From 0caec146a1249a7b3ed7ebe09d3764f4b56a4ee8 Mon Sep 17 00:00:00 2001
From: A-0-A-0-A <3131489786@qq,com>
Date: Sat, 25 Apr 2026 19:25:14 +0800
Subject: [PATCH 1/2] =?UTF-8?q?=E5=9C=BA=E6=99=AF=E6=96=87=E4=BB=B6?=
 =?UTF-8?q?=E6=8F=90=E4=BA=A4?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 tactile/code/assets/CoppeliaSim scene.ttt     |    Bin 0 -> 324734 bytes
 tactile/code/assets/Index_bones/Annular_1.stl |    Bin 0 -> 121284 bytes
 tactile/code/assets/Index_bones/Annular_2.stl |    Bin 0 -> 133784 bytes
 tactile/code/assets/Index_bones/Annular_3.stl |    Bin 0 -> 149484 bytes
 tactile/code/assets/Index_bones/Annular_4.stl |    Bin 0 -> 114284 bytes
 .../code/assets/Index_bones/Annular_J1.stl    |    Bin 0 -> 48084 bytes
 .../code/assets/Index_bones/Annular_J2.stl    |    Bin 0 -> 48084 bytes
 .../code/assets/Index_bones/Annular_J3.stl    |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/Index_1.stl   |    Bin 0 -> 121284 bytes
 tactile/code/assets/Index_bones/Index_2.stl   |    Bin 0 -> 133784 bytes
 tactile/code/assets/Index_bones/Index_3.stl   |    Bin 0 -> 149484 bytes
 tactile/code/assets/Index_bones/Index_4.stl   |    Bin 0 -> 114284 bytes
 tactile/code/assets/Index_bones/Index_J1.stl  |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/Index_J2.stl  |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/Index_J3.stl  |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/J1.stl        |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/J2.stl        |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/J3.stl        |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/Middle_1.stl  |    Bin 0 -> 121284 bytes
 tactile/code/assets/Index_bones/Middle_2.stl  |    Bin 0 -> 133784 bytes
 tactile/code/assets/Index_bones/Middle_3.stl  |    Bin 0 -> 149484 bytes
 tactile/code/assets/Index_bones/Middle_4.stl  |    Bin 0 -> 114284 bytes
 tactile/code/assets/Index_bones/Middle_J1.stl |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/Middle_J2.stl |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/Middle_J3.stl |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/Palm.stl      |    Bin 0 -> 6484 bytes
 tactile/code/assets/Index_bones/Pinky_1.stl   |    Bin 0 -> 121284 bytes
 tactile/code/assets/Index_bones/Pinky_2.stl   |    Bin 0 -> 133784 bytes
 tactile/code/assets/Index_bones/Pinky_3.stl   |    Bin 0 -> 149484 bytes
 tactile/code/assets/Index_bones/Pinky_4.stl   |    Bin 0 -> 114284 bytes
 tactile/code/assets/Index_bones/Pinky_J1.stl  |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/Pinky_J2.stl  |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/Pinky_J3.stl  |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/Thumb_1.stl   |    Bin 0 -> 133784 bytes
 tactile/code/assets/Index_bones/Thumb_2.stl   |    Bin 0 -> 149484 bytes
 tactile/code/assets/Index_bones/Thumb_3.stl   |    Bin 0 -> 114284 bytes
 tactile/code/assets/Index_bones/Thumb_J1.stl  |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/Thumb_J2.stl  |    Bin 0 -> 48084 bytes
 tactile/code/assets/Index_bones/Thumb_J3.stl  |    Bin 0 -> 48084 bytes
 .../code/assets/MuJoCo hands and phantom.xml  |    802 +
 tactile/code/assets/MuJoCo hands.xml          |    784 +
 tactile/code/assets/MuJoCo phantom.xml        |    272 +
 tactile/code/assets/MuJoCo scene simple.xml   |     58 +
 tactile/code/assets/balloons.xml              |    161 +
 tactile/code/assets/cover.png                 |    Bin 0 -> 334143 bytes
 tactile/code/assets/deformable_cloth.xml      |     73 +
 tactile/code/assets/deformable_jelly_cube.xml |     71 +
 tactile/code/assets/deformable_sponge.xml     |     66 +
 .../assets/hand-assets/annular_1_visual.obj   |   2859 +
 .../assets/hand-assets/annular_2_visual.obj   |   1987 +
 .../assets/hand-assets/annular_3_visual.obj   |   3109 +
