            <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
-            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
+            <geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
+            <geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
               <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
               <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
-              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
+              <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
               <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
                 <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
                 <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
-                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
+                <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
                 <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
                   <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
                   <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
@@ -189,46 +194,46 @@
                           <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
                           <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
                           <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
-                          <body name="left_hand_zero_link" pos="0.0695 0.003 0">
-                            <inertial pos="-0.000354413 -0.0132989 0.000412362" quat="0.385163 0.591021 -0.567321 0.424842" mass="0.0803302" diaginertia="1.39245e-05 1.32309e-05 1.19138e-05"/>
-                            <joint name="left_hand_zero_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_zero_link"/>
-                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_zero_link"/>
-                            <body name="left_hand_one_link" pos="0 -0.0246 0">
-                              <inertial pos="0.0036206 -0.040444 -0.000297711" quat="0.696371 0.699653 0.125539 -0.0989605" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
-                              <joint name="left_hand_one_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-0.7 0.7"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_one_link"/>
-                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_one_link"/>
-                              <body name="left_hand_two_link" pos="0.0055 -0.0528 0">
-                                <inertial pos="-0.00081406 -0.0345621 0.000129799" quat="0.701976 0.711984 0.0160342 0.00721768" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
-                                <joint name="left_hand_two_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_two_link"/>
-                                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_two_link"/>
+                          <body name="left_hand_thumb_0_link" pos="0.067 0.003 0">
+                            <inertial pos="-0.000884246 -0.00863407 0.000944293" quat="0.462991 0.643965 -0.460173 0.398986" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
+                            <joint name="left_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
+                            <body name="left_hand_thumb_1_link" pos="-0.0025 -0.0193 0">
+                              <inertial pos="-0.000827888 -0.0354744 -0.0003809" quat="0.685598 0.705471 -0.15207 0.0956069" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                              <joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-1.4 1.4"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_1_link"/>
+                              <geom size="0.01 0.015 0.01" pos="-0.001 -0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
+                              <body name="left_hand_thumb_2_link" pos="0 -0.0458 0">
+                                <inertial pos="-0.00171735 -0.0262819 0.000107789" quat="0.703174 0.710977 -0.00017564 -0.00766553" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                                <joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
+                                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
                               </body>
                             </body>
                           </body>
-                          <body name="left_hand_three_link" pos="0.1415 0.0013 -0.0285">
-                            <inertial pos="0.040444 -0.0036206 0.000287711" quat="0.583499 0.422433 0.562384 0.40596" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
-                            <joint name="left_hand_three_joint" pos="0 0 0" axis="0 0 1" range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_three_link"/>
-                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_three_link"/>
-                            <body name="left_hand_four_link" pos="0.0528 -0.0055 0">
-                              <inertial pos="0.0345621 0.00081406 -0.000129799" quat="0.514787 0.501475 0.491268 0.492111" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
-                              <joint name="left_hand_four_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_four_link"/>
-                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_four_link"/>
+                          <body name="left_hand_middle_0_link" pos="0.1192 0.0046 -0.0285">
+                            <inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                            <joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
+                            <body name="left_hand_middle_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                              <joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
                             </body>
                           </body>
-                          <body name="left_hand_five_link" pos="0.1415 0.0013 0.0285">
-                            <inertial pos="0.040444 -0.0036206 0.000287711" quat="0.583499 0.422433 0.562384 0.40596" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
-                            <joint name="left_hand_five_joint" pos="0 0 0" axis="0 0 1" range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_five_link"/>
-                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_five_link"/>
-                            <body name="left_hand_six_link" pos="0.0528 -0.0055 0">
-                              <inertial pos="0.0345621 0.00081406 -0.000129799" quat="0.514787 0.501475 0.491268 0.492111" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
-                              <joint name="left_hand_six_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_six_link"/>
-                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_six_link"/>
+                          <body name="left_hand_index_0_link" pos="0.1192 0.0046 0.0285">
+                            <inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                            <joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
+                            <body name="left_hand_index_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                              <joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
                             </body>
                           </body>
                         </body>
@@ -238,16 +243,16 @@
                 </body>
               </body>
             </body>
-            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
               <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
               <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
-              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
+              <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
               <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
                 <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
                 <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
-                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
+                <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
                 <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
                   <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
                   <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
@@ -269,52 +274,52 @@
                         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
                         <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
                         <body name="right_wrist_yaw_link" pos="0.046 0 0">
-                          <inertial pos="0.0885506 -0.00212216 0.000573742" quat="0.507224 0.511377 0.494292 0.486717" mass="0.457415" diaginertia="0.0010598 0.000895373 0.0003238"/>
+                          <inertial pos="0.0885506 -0.00212216 -0.000374562" quat="0.505358 0.513241 0.493844 0.487149" mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
                           <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
                           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
                           <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
                           <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
                           <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
-                          <body name="right_hand_zero_link" pos="0.0695 -0.003 0">
-                            <inertial pos="-0.000354413 0.0132989 -0.000412362" quat="0.424842 0.567321 -0.591021 0.385163" mass="0.0803302" diaginertia="1.39245e-05 1.32309e-05 1.19138e-05"/>
-                            <joint name="right_hand_zero_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_zero_link"/>
-                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_zero_link"/>
-                            <body name="right_hand_one_link" pos="0 0.0246 0">
-                              <inertial pos="0.0036206 0.040444 0.000297711" quat="0.696371 0.699653 -0.125539 0.0989605" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
-                              <joint name="right_hand_one_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-0.7 0.7"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_one_link"/>
-                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_one_link"/>
-                              <body name="right_hand_two_link" pos="0.0055 0.0528 0">
-                                <inertial pos="-0.00081406 0.0345621 -0.000129799" quat="0.701976 0.711984 -0.0160342 -0.00721768" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
-                                <joint name="right_hand_two_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_two_link"/>
-                                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_two_link"/>
+                          <body name="right_hand_thumb_0_link" pos="0.067 -0.003 0">
+                            <inertial pos="-0.000884246 0.00863407 0.000944293" quat="0.643965 0.462991 -0.398986 0.460173" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
+                            <joint name="right_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
+                            <body name="right_hand_thumb_1_link" pos="-0.0025 0.0193 0">
+                              <inertial pos="-0.000827888 0.0354744 -0.0003809" quat="0.705471 0.685598 -0.0956069 0.15207" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                              <joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-1.4 1.4"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_1_link"/>
+                              <geom size="0.01 0.015 0.01" pos="-0.001 0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
+                              <body name="right_hand_thumb_2_link" pos="0 0.0458 0">
+                                <inertial pos="-0.00171735 0.0262819 0.000107789" quat="0.710977 0.703174 0.00766553 0.00017564" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                                <joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
+                                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
                               </body>
                             </body>
                           </body>
-                          <body name="right_hand_three_link" pos="0.1415 -0.0013 0.0285">
-                            <inertial pos="0.040444 0.0036206 -0.000287711" quat="0.562384 0.40596 0.583499 0.422433" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
-                            <joint name="right_hand_three_joint" pos="0 0 0" axis="0 0 1" range="-0.191986 1.8326" actuatorfrcrange="-0.7 0.7"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_three_link"/>
-                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_three_link"/>
-                            <body name="right_hand_four_link" pos="0.0528 0.0055 0">
-                              <inertial pos="0.0345621 -0.00081406 0.000129799" quat="0.491268 0.492111 0.514787 0.501475" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
-                              <joint name="right_hand_four_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_four_link"/>
-                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_four_link"/>
+                          <body name="right_hand_middle_0_link" pos="0.1192 -0.0046 -0.0285">
+                            <inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                            <joint name="right_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
+                            <body name="right_hand_middle_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                              <joint name="right_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
                             </body>
                           </body>
-                          <body name="right_hand_five_link" pos="0.1415 -0.0013 -0.0285">
-                            <inertial pos="0.040444 0.0036206 -0.000287711" quat="0.562384 0.40596 0.583499 0.422433" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
-                            <joint name="right_hand_five_joint" pos="0 0 0" axis="0 0 1" range="-0.191986 1.8326" actuatorfrcrange="-0.7 0.7"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_five_link"/>
-                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_five_link"/>
-                            <body name="right_hand_six_link" pos="0.0528 0.0055 0">
-                              <inertial pos="0.0345621 -0.00081406 0.000129799" quat="0.491268 0.492111 0.514787 0.501475" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
-                              <joint name="right_hand_six_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_six_link"/>
-                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_six_link"/>
+                          <body name="right_hand_index_0_link" pos="0.1192 -0.0046 0.0285">
+                            <inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                            <joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
+                            <body name="right_hand_index_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                              <joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
                             </body>
                           </body>
                         </body>
@@ -353,13 +358,13 @@
     <motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
     <motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
     <motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
-    <motor name="left_hand_zero_joint" joint="left_hand_zero_joint"/>
-    <motor name="left_hand_one_joint" joint="left_hand_one_joint"/>
-    <motor name="left_hand_two_joint" joint="left_hand_two_joint"/>
-    <motor name="left_hand_three_joint" joint="left_hand_three_joint"/>
-    <motor name="left_hand_four_joint" joint="left_hand_four_joint"/>
-    <motor name="left_hand_five_joint" joint="left_hand_five_joint"/>
-    <motor name="left_hand_six_joint" joint="left_hand_six_joint"/>
+    <motor name="left_hand_thumb_0_joint" joint="left_hand_thumb_0_joint"/>
+    <motor name="left_hand_thumb_1_joint" joint="left_hand_thumb_1_joint"/>
+    <motor name="left_hand_thumb_2_joint" joint="left_hand_thumb_2_joint"/>
+    <motor name="left_hand_middle_0_joint" joint="left_hand_middle_0_joint"/>
+    <motor name="left_hand_middle_1_joint" joint="left_hand_middle_1_joint"/>
+    <motor name="left_hand_index_0_joint" joint="left_hand_index_0_joint"/>
+    <motor name="left_hand_index_1_joint" joint="left_hand_index_1_joint"/>
     <motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
     <motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
     <motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
@@ -367,18 +372,20 @@
     <motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
     <motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
     <motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
-    <motor name="right_hand_zero_joint" joint="right_hand_zero_joint"/>
-    <motor name="right_hand_one_joint" joint="right_hand_one_joint"/>
-    <motor name="right_hand_two_joint" joint="right_hand_two_joint"/>
-    <motor name="right_hand_three_joint" joint="right_hand_three_joint"/>
-    <motor name="right_hand_four_joint" joint="right_hand_four_joint"/>
-    <motor name="right_hand_five_joint" joint="right_hand_five_joint"/>
-    <motor name="right_hand_six_joint" joint="right_hand_six_joint"/>
+    <motor name="right_hand_thumb_0_joint" joint="right_hand_thumb_0_joint"/>
+    <motor name="right_hand_thumb_1_joint" joint="right_hand_thumb_1_joint"/>
+    <motor name="right_hand_thumb_2_joint" joint="right_hand_thumb_2_joint"/>
+    <motor name="right_hand_index_0_joint" joint="right_hand_index_0_joint"/>
+    <motor name="right_hand_index_1_joint" joint="right_hand_index_1_joint"/>
+    <motor name="right_hand_middle_0_joint" joint="right_hand_middle_0_joint"/>
+    <motor name="right_hand_middle_1_joint" joint="right_hand_middle_1_joint"/>
   </actuator>
 