 .../assets/hand-assets/index_1_visual.obj     |   3019 +
 .../assets/hand-assets/index_2_visual.obj     |   1987 +
 .../assets/hand-assets/index_3_visual.obj     |   3109 +
 .../assets/hand-assets/middle_1_visual.obj    |   2891 +
 .../assets/hand-assets/middle_2_visual.obj    |   1987 +
 .../assets/hand-assets/middle_3_visual.obj    |   3235 +
 .../code/assets/hand-assets/palm_visual.obj   |  15297 +
 .../assets/hand-assets/pinky_1_visual.obj     |   2635 +
 .../assets/hand-assets/pinky_2_visual.obj     |   2243 +
 .../assets/hand-assets/pinky_3_visual.obj     |   3237 +
 .../assets/hand-assets/thumb_1_visual.obj     |   2091 +
 .../assets/hand-assets/thumb_2_visual.obj     |   4253 +
 .../code/assets/hand-assets/wrist_visual.obj  |   4557 +
 tactile/code/assets/logo-insa.png             |    Bin 0 -> 81203 bytes
 tactile/code/assets/logo-sapienza.png         |    Bin 0 -> 123804 bytes
 tactile/code/assets/phantom-assets/aorta.obj  |  10303 +
 tactile/code/assets/phantom-assets/cava.obj   |  14563 +
 tactile/code/assets/phantom-assets/fat.obj    |  38612 ++
 .../assets/phantom-assets/inner_spine.obj     |  15339 +
 .../left kidney_converted_vol.msh             |    458 +
 .../assets/phantom-assets/left_kidney.obj     |  32531 ++
 tactile/code/assets/phantom-assets/liver.obj  | 202330 +++++++
 .../phantom-assets/liver_converted_vol.msh    |    Bin 0 -> 23958 bytes
 tactile/code/assets/phantom-assets/muscle.obj | 419232 +++++++++++++++
 .../assets/phantom-assets/outer_spine.obj     |  87272 +++
 .../assets/phantom-assets/portal_vein.obj     |  27636 +
 tactile/code/assets/phantom-assets/ribs.obj   | 107528 ++++
 .../assets/phantom-assets/right_kidney.obj    |  29806 +
 tactile/code/assets/weart-wear.jpg            |    Bin 0 -> 174017 bytes
 80 files changed, 1046393 insertions(+)
 create mode 100644 tactile/code/assets/CoppeliaSim scene.ttt
 create mode 100644 tactile/code/assets/Index_bones/Annular_1.stl
 create mode 100644 tactile/code/assets/Index_bones/Annular_2.stl
 create mode 100644 tactile/code/assets/Index_bones/Annular_3.stl
 create mode 100644 tactile/code/assets/Index_bones/Annular_4.stl
 create mode 100644 tactile/code/assets/Index_bones/Annular_J1.stl
 create mode 100644 tactile/code/assets/Index_bones/Annular_J2.stl
 create mode 100644 tactile/code/assets/Index_bones/Annular_J3.stl
 create mode 100644 tactile/code/assets/Index_bones/Index_1.stl
 create mode 100644 tactile/code/assets/Index_bones/Index_2.stl
 create mode 100644 tactile/code/assets/Index_bones/Index_3.stl
 create mode 100644 tactile/code/assets/Index_bones/Index_4.stl
 create mode 100644 tactile/code/assets/Index_bones/Index_J1.stl
 create mode 100644 tactile/code/assets/Index_bones/Index_J2.stl
 create mode 100644 tactile/code/assets/Index_bones/Index_J3.stl
 create mode 100644 tactile/code/assets/Index_bones/J1.stl
 create mode 100644 tactile/code/assets/Index_bones/J2.stl
 create mode 100644 tactile/code/assets/Index_bones/J3.stl
 create mode 100644 tactile/code/assets/Index_bones/Middle_1.stl
 create mode 100644 tactile/code/assets/Index_bones/Middle_2.stl
 create mode 100644 tactile/code/assets/Index_bones/Middle_3.stl
 create mode 100644 tactile/code/assets/Index_bones/Middle_4.stl
 create mode 100644 tactile/code/assets/Index_bones/Middle_J1.stl
 create mode 100644 tactile/code/assets/Index_bones/Middle_J2.stl
 create mode 100644 tactile/code/assets/Index_bones/Middle_J3.stl
 create mode 100644 tactile/code/assets/Index_bones/Palm.stl
 create mode 100644 tactile/code/assets/Index_bones/Pinky_1.stl
 create mode 100644 tactile/code/assets/Index_bones/Pinky_2.stl
 create mode 100644 tactile/code/assets/Index_bones/Pinky_3.stl
 create mode 100644 tactile/code/assets/Index_bones/Pinky_4.stl
 create mode 100644 tactile/code/assets/Index_bones/Pinky_J1.stl