   <sensor>
-    <gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
-    <accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
   </sensor>
 
 
@@ -395,7 +402,7 @@
     <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
   </asset>
   <worldbody>
-    <light pos="1 0 3.5" dir="0 0 -1" directional="true" castshadow="false"/>
+    <light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
   </worldbody>
 </mujoco>
\ No newline at end of file
diff --git a/assets/g1/meshes/head_link.STL b/assets/g1/meshes/head_link.STL
index 3c41c58..2ee5fba 100644
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diff --git a/assets/g1/meshes/left_hand_five_link.STL b/assets/g1/meshes/left_hand_five_link.STL
deleted file mode 100644
index d574489..0000000
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diff --git a/assets/g1/meshes/left_hand_four_link.STL b/assets/g1/meshes/left_hand_four_link.STL
deleted file mode 100644
index 31990c1..0000000
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diff --git a/assets/g1/meshes/left_hand_index_0_link.STL b/assets/g1/meshes/left_hand_index_0_link.STL
new file mode 100644
index 0000000..8069369
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diff --git a/assets/g1/meshes/left_hand_index_1_link.STL b/assets/g1/meshes/left_hand_index_1_link.STL
new file mode 100644
index 0000000..89d231d
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diff --git a/assets/g1/meshes/left_hand_middle_0_link.STL b/assets/g1/meshes/left_hand_middle_0_link.STL
new file mode 100644
index 0000000..8069369
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diff --git a/assets/g1/meshes/left_hand_middle_1_link.STL b/assets/g1/meshes/left_hand_middle_1_link.STL
new file mode 100644
index 0000000..89d231d
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diff --git a/assets/g1/meshes/left_hand_one_link.STL b/assets/g1/meshes/left_hand_one_link.STL
deleted file mode 100644
index ab486df..0000000
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diff --git a/assets/g1/meshes/left_hand_palm_link.STL b/assets/g1/meshes/left_hand_palm_link.STL
index 4c68928..7d595ed 100644
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diff --git a/assets/g1/meshes/left_hand_six_link.STL b/assets/g1/meshes/left_hand_six_link.STL
deleted file mode 100644
index 31990c1..0000000
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diff --git a/assets/g1/meshes/left_hand_three_link.STL b/assets/g1/meshes/left_hand_three_link.STL
deleted file mode 100644
index d574489..0000000
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diff --git a/assets/g1/meshes/left_hand_thumb_0_link.STL b/assets/g1/meshes/left_hand_thumb_0_link.STL
new file mode 100644
index 0000000..3028bb4
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diff --git a/assets/g1/meshes/left_hand_thumb_1_link.STL b/assets/g1/meshes/left_hand_thumb_1_link.STL
new file mode 100644
index 0000000..d1c080c
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diff --git a/assets/g1/meshes/left_hand_thumb_2_link.STL b/assets/g1/meshes/left_hand_thumb_2_link.STL
new file mode 100644
index 0000000..8b32e96
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diff --git a/assets/g1/meshes/left_hand_two_link.STL b/assets/g1/meshes/left_hand_two_link.STL
deleted file mode 100644
index 66d01a6..0000000
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diff --git a/assets/g1/meshes/left_hand_zero_link.STL b/assets/g1/meshes/left_hand_zero_link.STL
deleted file mode 100644
index 4e03353..0000000
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diff --git a/assets/g1/meshes/left_rubber_hand.STL b/assets/g1/meshes/left_rubber_hand.STL
new file mode 100644
index 0000000..c44830f
Binary files /dev/null and b/assets/g1/meshes/left_rubber_hand.STL differ
diff --git a/assets/g1/meshes/left_wrist_roll_rubber_hand.STL b/assets/g1/meshes/left_wrist_roll_rubber_hand.STL
new file mode 100644
index 0000000..8fa435b
Binary files /dev/null and b/assets/g1/meshes/left_wrist_roll_rubber_hand.STL differ
diff --git a/assets/g1/meshes/pelvis.STL b/assets/g1/meshes/pelvis.STL
index eb88424..691a779 100644
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diff --git a/assets/g1/meshes/pelvis_contour_link.STL b/assets/g1/meshes/pelvis_contour_link.STL
new file mode 100644
index 0000000..4243433
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diff --git a/assets/g1/meshes/right_hand_five_link.STL b/assets/g1/meshes/right_hand_five_link.STL
deleted file mode 100644
index 0e055a9..0000000
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diff --git a/assets/g1/meshes/right_hand_four_link.STL b/assets/g1/meshes/right_hand_four_link.STL
deleted file mode 100644
index dc376d8..0000000
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diff --git a/assets/g1/meshes/right_hand_index_0_link.STL b/assets/g1/meshes/right_hand_index_0_link.STL
new file mode 100644
index 0000000..f87ad32
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diff --git a/assets/g1/meshes/right_hand_index_1_link.STL b/assets/g1/meshes/right_hand_index_1_link.STL
new file mode 100644
index 0000000..6dea51a
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diff --git a/assets/g1/meshes/right_hand_middle_0_link.STL b/assets/g1/meshes/right_hand_middle_0_link.STL
new file mode 100644
index 0000000..f87ad32
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diff --git a/assets/g1/meshes/right_hand_middle_1_link.STL b/assets/g1/meshes/right_hand_middle_1_link.STL
new file mode 100644
index 0000000..6dea51a
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diff --git a/assets/g1/meshes/right_hand_one_link.STL b/assets/g1/meshes/right_hand_one_link.STL
deleted file mode 100644
index 3efb21e..0000000
Binary files a/assets/g1/meshes/right_hand_one_link.STL and /dev/null differ
diff --git a/assets/g1/meshes/right_hand_palm_link.STL b/assets/g1/meshes/right_hand_palm_link.STL
index 43e1c98..5ae00a7 100644
Binary files a/assets/g1/meshes/right_hand_palm_link.STL and b/assets/g1/meshes/right_hand_palm_link.STL differ
diff --git a/assets/g1/meshes/right_hand_six_link.STL b/assets/g1/meshes/right_hand_six_link.STL
deleted file mode 100644
index 262b9fb..0000000
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diff --git a/assets/g1/meshes/right_hand_three_link.STL b/assets/g1/meshes/right_hand_three_link.STL
deleted file mode 100644
index 5fa3f69..0000000
Binary files a/assets/g1/meshes/right_hand_three_link.STL and /dev/null differ
diff --git a/assets/g1/meshes/right_hand_thumb_0_link.STL b/assets/g1/meshes/right_hand_thumb_0_link.STL
new file mode 100644
index 0000000..1cae7f1
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diff --git a/assets/g1/meshes/right_hand_thumb_1_link.STL b/assets/g1/meshes/right_hand_thumb_1_link.STL
new file mode 100644
index 0000000..c141fbf
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diff --git a/assets/g1/meshes/right_hand_thumb_2_link.STL b/assets/g1/meshes/right_hand_thumb_2_link.STL
new file mode 100644
index 0000000..e942923
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diff --git a/assets/g1/meshes/right_hand_two_link.STL b/assets/g1/meshes/right_hand_two_link.STL
deleted file mode 100644
index a4b3447..0000000
Binary files a/assets/g1/meshes/right_hand_two_link.STL and /dev/null differ
diff --git a/assets/g1/meshes/right_hand_zero_link.STL b/assets/g1/meshes/right_hand_zero_link.STL
deleted file mode 100644
index 07c3be0..0000000
Binary files a/assets/g1/meshes/right_hand_zero_link.STL and /dev/null differ
diff --git a/assets/g1/meshes/right_rubber_hand.STL b/assets/g1/meshes/right_rubber_hand.STL
new file mode 100644
index 0000000..0aacffb
Binary files /dev/null and b/assets/g1/meshes/right_rubber_hand.STL differ
diff --git a/assets/g1/meshes/right_wrist_roll_rubber_hand.STL b/assets/g1/meshes/right_wrist_roll_rubber_hand.STL
new file mode 100644
index 0000000..c365aa9
Binary files /dev/null and b/assets/g1/meshes/right_wrist_roll_rubber_hand.STL differ
diff --git a/assets/g1/meshes/torso_link.STL b/assets/g1/meshes/torso_link.STL
index 8480765..17745af 100644
Binary files a/assets/g1/meshes/torso_link.STL and b/assets/g1/meshes/torso_link.STL differ
diff --git a/assets/g1/meshes/torso_link_23dof_rev_1_0.STL b/assets/g1/meshes/torso_link_23dof_rev_1_0.STL
new file mode 100644
index 0000000..079aa81
Binary files /dev/null and b/assets/g1/meshes/torso_link_23dof_rev_1_0.STL differ
diff --git a/assets/g1/meshes/torso_link_rev_1_0.STL b/assets/g1/meshes/torso_link_rev_1_0.STL
new file mode 100644
index 0000000..8a759a7
Binary files /dev/null and b/assets/g1/meshes/torso_link_rev_1_0.STL differ
diff --git a/assets/g1/meshes/waist_roll_link_rev_1_0.STL b/assets/g1/meshes/waist_roll_link_rev_1_0.STL
new file mode 100644
index 0000000..a64f330
Binary files /dev/null and b/assets/g1/meshes/waist_roll_link_rev_1_0.STL differ
diff --git a/assets/g1/meshes/waist_yaw_link_rev_1_0.STL b/assets/g1/meshes/waist_yaw_link_rev_1_0.STL
new file mode 100644
index 0000000..0fabb63
Binary files /dev/null and b/assets/g1/meshes/waist_yaw_link_rev_1_0.STL differ
diff --git a/assets/unitree_hand/meshes/left_hand_five_link.STL b/assets/unitree_hand/meshes/left_hand_five_link.STL
deleted file mode 100644
index d574489..0000000
Binary files a/assets/unitree_hand/meshes/left_hand_five_link.STL and /dev/null differ
diff --git a/assets/unitree_hand/meshes/left_hand_five_link.STL.convex.stl b/assets/unitree_hand/meshes/left_hand_five_link.STL.convex.stl
deleted file mode 100644
index dbc476c..0000000
--- a/assets/unitree_hand/meshes/left_hand_five_link.STL.convex.stl
+++ /dev/null
@@ -1,514 +0,0 @@
-solid AssimpScene
- facet normal 0 0 0
-  outer loop
-  vertex -0.00536231231 -0.00449951272 0.0128999986
-  vertex -0.00239414047 -0.00657784799 0.0128999986
-  vertex 0.0279263519 -0.0142848082 0.0128999986
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00536231231 -0.00449951272 0.0128999986
-  vertex 0.0279263519 -0.0142848082 0.0128999986
-  vertex 0.0462736487 -0.0142848082 0.0128999986
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00536231231 -0.00449951272 0.0128999986
-  vertex 0.0462736487 -0.0142848082 0.0128999986
-  vertex 0.0616396926 0.000857979583 0.0128999986
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00536231231 -0.00449951272 0.0128999986
-  vertex 0.0616396926 0.000857979583 0.0128999986
-  vertex 0.0615910105 0.00453977613 0.0128999986
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00536231231 -0.00449951272 0.0128999986
-  vertex 0.0615910105 0.00453977613 0.0128999986
-  vertex 0.0589422211 0.00698768906 0.0128999986
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00536231231 -0.00449951272 0.0128999986
-  vertex 0.0589422211 0.00698768906 0.0128999986
-  vertex -0.00121553685 0.00689365482 0.0128999986
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00536231231 -0.00449951272 0.0128999986
-  vertex -0.00121553685 0.00689365482 0.0128999986
-  vertex -0.00536231231 0.00449951272 0.0128999986
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00536231231 -0.00449951272 0.0128999986
-  vertex -0.00536231231 0.00449951272 0.0128999986
-  vertex -0.00700000208 -4.17232499e-10 0.0128999986
-  endloop
- endfacet
-
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diff --git a/assets/unitree_hand/meshes/left_hand_four_link.STL b/assets/unitree_hand/meshes/left_hand_four_link.STL
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diff --git a/assets/unitree_hand/meshes/left_hand_four_link.STL.convex.stl b/assets/unitree_hand/meshes/left_hand_four_link.STL.convex.stl
deleted file mode 100644
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diff --git a/assets/unitree_hand/meshes/left_hand_index_0_link.STL b/assets/unitree_hand/meshes/left_hand_index_0_link.STL
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index 0000000..8069369
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diff --git a/assets/unitree_hand/meshes/left_hand_index_0_link.STL.convex.stl b/assets/unitree_hand/meshes/left_hand_index_0_link.STL.convex.stl
new file mode 100644
index 0000000..a030bb3
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diff --git a/assets/unitree_hand/meshes/left_hand_index_1_link.STL b/assets/unitree_hand/meshes/left_hand_index_1_link.STL
new file mode 100644
index 0000000..89d231d
Binary files /dev/null and b/assets/unitree_hand/meshes/left_hand_index_1_link.STL differ
diff --git a/assets/unitree_hand/meshes/left_hand_index_1_link.STL.convex.stl b/assets/unitree_hand/meshes/left_hand_index_1_link.STL.convex.stl
new file mode 100644
index 0000000..7b31f0d
--- /dev/null
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diff --git a/assets/unitree_hand/meshes/left_hand_middle_0_link.STL b/assets/unitree_hand/meshes/left_hand_middle_0_link.STL
new file mode 100644
index 0000000..8069369
Binary files /dev/null and b/assets/unitree_hand/meshes/left_hand_middle_0_link.STL differ
diff --git a/assets/unitree_hand/meshes/left_hand_middle_0_link.STL.convex.stl b/assets/unitree_hand/meshes/left_hand_middle_0_link.STL.convex.stl
new file mode 100644
index 0000000..a030bb3
--- /dev/null
+++ b/assets/unitree_hand/meshes/left_hand_middle_0_link.STL.convex.stl
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diff --git a/assets/unitree_hand/meshes/left_hand_middle_1_link.STL b/assets/unitree_hand/meshes/left_hand_middle_1_link.STL
new file mode 100644
index 0000000..89d231d
Binary files /dev/null and b/assets/unitree_hand/meshes/left_hand_middle_1_link.STL differ
diff --git a/assets/unitree_hand/meshes/left_hand_middle_1_link.STL.convex.stl b/assets/unitree_hand/meshes/left_hand_middle_1_link.STL.convex.stl
new file mode 100644
index 0000000..7b31f0d
--- /dev/null
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diff --git a/assets/unitree_hand/meshes/left_hand_one_link.STL b/assets/unitree_hand/meshes/left_hand_one_link.STL
deleted file mode 100644
index ab486df..0000000
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diff --git a/assets/unitree_hand/meshes/left_hand_one_link.STL.convex.stl b/assets/unitree_hand/meshes/left_hand_one_link.STL.convex.stl
deleted file mode 100644
index a0c470b..0000000
--- a/assets/unitree_hand/meshes/left_hand_one_link.STL.convex.stl
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diff --git a/assets/unitree_hand/meshes/left_hand_palm_link.STL b/assets/unitree_hand/meshes/left_hand_palm_link.STL
index 4c68928..7d595ed 100644
Binary files a/assets/unitree_hand/meshes/left_hand_palm_link.STL and b/assets/unitree_hand/meshes/left_hand_palm_link.STL differ
diff --git a/assets/unitree_hand/meshes/left_hand_palm_link.STL.convex.stl b/assets/unitree_hand/meshes/left_hand_palm_link.STL.convex.stl
index bf42a2d..3b3b696 100644
--- a/assets/unitree_hand/meshes/left_hand_palm_link.STL.convex.stl
+++ b/assets/unitree_hand/meshes/left_hand_palm_link.STL.convex.stl
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diff --git a/assets/unitree_hand/meshes/left_hand_six_link.STL b/assets/unitree_hand/meshes/left_hand_six_link.STL
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diff --git a/assets/unitree_hand/meshes/left_hand_six_link.STL.convex.stl b/assets/unitree_hand/meshes/left_hand_six_link.STL.convex.stl
deleted file mode 100644
index 3fc0a48..0000000
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diff --git a/assets/unitree_hand/meshes/left_hand_three_link.STL b/assets/unitree_hand/meshes/left_hand_three_link.STL
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diff --git a/assets/unitree_hand/meshes/left_hand_three_link.STL.convex.stl b/assets/unitree_hand/meshes/left_hand_three_link.STL.convex.stl
deleted file mode 100644
index dbc476c..0000000
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diff --git a/assets/unitree_hand/meshes/left_hand_thumb_2_link.STL.convex.stl b/assets/unitree_hand/meshes/left_hand_thumb_2_link.STL.convex.stl
new file mode 100644
index 0000000..d2fe232
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diff --git a/assets/unitree_hand/meshes/left_hand_two_link.STL b/assets/unitree_hand/meshes/left_hand_two_link.STL
deleted file mode 100644
index 66d01a6..0000000
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diff --git a/assets/unitree_hand/meshes/left_hand_two_link.STL.convex.stl b/assets/unitree_hand/meshes/left_hand_two_link.STL.convex.stl
deleted file mode 100644
index 230a771..0000000
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diff --git a/assets/unitree_hand/meshes/left_hand_zero_link.STL b/assets/unitree_hand/meshes/left_hand_zero_link.STL
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diff --git a/assets/unitree_hand/meshes/right_hand_index_0_link.STL b/assets/unitree_hand/meshes/right_hand_index_0_link.STL
new file mode 100644
index 0000000..f87ad32
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new file mode 100644
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diff --git a/assets/unitree_hand/meshes/right_hand_index_1_link.STL b/assets/unitree_hand/meshes/right_hand_index_1_link.STL
new file mode 100644
index 0000000..6dea51a
Binary files /dev/null and b/assets/unitree_hand/meshes/right_hand_index_1_link.STL differ
diff --git a/assets/unitree_hand/meshes/right_hand_index_1_link.STL.convex.stl b/assets/unitree_hand/meshes/right_hand_index_1_link.STL.convex.stl
new file mode 100644
index 0000000..04d88ad
--- /dev/null
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diff --git a/assets/unitree_hand/meshes/right_hand_middle_0_link.STL b/assets/unitree_hand/meshes/right_hand_middle_0_link.STL
new file mode 100644
index 0000000..f87ad32
Binary files /dev/null and b/assets/unitree_hand/meshes/right_hand_middle_0_link.STL differ
diff --git a/assets/unitree_hand/meshes/right_hand_middle_0_link.STL.convex.stl b/assets/unitree_hand/meshes/right_hand_middle_0_link.STL.convex.stl
new file mode 100644
index 0000000..92a7a01
--- /dev/null
+++ b/assets/unitree_hand/meshes/right_hand_middle_0_link.STL.convex.stl
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diff --git a/assets/unitree_hand/meshes/right_hand_middle_1_link.STL b/assets/unitree_hand/meshes/right_hand_middle_1_link.STL
new file mode 100644
index 0000000..6dea51a
Binary files /dev/null and b/assets/unitree_hand/meshes/right_hand_middle_1_link.STL differ
diff --git a/assets/unitree_hand/meshes/right_hand_middle_1_link.STL.convex.stl b/assets/unitree_hand/meshes/right_hand_middle_1_link.STL.convex.stl
new file mode 100644
index 0000000..04d88ad
--- /dev/null
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diff --git a/assets/unitree_hand/meshes/right_hand_one_link.STL b/assets/unitree_hand/meshes/right_hand_one_link.STL
deleted file mode 100644
index 3efb21e..0000000
Binary files a/assets/unitree_hand/meshes/right_hand_one_link.STL and /dev/null differ
diff --git a/assets/unitree_hand/meshes/right_hand_one_link.STL.convex.stl b/assets/unitree_hand/meshes/right_hand_one_link.STL.convex.stl
deleted file mode 100644
index fb046bc..0000000
--- a/assets/unitree_hand/meshes/right_hand_one_link.STL.convex.stl
+++ /dev/null
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diff --git a/assets/unitree_hand/meshes/right_hand_palm_link.STL b/assets/unitree_hand/meshes/right_hand_palm_link.STL
index 43e1c98..5ae00a7 100644
Binary files a/assets/unitree_hand/meshes/right_hand_palm_link.STL and b/assets/unitree_hand/meshes/right_hand_palm_link.STL differ
diff --git a/assets/unitree_hand/meshes/right_hand_palm_link.STL.convex.stl b/assets/unitree_hand/meshes/right_hand_palm_link.STL.convex.stl
index 594cd29..dfeae18 100644
--- a/assets/unitree_hand/meshes/right_hand_palm_link.STL.convex.stl
+++ b/assets/unitree_hand/meshes/right_hand_palm_link.STL.convex.stl
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diff --git a/assets/unitree_hand/meshes/right_hand_six_link.STL b/assets/unitree_hand/meshes/right_hand_six_link.STL
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diff --git a/assets/unitree_hand/meshes/right_hand_six_link.STL.convex.stl b/assets/unitree_hand/meshes/right_hand_six_link.STL.convex.stl
deleted file mode 100644
index ccd6a8e..0000000
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diff --git a/assets/unitree_hand/meshes/right_hand_three_link.STL b/assets/unitree_hand/meshes/right_hand_three_link.STL
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diff --git a/assets/unitree_hand/meshes/right_hand_three_link.STL.convex.stl b/assets/unitree_hand/meshes/right_hand_three_link.STL.convex.stl
deleted file mode 100644
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diff --git a/assets/unitree_hand/meshes/right_hand_thumb_0_link.STL.convex.stl b/assets/unitree_hand/meshes/right_hand_thumb_0_link.STL.convex.stl
new file mode 100644
index 0000000..5545f2f
--- /dev/null
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diff --git a/assets/unitree_hand/meshes/right_hand_thumb_2_link.STL b/assets/unitree_hand/meshes/right_hand_thumb_2_link.STL
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diff --git a/assets/unitree_hand/meshes/right_hand_thumb_2_link.STL.convex.stl b/assets/unitree_hand/meshes/right_hand_thumb_2_link.STL.convex.stl
new file mode 100644
index 0000000..4a0a0cf
--- /dev/null
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diff --git a/assets/unitree_hand/meshes/right_hand_two_link.STL b/assets/unitree_hand/meshes/right_hand_two_link.STL
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diff --git a/assets/unitree_hand/meshes/right_hand_two_link.STL.convex.stl b/assets/unitree_hand/meshes/right_hand_two_link.STL.convex.stl
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index 2c051ce..0000000
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diff --git a/assets/unitree_hand/meshes/right_hand_zero_link.STL b/assets/unitree_hand/meshes/right_hand_zero_link.STL
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diff --git a/assets/unitree_hand/meshes/right_hand_zero_link.STL.convex.stl b/assets/unitree_hand/meshes/right_hand_zero_link.STL.convex.stl
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-  vertex 0.0149999997 -0.00119999959 -5.21540693e-11
-  vertex 0.0149999997 0.0242999997 -5.21540693e-11
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex 0.0140252439 -0.00119999959 0.0053190738
-  vertex 0.0149999997 0.0242999997 -5.21540693e-11
-  vertex 0.0132818399 0.0242999997 0.00697084796
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex 0.0140252439 -0.00119999959 0.0053190738
-  vertex 0.0132818399 0.0242999997 0.00697084796
-  vertex 0.0112276608 -0.00119999959 0.00994684082
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-
- facet normal 0 0 0
-  outer loop
-  vertex 0.00697084749 -0.00119999959 0.0132818408
-  vertex 0.0112276608 -0.00119999959 0.00994684082
-  vertex 0.00852097105 0.0242999997 0.012344759
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex 0.00697084749 -0.00119999959 0.0132818408
-  vertex 0.00852097105 0.0242999997 0.012344759
-  vertex 0.0035897349 0.0242999997 0.0145641286
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex 0.00697084749 -0.00119999959 0.0132818408
-  vertex 0.0035897349 0.0242999997 0.0145641286
-  vertex 0.00180805009 -0.00119999959 0.0148906345
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00616062991 0.0328219086 -0.00900000054
-  vertex -0.00249999994 0.0336000025 -0.00900000054
-  vertex -5.58793567e-11 0.0242999997 -0.0149999997
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00616062991 0.0328219086 -0.00900000054
-  vertex -0.0043192273 0.033158794 0.00943301339
-  vertex -0.00249999994 0.0336000025 -0.00900000054
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00699999975 0.0323942304 0.00900000054
-  vertex -0.0043192273 0.033158794 0.00943301339
-  vertex -0.00616062991 0.0328219086 -0.00900000054
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00699999975 0.0323942304 0.00900000054
-  vertex -0.00616062991 0.0328219086 -0.00900000054
-  vertex -0.00916589517 0.0306019988 -0.00917101093
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00699999975 0.0323942304 0.00900000054
-  vertex -0.00916589517 0.0306019988 -0.00917101093
-  vertex -0.00975675788 0.0298723429 0.00917101093
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00699999975 0.0323942304 0.00900000054
-  vertex -0.00975675788 0.0298723429 0.00917101093
-  vertex -0.0018080502 0.0242999997 0.0148906345
-  endloop
- endfacet
-
- facet normal 0 0 0
-  outer loop
-  vertex -0.00699999975 0.0323942304 0.00900000054
-  vertex -0.0018080502 0.0242999997 0.0148906345
-  vertex -0.0043192273 0.033158794 0.00943301339
-  endloop
- endfacet
-
-endsolid AssimpScene
diff --git a/assets/unitree_hand/unitree_dex3.yml b/assets/unitree_hand/unitree_dex3.yml
index 4e2ea51..d54677a 100644
--- a/assets/unitree_hand/unitree_dex3.yml
+++ b/assets/unitree_hand/unitree_dex3.yml
@@ -6,20 +6,29 @@ left:
   # target_joint_names:
   target_joint_names: 
     [
-      "left_hand_zero_joint",
-      "left_hand_one_joint",
-      "left_hand_two_joint",
-      "left_hand_three_joint",
-      "left_hand_four_joint",
-      "left_hand_five_joint",
-      "left_hand_six_joint",
+      "left_hand_thumb_0_joint",
+      "left_hand_thumb_1_joint",
+      "left_hand_thumb_2_joint",
+      "left_hand_middle_0_joint",
+      "left_hand_middle_1_joint",
+      "left_hand_index_0_joint",
+      "left_hand_index_1_joint",
     ]
   wrist_link_name: None
-  target_origin_link_names: ["base_link_thumb","base_link","base_link"]
+  target_origin_link_names: ["base_link_thumb","base_link_index","base_link_middle"]
   target_task_link_names: ["thumb_tip","index_tip","middle_tip"]
   target_link_human_indices: [[0, 0, 0], [4, 9, 14]]
 