 create mode 100644 tactile/code/assets/Index_bones/Pinky_J2.stl
 create mode 100644 tactile/code/assets/Index_bones/Pinky_J3.stl
 create mode 100644 tactile/code/assets/Index_bones/Thumb_1.stl
 create mode 100644 tactile/code/assets/Index_bones/Thumb_2.stl
 create mode 100644 tactile/code/assets/Index_bones/Thumb_3.stl
 create mode 100644 tactile/code/assets/Index_bones/Thumb_J1.stl
 create mode 100644 tactile/code/assets/Index_bones/Thumb_J2.stl
 create mode 100644 tactile/code/assets/Index_bones/Thumb_J3.stl
 create mode 100644 tactile/code/assets/MuJoCo hands and phantom.xml
 create mode 100644 tactile/code/assets/MuJoCo hands.xml
 create mode 100644 tactile/code/assets/MuJoCo phantom.xml
 create mode 100644 tactile/code/assets/MuJoCo scene simple.xml
 create mode 100644 tactile/code/assets/balloons.xml
 create mode 100644 tactile/code/assets/cover.png
 create mode 100644 tactile/code/assets/deformable_cloth.xml
 create mode 100644 tactile/code/assets/deformable_jelly_cube.xml
 create mode 100644 tactile/code/assets/deformable_sponge.xml
 create mode 100644 tactile/code/assets/hand-assets/annular_1_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/annular_2_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/annular_3_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/index_1_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/index_2_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/index_3_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/middle_1_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/middle_2_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/middle_3_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/palm_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/pinky_1_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/pinky_2_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/pinky_3_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/thumb_1_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/thumb_2_visual.obj
 create mode 100644 tactile/code/assets/hand-assets/wrist_visual.obj
 create mode 100644 tactile/code/assets/logo-insa.png
 create mode 100644 tactile/code/assets/logo-sapienza.png
 create mode 100644 tactile/code/assets/phantom-assets/aorta.obj
 create mode 100644 tactile/code/assets/phantom-assets/cava.obj
 create mode 100644 tactile/code/assets/phantom-assets/fat.obj
 create mode 100644 tactile/code/assets/phantom-assets/inner_spine.obj
 create mode 100644 tactile/code/assets/phantom-assets/left kidney_converted_vol.msh
 create mode 100644 tactile/code/assets/phantom-assets/left_kidney.obj
 create mode 100644 tactile/code/assets/phantom-assets/liver.obj
 create mode 100644 tactile/code/assets/phantom-assets/liver_converted_vol.msh
 create mode 100644 tactile/code/assets/phantom-assets/muscle.obj
 create mode 100644 tactile/code/assets/phantom-assets/outer_spine.obj
 create mode 100644 tactile/code/assets/phantom-assets/portal_vein.obj
 create mode 100644 tactile/code/assets/phantom-assets/ribs.obj
 create mode 100644 tactile/code/assets/phantom-assets/right_kidney.obj
 create mode 100644 tactile/code/assets/weart-wear.jpg

diff --git a/tactile/code/assets/CoppeliaSim scene.ttt b/tactile/code/assets/CoppeliaSim scene.ttt
new file mode 100644
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diff --git a/tactile/code/assets/Index_bones/Annular_2.stl b/tactile/code/assets/Index_bones/Annular_2.stl
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diff --git a/tactile/code/assets/Index_bones/Annular_J3.stl b/tactile/code/assets/Index_bones/Annular_J3.stl
new file mode 100644
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diff --git a/tactile/code/assets/Index_bones/Index_J1.stl b/tactile/code/assets/Index_bones/Index_J1.stl