-  scaling_factor: 1.4
+  # Currently, the scaling factor for each finger is individually distinguished in the robot_hand_unitree.py file.
+  # The Unitree Dex3 has three fingers with the same specifications, so the retarget scaling factors need to be adjusted separately.
+  # The relevant code is as follows:
+  # ref_left_value[0] = ref_left_value[0] * 1.15
+  # ref_left_value[1] = ref_left_value[1] * 1.05
+  # ref_left_value[2] = ref_left_value[2] * 0.95
+  # ref_right_value[0] = ref_right_value[0] * 1.15
+  # ref_right_value[1] = ref_right_value[1] * 1.05
+  # ref_right_value[2] = ref_right_value[2] * 0.95
+  scaling_factor: 1.0
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
   low_pass_alpha: 0.2
@@ -31,18 +40,20 @@ right:
   # Target refers to the retargeting target, which is the robot hand
   target_joint_names: 
     [
-      "right_hand_zero_joint",
-      "right_hand_one_joint",
-      "right_hand_two_joint",
-      "right_hand_three_joint",
-      "right_hand_four_joint",
-      "right_hand_five_joint",
-      "right_hand_six_joint",
+      "right_hand_thumb_0_joint",
+      "right_hand_thumb_1_joint",
+      "right_hand_thumb_2_joint",
+      "right_hand_index_0_joint",
+      "right_hand_index_1_joint",
+      "right_hand_middle_0_joint",
+      "right_hand_middle_1_joint",
     ]
   wrist_link_name: None
-  target_origin_link_names: ["base_link_thumb","base_link","base_link"]
+  target_origin_link_names: ["base_link_thumb","base_link_index","base_link_middle"]
   target_task_link_names: ["thumb_tip", "index_tip", "middle_tip"]
   target_link_human_indices: [[0, 0, 0], [4, 9, 14]]
-  scaling_factor: 1.4
+
+  scaling_factor: 1.0
+  
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
   low_pass_alpha: 0.2
diff --git a/assets/unitree_hand/unitree_dex3_left.urdf b/assets/unitree_hand/unitree_dex3_left.urdf
index f4609b3..ff0c868 100644
--- a/assets/unitree_hand/unitree_dex3_left.urdf
+++ b/assets/unitree_hand/unitree_dex3_left.urdf
@@ -12,255 +12,317 @@
 
   <link name="left_hand_palm_link">
     <inertial>
-      <origin xyz="0.06214634836 -0.00050869656 -0.00058171093" rpy="0 0 0" />
-      <mass value="0.37283854" />
-      <inertia ixx="0.00027535181027" ixy="-0.00001595519465" ixz="-0.00000242161890"
-        iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907" />
+      <origin xyz="0.06214634836 -0.00050869656 -0.00058171093" rpy="0 0 0"/>
+      <mass value="0.37283854"/>
+      <inertia ixx="0.00027535181027" ixy="-0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_palm_link.STL" />
+        <mesh filename="meshes/left_hand_palm_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_palm_link.STL" />
+        <mesh filename="meshes/left_hand_palm_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_zero_joint" type="revolute">
-    <origin xyz="0.028 0 0" rpy="0 0 0" />
-    <axis xyz="0 1 0" />
-    <parent link="left_hand_palm_link" />
-    <child link="left_hand_zero_link" />
-    <limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755" />
+  <joint name="left_hand_thumb_0_joint" type="revolute">
+    <origin xyz="0.0255 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="left_hand_palm_link"/>
+    <child link="left_hand_thumb_0_link"/>
+    <limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
   </joint>
-  <link name="left_hand_zero_link">
+  <link name="left_hand_thumb_0_link">
     <inertial>
-      <origin xyz="-0.00035441315 -0.01329887312 0.00041236207" rpy="0 0 0" />
-      <mass value="0.08033018" />
-      <inertia ixx="0.00001322529836" ixy="0.00000008155993" ixz="0.00000002632547"
-        iyy="0.00001215546138" iyz="-0.00000064625786" izz="0.00001368834887" />
+      <origin xyz="-0.00088424580 -0.00863407079 0.00094429336" rpy="0 0 0"/>
+      <mass value="0.08623657"/>
+      <inertia ixx="0.00001602919238" ixy="0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="-0.00000051094752" izz="0.00001637877663"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_zero_link.STL" />
+        <mesh filename="meshes/left_hand_thumb_0_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_zero_link.STL" />
+        <mesh filename="meshes/left_hand_thumb_0_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_one_joint" type="revolute">
-    <origin xyz="0 -0.0246 0" rpy="0 0 0" />
-    <axis xyz="0 0 1" />
-    <parent link="left_hand_zero_link" />
-    <child link="left_hand_one_link" />
-    <limit effort="0.7" velocity="24" lower="-0.72431163" upper="1.04719755" />
+  <joint name="left_hand_thumb_1_joint" type="revolute">
+    <origin xyz="-0.0025 -0.0193 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_thumb_0_link"/>
+    <child link="left_hand_thumb_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-0.72431163" upper="0.920"/>
   </joint>
-  <link name="left_hand_one_link">
+  <link name="left_hand_thumb_1_link">
     <inertial>
-      <origin xyz="0.00362060191 -0.04044395878 -0.00029771094" rpy="0 0 0" />
-      <mass value="0.05619628" />
-      <inertia ixx="0.00001234776425" ixy="0.00000026810498" ixz="-0.00000008482929"
-        iyy="0.00000501619054" iyz="-0.00000007819408" izz="0.00001212011567" />
+      <origin xyz="-0.00082788768 -0.03547435774 -0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00001274699945" ixy="-0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="-0.00000027839003" izz="0.00001234543582"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_one_link.STL" />
+        <mesh filename="meshes/left_hand_thumb_1_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0.001 -0.032 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_one_link.STL" />
+        <box size="0.02 0.03 0.02"/>
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_two_joint" type="revolute">
-    <origin xyz="0.0055 -0.0528 0" rpy="0 0 0" />
-    <axis xyz="0 0 1" />
-    <parent link="left_hand_one_link" />
-    <child link="left_hand_two_link" />
-    <limit effort="0.7" velocity="24" lower="0" upper="2.09439510" />
+  <joint name="left_hand_thumb_2_joint" type="revolute">
+    <origin xyz="0 -0.0458 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_thumb_1_link"/>
+    <child link="left_hand_thumb_2_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
   </joint>
-  <link name="left_hand_two_link">
+  <link name="left_hand_thumb_2_link">
     <inertial>
-      <origin xyz="-0.00081405957 -0.03456206723 0.00012979919" rpy="0 0 0" />
-      <mass value="0.02487314" />
-      <inertia ixx="0.00000859888903" ixy="0.00000021727392" ixz="-0.00000000850093"
-        iyy="0.00000198874543" iyz="-0.00000008230043" izz="0.00000768992891" />
+      <origin xyz="-0.00171735242 -0.02628192939 0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000461267817" ixy="-0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="-0.00000002549885" izz="0.00000386625776"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_two_link.STL" />
+        <mesh filename="meshes/left_hand_thumb_2_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_two_link.STL" />
+        <mesh filename="meshes/left_hand_thumb_2_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_three_joint" type="revolute">
-    <origin xyz="0.1 -0.0017 -0.0285" rpy="0 0 0" />
-    <axis xyz="0 0 1" />
-    <parent link="left_hand_palm_link" />
-    <child link="left_hand_three_link" />
-    <limit effort="0.7" velocity="24" lower="-1.83259571" upper="0.19198621" />
+  <joint name="left_hand_middle_0_joint" type="revolute">
+    <origin xyz="0.0777 0.0016 -0.0285" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_palm_link"/>
+    <child link="left_hand_middle_0_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
   </joint>
-  <link name="left_hand_three_link">
+  <link name="left_hand_middle_0_link">
     <inertial>
-      <origin xyz="0.04044395878 -0.00362060191 0.00028771094" rpy="0 0 0" />
-      <mass value="0.05619628" />
-      <inertia ixx="0.00000501619054" ixy="0.00000026810498" ixz="-0.00000007819408"
-        iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567" />
+      <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_three_link.STL" />
+        <mesh filename="meshes/left_hand_middle_0_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_three_link.STL" />
+        <mesh filename="meshes/left_hand_middle_0_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_four_joint" type="revolute">
-    <origin xyz="0.0528 -0.0055 0" rpy="0 0 0" />
-    <axis xyz="0 0 1" />
-    <parent link="left_hand_three_link" />
-    <child link="left_hand_four_link" />
-    <limit effort="0.7" velocity="24" lower="-2.09439510" upper="0" />
+  <joint name="left_hand_middle_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_middle_0_link"/>
+    <child link="left_hand_middle_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
   </joint>
-  <link name="left_hand_four_link">
+  <link name="left_hand_middle_1_link">
     <inertial>
-      <origin xyz="0.03456206723 0.00081405957 -0.00012979919" rpy="0 0 0" />
-      <mass value="0.02487314" />
-      <inertia ixx="0.00000198874543" ixy="0.00000021727392" ixz="-0.00000008230043"
-        iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891" />
+      <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_four_link.STL" />
+        <mesh filename="meshes/left_hand_middle_1_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_four_link.STL" />
+        <mesh filename="meshes/left_hand_middle_1_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_five_joint" type="revolute">
-    <origin xyz="0.1 -0.0017 0.0285" rpy="0 0 0" />
-    <axis xyz="0 0 1" />
-    <parent link="left_hand_palm_link" />
-    <child link="left_hand_five_link" />
-    <limit effort="0.7" velocity="24" lower="-1.83259571" upper="0.19198621" />
+  <joint name="left_hand_index_0_joint" type="revolute">
+    <origin xyz="0.0777 0.0016 0.0285" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_palm_link"/>
+    <child link="left_hand_index_0_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
   </joint>
-  <link name="left_hand_five_link">
+  <link name="left_hand_index_0_link">
     <inertial>
-      <origin xyz="0.04044395878 -0.00362060191 0.00028771094" rpy="0 0 0" />
-      <mass value="0.05619628" />
-      <inertia ixx="0.00000501619054" ixy="0.00000026810498" ixz="-0.00000007819408"
-        iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567" />
+      <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_five_link.STL" />
+        <mesh filename="meshes/left_hand_index_0_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_five_link.STL" />
+        <mesh filename="meshes/left_hand_index_0_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="left_hand_six_joint" type="revolute">
-    <origin xyz="0.0528 -0.0055 0" rpy="0 0 0" />
-    <axis xyz="0 0 1" />
-    <parent link="left_hand_five_link" />
-    <child link="left_hand_six_link" />
-    <limit effort="0.7" velocity="24" lower="-2.09439510" upper="0" />
+  <joint name="left_hand_index_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_index_0_link"/>
+    <child link="left_hand_index_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
   </joint>
-  <link name="left_hand_six_link">
+  <link name="left_hand_index_1_link">
     <inertial>
-      <origin xyz="0.03456206723 0.00081405957 -0.00012979919" rpy="0 0 0" />
-      <mass value="0.02487314" />
-      <inertia ixx="0.00000198874543" ixy="0.00000021727392" ixz="-0.00000008230043"
-        iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891" />
+      <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_six_link.STL" />
+        <mesh filename="meshes/left_hand_index_1_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_hand_six_link.STL" />
+        <mesh filename="meshes/left_hand_index_1_link.STL"/>
       </geometry>
     </collision>
   </link>
 
 <!-- virtual auxiliary link -->
 
-<!-- for openxr / apple vision pro, good retarget with thumb and index.-->
-  <link name="base_link_thumb" />
+<!-- for openxr / apple vision pro, good retarget with thumb and index. ==> teleop_hand_and_arm.py -->
   <joint name="base_thumb" type="fixed">
-    <parent link="base_link_thumb" />
-    <child link="base_link" />
-    <origin rpy="0 0 0" xyz="0.01 0.01 -0.03" />
+    <parent link="base_link" />
+    <child link="base_link_thumb" />
+    <origin rpy="0 0 0" xyz="-0.015 0.015 0.02" />
+  </joint>
+  <joint name="base_index" type="fixed">
+    <parent link="base_link" />
+    <child link="base_link_index" />
+    <origin rpy="0 0 0" xyz="-0.015 0 0" />
+  </joint>
+  <joint name="base_middle" type="fixed">
+    <parent link="base_link" />
+    <child link="base_link_middle" />
+    <origin rpy="0 0 0" xyz="-0.015 0 -0.03" />
   </joint>
-
-  <link name="base_link" />
   <joint name="base" type="fixed">
     <parent link="base_link" />
     <child link="left_hand_palm_link" />
-    <origin rpy="0 0 -1.57" xyz="-0.02 0 0.01" />
+    <origin rpy="0 0 -1.57" xyz="0 0 0" />
+  </joint>
+
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="left_hand_thumb_2_link" />
+    <child link="thumb_tip" />
+    <origin rpy="0 0 0" xyz="0 -0.05 0" />
+  </joint>
+
+  <joint name="middle_joint" type="fixed">
+    <parent link="left_hand_middle_1_link" />
+    <child link="middle_tip" />
+    <origin rpy="0 0 0" xyz="0.05 0 0" />
+  </joint>
+
+  <joint name="index_joint" type="fixed">
+    <parent link="left_hand_index_1_link" />
+    <child link="index_tip" />
+    <origin rpy="0 0 0" xyz="0.05 0 0" />
   </joint>
 
+  <link name="base_link_thumb">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.005" />
+        </geometry>
+        <material name="red">
+          <color rgba="1 0 0 1" />
+        </material>
+      </visual>
+  </link>
+  <link name="base_link_index">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.005" />
+        </geometry>
+        <material name="green">
+          <color rgba="0 1 0 1" />
+        </material>
+      </visual>
+  </link>
+  <link name="base_link_middle">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.005" />
+        </geometry>
+        <material name="blue">
+          <color rgba="0 0 1 1" />
+        </material>
+      </visual>
+  </link>
+  <link name="base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.01" />
+        </geometry>
+        <material name="purple">
+          <color rgba="1 0 1 1" />
+        </material>
+      </visual>
+  </link>
+
   <link name="thumb_tip">
     <visual>
       <origin
@@ -303,25 +365,6 @@
     </visual>
   </link>
 
-  <joint name="thumb_tip_joint" type="fixed">
-    <parent link="left_hand_two_link" />
-    <child link="thumb_tip" />
-    <origin rpy="0 0 0" xyz="0.003 -0.06 0" />
-  </joint>
-
-  <joint name="middle_joint" type="fixed">
-    <parent link="left_hand_four_link" />
-    <child link="middle_tip" />
-    <origin rpy="0 0 0" xyz="0.06 -0.003 0" />
-  </joint>
-
-  <joint name="index_joint" type="fixed">
-    <parent link="left_hand_six_link" />
-    <child link="index_tip" />
-    <origin rpy="0 0 0" xyz="0.06 -0.003 0" />
-  </joint>
-
-
  <!-- for mediapipe -->
  <!-- <link name="base_link_thumb" />
  <joint name="base_thumb" type="fixed">
@@ -380,21 +423,21 @@
   </link>
 
   <joint name="thumb_tip_joint" type="fixed">
-    <parent link="left_hand_two_link" />
+    <parent link="left_hand_thumb_2_link" />
     <child link="thumb_tip" />
-    <origin rpy="0 0 0" xyz="0.003 -0.06 0" />
+    <origin rpy="0 0 0" xyz="0.003 -0.05 0" />
   </joint>
 
   <joint name="middle_joint" type="fixed">
-    <parent link="left_hand_four_link" />
+    <parent link="left_hand_middle_1_link" />
     <child link="middle_tip" />
-    <origin rpy="0 0 0" xyz="0.06 -0.003 0" />
+    <origin rpy="0 0 0" xyz="0.05 -0.003 0" />
   </joint>
 
   <joint name="index_joint" type="fixed">
-    <parent link="left_hand_six_link" />
+    <parent link="left_hand_index_1_link" />
     <child link="index_tip" />
-    <origin rpy="0 0 0" xyz="0.06 -0.003 0" />
+    <origin rpy="0 0 0" xyz="0.05 -0.003 0" />
   </joint> -->
 
 </robot>
\ No newline at end of file
diff --git a/assets/unitree_hand/unitree_dex3_right.urdf b/assets/unitree_hand/unitree_dex3_right.urdf
index 2f0554e..ba370ad 100644
--- a/assets/unitree_hand/unitree_dex3_right.urdf
+++ b/assets/unitree_hand/unitree_dex3_right.urdf
@@ -12,255 +12,317 @@
 
   <link name="right_hand_palm_link">
     <inertial>
-      <origin xyz="0.06214634836 0.00050869656 0.00058171093" rpy="-1.57 1.57 0" />
-      <mass value="0.37283854" />
-      <inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="0.00000242161890"
-        iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907" />
+      <origin xyz="0.06214634836 0.00050869656 -0.00058171093" rpy="-1.57 1.57 0"/>
+      <mass value="0.37283854"/>
+      <inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="0.00000042279435" izz="0.00039623390907"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_palm_link.STL" />
+        <mesh filename="meshes/right_hand_palm_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_palm_link.STL" />
+        <mesh filename="meshes/right_hand_palm_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_zero_joint" type="revolute">
-    <origin xyz="0.028 0 0" rpy="0 0 0" />
-    <axis xyz="0 1 0" />
-    <parent link="right_hand_palm_link" />
-    <child link="right_hand_zero_link" />
-    <limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755" />
+  <joint name="right_hand_thumb_0_joint" type="revolute">
+    <origin xyz="0.0255 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="right_hand_palm_link"/>
+    <child link="right_hand_thumb_0_link"/>
+    <limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
   </joint>
-  <link name="right_hand_zero_link">
+  <link name="right_hand_thumb_0_link">
     <inertial>
-      <origin xyz="-0.00035441315 0.01329887312 -0.00041236207" rpy="0 0 0" />
-      <mass value="0.08033018" />
-      <inertia ixx="0.00001322529836" ixy="-0.00000008155993" ixz="-0.00000002632547"
-        iyy="0.00001215546138" iyz="-0.00000064625786" izz="0.00001368834887" />
+      <origin xyz="-0.00088424580 0.00863407079 0.00094429336" rpy="0 0 0"/>
+      <mass value="0.08623657"/>
+      <inertia ixx="0.00001602919238" ixy="-0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="0.00000051094752" izz="0.00001637877663"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_zero_link.STL" />
+        <mesh filename="meshes/right_hand_thumb_0_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_zero_link.STL" />
+        <mesh filename="meshes/right_hand_thumb_0_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_one_joint" type="revolute">
-    <origin xyz="0 0.0246 0" rpy="0 0 0" />
-    <axis xyz="0 0 1" />
-    <parent link="right_hand_zero_link" />
-    <child link="right_hand_one_link" />
-    <limit effort="0.7" velocity="24" lower="-1.04719755" upper="0.72431163" />
+  <joint name="right_hand_thumb_1_joint" type="revolute">
+    <origin xyz="-0.0025 0.0193 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_thumb_0_link"/>
+    <child link="right_hand_thumb_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-0.920" upper="0.72431163"/>
   </joint>
-  <link name="right_hand_one_link">
+  <link name="right_hand_thumb_1_link">
     <inertial>
-      <origin xyz="0.00362060191 0.04044395878 0.00029771094" rpy="0 0 0" />
-      <mass value="0.05619628" />
-      <inertia ixx="0.00001234776425" ixy="-0.00000026810498" ixz="0.00000008482929"
-        iyy="0.00000501619054" iyz="-0.00000007819408" izz="0.00001212011567" />
+      <origin xyz="-0.00082788768 0.03547435774 -0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00001274699945" ixy="0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="0.00000027839003" izz="0.00001234543582"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_one_link.STL" />
+        <mesh filename="meshes/right_hand_thumb_1_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0.001 0.032 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_one_link.STL" />
+        <box size="0.02 0.03 0.02"/>
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_two_joint" type="revolute">
-    <origin xyz="0.0055 0.0528 0" rpy="0 0 0" />
-    <axis xyz="0 0 1" />
-    <parent link="right_hand_one_link" />
-    <child link="right_hand_two_link" />
-    <limit effort="0.7" velocity="24" lower="-2.09439510" upper="0" />
+  <joint name="right_hand_thumb_2_joint" type="revolute">
+    <origin xyz="0 0.0458 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_thumb_1_link"/>
+    <child link="right_hand_thumb_2_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
   </joint>
-  <link name="right_hand_two_link">
+  <link name="right_hand_thumb_2_link">
     <inertial>
-      <origin xyz="-0.00081405957 0.03456206723 -0.00012979919" rpy="0 0 0" />
-      <mass value="0.02487314" />
-      <inertia ixx="0.00000859888903" ixy="-0.00000021727392" ixz="0.00000000850093"
-        iyy="0.00000198874543" iyz="-0.00000008230043" izz="0.00000768992891" />
+      <origin xyz="-0.00171735242 0.02628192939 0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000461267817" ixy="0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="0.00000002549885" izz="0.00000386625776"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_two_link.STL" />
+        <mesh filename="meshes/right_hand_thumb_2_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_two_link.STL" />
+        <mesh filename="meshes/right_hand_thumb_2_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_three_joint" type="revolute">
-    <origin xyz="0.1 0.0017 0.0285" rpy="0 0 0" />
-    <axis xyz="0 0 1" />
-    <parent link="right_hand_palm_link" />
-    <child link="right_hand_three_link" />
-    <limit effort="0.7" velocity="24" lower="-0.19198621" upper="1.83259571" />
+  <joint name="right_hand_middle_0_joint" type="revolute">
+    <origin xyz="0.0777 -0.0016 -0.0285" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_palm_link"/>
+    <child link="right_hand_middle_0_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
   </joint>
-  <link name="right_hand_three_link">
+  <link name="right_hand_middle_0_link">
     <inertial>
-      <origin xyz="0.04044395878 0.00362060191 -0.00028771094" rpy="0 0 0" />
-      <mass value="0.05619628" />
-      <inertia ixx="0.00000501619054" ixy="-0.00000026810498" ixz="0.00000007819408"
-        iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567" />
+      <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_three_link.STL" />
+        <mesh filename="meshes/right_hand_middle_0_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_three_link.STL" />
+        <mesh filename="meshes/right_hand_middle_0_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_four_joint" type="revolute">
-    <origin xyz="0.0528 0.0055 0" rpy="0 0 0" />
-    <axis xyz="0 0 1" />
-    <parent link="right_hand_three_link" />
-    <child link="right_hand_four_link" />
-    <limit effort="0.7" velocity="24" lower="0" upper="2.09439510" />
+  <joint name="right_hand_middle_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_middle_0_link"/>
+    <child link="right_hand_middle_1_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
   </joint>
-  <link name="right_hand_four_link">
+  <link name="right_hand_middle_1_link">
     <inertial>
-      <origin xyz="0.03456206723 -0.00081405957 0.00012979919" rpy="0 0 0" />
-      <mass value="0.02487314" />
-      <inertia ixx="0.00000198874543" ixy="-0.00000021727392" ixz="0.00000008230043"
-        iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891" />
+      <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_four_link.STL" />
+        <mesh filename="meshes/right_hand_middle_1_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_four_link.STL" />
+        <mesh filename="meshes/right_hand_middle_1_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_five_joint" type="revolute">
-    <origin xyz="0.1 0.0017 -0.0285" rpy="0 0 0" />
-    <axis xyz="0 0 1" />
-    <parent link="right_hand_palm_link" />
-    <child link="right_hand_five_link" />
-    <limit effort="0.7" velocity="24" lower="-0.19198621" upper="1.83259571" />
+  <joint name="right_hand_index_0_joint" type="revolute">
+    <origin xyz="0.0777 -0.0016 0.0285" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_palm_link"/>
+    <child link="right_hand_index_0_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
   </joint>
-  <link name="right_hand_five_link">
+  <link name="right_hand_index_0_link">
     <inertial>
-      <origin xyz="0.04044395878 0.00362060191 -0.00028771094" rpy="0 0 0" />
-      <mass value="0.05619628" />
-      <inertia ixx="0.00000501619054" ixy="-0.00000026810498" ixz="0.00000007819408"
-        iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567" />
+      <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_five_link.STL" />
+        <mesh filename="meshes/right_hand_index_0_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_five_link.STL" />
+        <mesh filename="meshes/right_hand_index_0_link.STL"/>
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_six_joint" type="revolute">
-    <origin xyz="0.0528 0.0055 0" rpy="0 0 0" />
-    <axis xyz="0 0 1" />
-    <parent link="right_hand_five_link" />
-    <child link="right_hand_six_link" />
-    <limit effort="0.7" velocity="24" lower="0" upper="2.09439510" />
+  <joint name="right_hand_index_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_index_0_link"/>
+    <child link="right_hand_index_1_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
   </joint>
-  <link name="right_hand_six_link">
+  <link name="right_hand_index_1_link">
     <inertial>
-      <origin xyz="0.03456206723 -0.00081405957 0.00012979919" rpy="0 0 0" />
-      <mass value="0.02487314" />
-      <inertia ixx="0.00000198874543" ixy="-0.00000021727392" ixz="0.00000008230043"
-        iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891" />
+      <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_six_link.STL" />
+        <mesh filename="meshes/right_hand_index_1_link.STL"/>
       </geometry>
       <material name="white">
-        <color rgba="0.7 0.7 0.7 1" />
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_hand_six_link.STL" />
+        <mesh filename="meshes/right_hand_index_1_link.STL"/>
       </geometry>
     </collision>
   </link>
 
 <!-- virtual auxiliary link -->
 
-<!-- for openxr / apple vision pro, good retarget with thumb and index. -->
-  <link name="base_link_thumb" />
+<!-- for openxr / apple vision pro, good retarget with thumb and index.  ==> teleop_hand_and_arm.py -->
   <joint name="base_thumb" type="fixed">
-    <parent link="base_link_thumb" />
-    <child link="base_link" />
-    <origin rpy="0 0 0" xyz="0.01 0.01 0.03" />
+    <parent link="base_link" />
+    <child link="base_link_thumb" />
+    <origin rpy="0 0 0" xyz="-0.015 0.015 -0.02" />
+  </joint>
+  <joint name="base_index" type="fixed">
+    <parent link="base_link" />
+    <child link="base_link_index" />
+    <origin rpy="0 0 0" xyz="-0.015 0 0" />
+  </joint>
+  <joint name="base_middle" type="fixed">
+    <parent link="base_link" />
+    <child link="base_link_middle" />
+    <origin rpy="0 0 0" xyz="-0.015 0 0.03" />
   </joint>
-
-  <link name="base_link" />
   <joint name="base" type="fixed">
     <parent link="base_link" />
     <child link="right_hand_palm_link" />
-    <origin rpy="3.14 0 -1.57" xyz="-0.02 0 0.01" />
+    <origin rpy="3.14 0 -1.57" xyz="0 0 0" />
+  </joint>
+  
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="right_hand_thumb_2_link" />
+    <child link="thumb_tip" />
+    <origin rpy="0 0 0" xyz="0 0.05 0" />
   </joint>
 
+  <joint name="middle_joint" type="fixed">
+    <parent link="right_hand_middle_1_link" />
+    <child link="middle_tip" />
+    <origin rpy="0 0 0" xyz="0.05 0 0" />
+  </joint>
+
+  <joint name="index_joint" type="fixed">
+    <parent link="right_hand_index_1_link" />
+    <child link="index_tip" />
+    <origin rpy="0 0 0" xyz="0.05 0 0" />
+  </joint>
+
+  <link name="base_link_thumb">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.005" />
+        </geometry>
+        <material name="red">
+          <color rgba="1 0 0 1" />
+        </material>
+      </visual>
+  </link>
+  <link name="base_link_index">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.005" />
+        </geometry>
+        <material name="green">
+          <color rgba="0 1 0 1" />
+        </material>
+      </visual>
+  </link>
+  <link name="base_link_middle">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.005" />
+        </geometry>
+        <material name="blue">
+          <color rgba="0 0 1 1" />
+        </material>
+      </visual>
+  </link>
+  <link name="base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.01" />
+        </geometry>
+        <material name="purple">
+          <color rgba="1 0 1 1" />
+        </material>
+      </visual>
+  </link>
+
   <link name="thumb_tip">
     <visual>
       <origin
@@ -303,25 +365,6 @@
     </visual>
   </link>
 
-  <joint name="thumb_tip_joint" type="fixed">
-    <parent link="right_hand_two_link" />
-    <child link="thumb_tip" />
-    <origin rpy="0 0 0" xyz="0.003 0.06 0" />
-  </joint>
-
-  <joint name="middle_joint" type="fixed">
-    <parent link="right_hand_four_link" />
-    <child link="middle_tip" />
-    <origin rpy="0 0 0" xyz="0.06 0.003 0" />
-  </joint>
-
-  <joint name="index_joint" type="fixed">
-    <parent link="right_hand_six_link" />
-    <child link="index_tip" />
-    <origin rpy="0 0 0" xyz="0.06 0.003 0" />
-  </joint>
-
-
 <!-- for mediapipe -->
  <!-- <link name="base_link_thumb" />
  <joint name="base_thumb" type="fixed">
@@ -380,21 +423,21 @@
   </link>
 
   <joint name="thumb_tip_joint" type="fixed">
-    <parent link="right_hand_two_link" />
+    <parent link="right_hand_thumb_2_link" />
     <child link="thumb_tip" />
-    <origin rpy="0 0 0" xyz="0.003 0.06 0" />
+    <origin rpy="0 0 0" xyz="0.003 0.05 0" />
   </joint>
 
   <joint name="middle_joint" type="fixed">
-    <parent link="right_hand_four_link" />
+    <parent link="right_hand_middle_1_link" />
     <child link="middle_tip" />
-    <origin rpy="0 0 0" xyz="0.06 0.003 0" />
+    <origin rpy="0 0 0" xyz="0.05 0.003 0" />
   </joint>
 
   <joint name="index_joint" type="fixed">
-    <parent link="right_hand_six_link" />
+    <parent link="right_hand_index_1_link" />
     <child link="index_tip" />
-    <origin rpy="0 0 0" xyz="0.06 0.003 0" />
+    <origin rpy="0 0 0" xyz="0.05 0.003 0" />
   </joint> -->
 
-</robot>
\ No newline at end of file
+</robot>
diff --git a/teleop/open_television/television.py b/teleop/open_television/television.py
index 965d888..fbcc7c0 100644
--- a/teleop/open_television/television.py
+++ b/teleop/open_television/television.py
@@ -166,7 +166,7 @@ def aspect(self):
     img_shape = (480, 640 * 2, 3)
     img_shm = shared_memory.SharedMemory(create=True, size=np.prod(img_shape) * np.uint8().itemsize)
     img_array = np.ndarray(img_shape, dtype=np.uint8, buffer=img_shm.buf)
-    img_client = ImageClient(img_shape = img_shape, img_shm_name = img_shm.name)
+    img_client = ImageClient(tv_img_shape = img_shape, tv_img_shm_name = img_shm.name)
     image_receive_thread = threading.Thread(target=img_client.receive_process, daemon=True)
     image_receive_thread.start()
 
diff --git a/teleop/robot_control/robot_arm.py b/teleop/robot_control/robot_arm.py
index f1224fe..47204d4 100644
--- a/teleop/robot_control/robot_arm.py
+++ b/teleop/robot_control/robot_arm.py
@@ -83,9 +83,11 @@ def __init__(self):
         print(f"Current all body motor state q:\n{self.all_motor_q} \n")
         print(f"Current two arms motor state q:\n{self.get_current_dual_arm_q()}\n")
         print("Lock all joints except two arms...\n")
+
+        arm_indices = set(member.value for member in G1_29_JointArmIndex)
         for id in G1_29_JointIndex:
             self.msg.motor_cmd[id].mode = 1
-            if id in G1_29_JointArmIndex:
+            if id.value in arm_indices:
                 if self._Is_wrist_motor(id):
                     self.msg.motor_cmd[id].kp = self.kp_wrist
                     self.msg.motor_cmd[id].kd = self.kd_wrist
@@ -191,31 +193,31 @@ def speed_instant_max(self):
 
     def _Is_weak_motor(self, motor_index):
         weak_motors = [
-            G1_29_JointIndex.kLeftAnklePitch,
-            G1_29_JointIndex.kRightAnklePitch,
+            G1_29_JointIndex.kLeftAnklePitch.value,
+            G1_29_JointIndex.kRightAnklePitch.value,
             # Left arm
-            G1_29_JointIndex.kLeftShoulderPitch,
-            G1_29_JointIndex.kLeftShoulderRoll,
-            G1_29_JointIndex.kLeftShoulderYaw,
-            G1_29_JointIndex.kLeftElbow,
+            G1_29_JointIndex.kLeftShoulderPitch.value,
+            G1_29_JointIndex.kLeftShoulderRoll.value,
+            G1_29_JointIndex.kLeftShoulderYaw.value,
+            G1_29_JointIndex.kLeftElbow.value,
             # Right arm
-            G1_29_JointIndex.kRightShoulderPitch,
-            G1_29_JointIndex.kRightShoulderRoll,
-            G1_29_JointIndex.kRightShoulderYaw,
-            G1_29_JointIndex.kRightElbow,
+            G1_29_JointIndex.kRightShoulderPitch.value,
+            G1_29_JointIndex.kRightShoulderRoll.value,
+            G1_29_JointIndex.kRightShoulderYaw.value,
+            G1_29_JointIndex.kRightElbow.value,
         ]
-        return motor_index in weak_motors
+        return motor_index.value in weak_motors
     
     def _Is_wrist_motor(self, motor_index):
         wrist_motors = [
-            G1_29_JointIndex.kLeftWristRoll,
-            G1_29_JointIndex.kLeftWristPitch,
-            G1_29_JointIndex.kLeftWristyaw,
-            G1_29_JointIndex.kRightWristRoll,
-            G1_29_JointIndex.kRightWristPitch,
-            G1_29_JointIndex.kRightWristYaw,
+            G1_29_JointIndex.kLeftWristRoll.value,
+            G1_29_JointIndex.kLeftWristPitch.value,
+            G1_29_JointIndex.kLeftWristyaw.value,
+            G1_29_JointIndex.kRightWristRoll.value,
+            G1_29_JointIndex.kRightWristPitch.value,
+            G1_29_JointIndex.kRightWristYaw.value,
         ]
-        return motor_index in wrist_motors
+        return motor_index.value in wrist_motors
 
 class G1_29_JointArmIndex(IntEnum):
     # Left arm
diff --git a/teleop/robot_control/robot_arm_ik.py b/teleop/robot_control/robot_arm_ik.py
index 123f912..601a96b 100644
--- a/teleop/robot_control/robot_arm_ik.py
+++ b/teleop/robot_control/robot_arm_ik.py
@@ -43,21 +43,21 @@ def __init__(self, Unit_Test = False, Visualization = False):
                                         "waist_roll_joint" ,
                                         "waist_pitch_joint" ,
                                         
-                                        "left_hand_zero_joint" ,
-                                        "left_hand_one_joint" ,
-                                        "left_hand_two_joint" ,
-                                        "left_hand_three_joint" ,
-                                        "left_hand_four_joint" ,
-                                        "left_hand_five_joint" ,
-                                        "left_hand_six_joint" ,
+                                        "left_hand_thumb_0_joint" ,
+                                        "left_hand_thumb_1_joint" ,
+                                        "left_hand_thumb_2_joint" ,
+                                        "left_hand_middle_0_joint" ,
+                                        "left_hand_middle_1_joint" ,
+                                        "left_hand_index_0_joint" ,
+                                        "left_hand_index_1_joint" ,
                                         
-                                        "right_hand_zero_joint" ,
-                                        "right_hand_one_joint" ,
-                                        "right_hand_two_joint" ,
-                                        "right_hand_three_joint" ,
-                                        "right_hand_four_joint" ,
-                                        "right_hand_five_joint" ,
-                                        "right_hand_six_joint"
+                                        "right_hand_thumb_0_joint" ,
+                                        "right_hand_thumb_1_joint" ,
+                                        "right_hand_thumb_2_joint" ,
+                                        "right_hand_index_0_joint" ,
+                                        "right_hand_index_1_joint" ,
+                                        "right_hand_middle_0_joint",
+                                        "right_hand_middle_1_joint"
                                     ]
 
         self.reduced_robot = self.robot.buildReducedRobot(
diff --git a/teleop/robot_control/robot_hand_unitree.py b/teleop/robot_control/robot_hand_unitree.py
index 3ced974..e4489f7 100644
--- a/teleop/robot_control/robot_hand_unitree.py
+++ b/teleop/robot_control/robot_hand_unitree.py
@@ -176,8 +176,16 @@ def control_process(self, left_hand_array, right_hand_array, left_hand_state_arr
                 state_data = np.concatenate((np.array(left_hand_state_array[:]), np.array(right_hand_state_array[:])))
 
                 if not np.all(left_hand_mat == 0.0): # if hand data has been initialized.
-                    left_q_target  = self.hand_retargeting.left_retargeting.retarget(left_hand_mat[unitree_tip_indices])[[0,1,2,3,4,5,6]]
-                    right_q_target = self.hand_retargeting.right_retargeting.retarget(right_hand_mat[unitree_tip_indices])[[0,1,2,3,4,5,6]]
+                    ref_left_value = left_hand_mat[unitree_tip_indices]
+                    ref_right_value = right_hand_mat[unitree_tip_indices]
+                    ref_left_value[0] = ref_left_value[0] * 1.15
+                    ref_left_value[1] = ref_left_value[1] * 1.05
+                    ref_left_value[2] = ref_left_value[2] * 0.95
+                    ref_right_value[0] = ref_right_value[0] * 1.15
+                    ref_right_value[1] = ref_right_value[1] * 1.05
+                    ref_right_value[2] = ref_right_value[2] * 0.95
+                    left_q_target  = self.hand_retargeting.left_retargeting.retarget(ref_left_value)[[0,1,2,3,4,5,6]]
+                    right_q_target = self.hand_retargeting.right_retargeting.retarget(ref_right_value)[[0,1,2,3,4,5,6]]
 
                 # get dual hand action
                 action_data = np.concatenate((left_q_target, right_q_target))    
@@ -195,22 +203,22 @@ def control_process(self, left_hand_array, right_hand_array, left_hand_state_arr
             print("Dex3_1_Controller has been closed.")
 
 class Dex3_1_Left_JointIndex(IntEnum):
-    kLeftHandZero = 0   # thumb_0
-    kLeftHandOne = 1    # thumb_1
-    kLeftHandTwo = 2    # thumb_2
-    kLeftHandFive = 3   # middle_0
-    kLeftHandSix = 4    # middle_0
-    kLeftHandThree = 5  # index_0
-    kLeftHandFour = 6   # index_1
+    kLeftHandThumb0 = 0
+    kLeftHandThumb1 = 1
+    kLeftHandThumb2 = 2
+    kLeftHandMiddle0 = 3
+    kLeftHandMiddle1 = 4
+    kLeftHandIndex0 = 5
+    kLeftHandIndex1 = 6
 
 class Dex3_1_Right_JointIndex(IntEnum):
-    kRightHandZero = 0   # thumb_0
-    kRightHandOne = 1    # thumb_1
-    kRightHandTwo = 2    # thumb_2
-    kRightHandThree = 3  # index_0
-    kRightHandFour = 4   # index_1
-    kRightHandFive = 5   # middle_0
-    kRightHandSix = 6    # middle_1
+    kRightHandThumb0 = 0
+    kRightHandThumb1 = 1
+    kRightHandThumb2 = 2
+    kRightHandIndex0 = 3
+    kRightHandIndex1 = 4
+    kRightHandMiddle0 = 5
+    kRightHandMiddle1 = 6
 
 
 unitree_gripper_indices = [4, 9] # [thumb, index]
@@ -390,9 +398,6 @@ class Gripper_JointIndex(IntEnum):
         'head_camera_type': 'opencv',
         'head_camera_image_shape': [480, 1280],  # Head camera resolution
         'head_camera_id_numbers': [0],
-        'wrist_camera_type': 'opencv',
-        'wrist_camera_image_shape': [480, 640],  # Wrist camera resolution
-        'wrist_camera_id_numbers': [2, 4],
     }
     ASPECT_RATIO_THRESHOLD = 2.0  # If the aspect ratio exceeds this value, it is considered binocular
     if len(img_config['head_camera_id_numbers']) > 1 or (img_config['head_camera_image_shape'][1] / img_config['head_camera_image_shape'][0] > ASPECT_RATIO_THRESHOLD):
diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py
index cedd083..0e245b3 100644
--- a/teleop/teleop_hand_and_arm.py
+++ b/teleop/teleop_hand_and_arm.py
@@ -21,7 +21,7 @@
 
 if __name__ == '__main__':
     parser = argparse.ArgumentParser()
-    parser.add_argument('--task_dir', type = str, default = 'data', help = 'path to save data')
+    parser.add_argument('--task_dir', type = str, default = './utils/data', help = 'path to save data')
     parser.add_argument('--frequency', type = int, default = 30.0, help = 'save data\'s frequency')
 
     parser.add_argument('--record', action = 'store_true', help = 'Save data or not')
@@ -30,7 +30,7 @@
 
     parser.add_argument('--dex', action='store_true', help='Use dex3-1 hand')
     parser.add_argument('--gripper', dest='dex', action='store_false', help='Use gripper')
-    parser.set_defaults(dex = False)
+    parser.set_defaults(dex = True)
     args = parser.parse_args()
     print(f"args:{args}\n")
 
diff --git a/teleop/utils/rerun_visualizer.py b/teleop/utils/rerun_visualizer.py
index 3ff884c..c7ac9a6 100644
--- a/teleop/utils/rerun_visualizer.py
+++ b/teleop/utils/rerun_visualizer.py
@@ -198,7 +198,7 @@ def log_episode_data(self, episode_data: list):
     else:
         print("rerun_testdata exits.")
 
-    episode_reader = RerunEpisodeReader()
+    episode_reader = RerunEpisodeReader(task_dir=".")
     episode_data6 = episode_reader.return_episode_data(6)
     episode_data8 = episode_reader.return_episode_data(8)