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diff --git a/tactile/code/assets/Index_bones/Middle_J1.stl b/tactile/code/assets/Index_bones/Middle_J1.stl
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diff --git a/tactile/code/assets/Index_bones/Pinky_2.stl b/tactile/code/assets/Index_bones/Pinky_2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..68e24dae310d02e3e5c6d8488efbc1189a4762ab
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diff --git a/tactile/code/assets/MuJoCo hands and phantom.xml b/tactile/code/assets/MuJoCo hands and phantom.xml
new file mode 100644
index 00000000..51c67464
--- /dev/null
+++ b/tactile/code/assets/MuJoCo hands and phantom.xml	
@@ -0,0 +1,802 @@
+<mujoco model="hand">
+  <size memory="1G" />
+
+  <compiler angle="radian" />
+
+  <option solver="CG" tolerance="1e-6" timestep=".0014" integrator="implicitfast" jacobian="dense"
+    noslip_iterations="4">
+    <!-- <flag gravity="disable" /> -->
+  </option>
+
+  <option cone="elliptic" impratio="100" />
+  <!-- <option>
+    <flag multiccd="enable" />
+  </option> -->
+  <!-- option 和 flag 已注释 -->
+
+  <visual>
+    <global offwidth="1920" offheight="1080" />
+    <map znear="0.001" />
+    <scale jointlength="8" jointwidth="0.5" framelength="2" framewidth="0.3" />
+  </visual>
+
+  <statistic meansize="0.01" extent="1" />
+
+  <default>
+    <joint limited="true" range="0 1.8" solreflimit="0.01 1" solimplimit="0.9 0.99 0.01 "
+      stiffness="0.1"
+      armature="0.0001" damping="0.01" />
+    <geom friction="0.9" solref="0.01 1" solimp="0.95 0.99 0.001" />
+    <tendon rgba="0.5 0 0 1" />
+    <general actlimited="true" actrange="0 1.7" />
+    <default class="collision_primitive">
+      <geom type="capsule" contype="1" conaffinity="3" condim="1" group="3" rgba="0 0.5 0.5 1"
+        density="300" friction="1 1 0.0001" />
+    </default>
+    <default class="bone">
+      <geom type="mesh" contype="0" conaffinity="0" group="5" rgba="0.5 0.5 0.5 1" density="1100" />
+      <default class="light_bone">
+        <geom density="300" />
+      </default>
+    </default>
+    <default class="finger">
+      <joint group="1" pos="0.012 0 0.01" armature="0.01" damping="3" />
+      <default class="f">
+        <joint range="-17.5 61.25" />
+        <!-- <general gainprm="20" /> -->
+      </default>
+    </default>
+    <default class="phantom">
+      <mesh scale="3 3 3" />
+      <default class="visual">
+        <geom group="2" type="mesh" contype="0" conaffinity="0" />
+      </default>
+      <default class="collision">
+        <geom group="2" type="mesh" />
+      </default>
+    </default>
+  </default>
+
+  <contact>
+    <exclude body1="right_hand_palm" body2="right_hand_palm_5" />
+    <exclude body1="Right_Index_4.stl" body2="Right_Thumb_2.stl" />
+
+    <exclude body1="Left_Index_4.stl" body2="Left_Thumb_3.stl" />
+    <exclude body1="Left_Index_4.stl" body2="Left_Thumb_2.stl" />
+  </contact>
+
+  <!-- 注意：MuJoCo 3.x 不需要显式声明弹性体插件 -->
+
+  <asset>
+    <texture name="//unnamed_texture_0" type="skybox" builtin="gradient" rgb1="0.6 0.8 0.9"
+      rgb2="0 0 0" width="64" height="64" />
+    <texture name="grid" type="2d" builtin="checker" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4"
+      mark="edge" markrgb="0.2 0.3 0.4" width="300" height="300" />
+    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance="0.2" />
+    <mesh name="Annular_1.stl" file="Index_bones/Annular_1.stl" />
+    <mesh name="Annular_2.stl" file="Index_bones/Annular_2.stl" />
+    <mesh name="Annular_3.stl" file="Index_bones/Annular_3.stl" />
+    <mesh name="Annular_4.stl" file="Index_bones/Annular_4.stl" />
+    <mesh name="Annular_J1.stl" file="Index_bones/Annular_J1.stl" />
+    <mesh name="Annular_J2.stl" file="Index_bones/Annular_J2.stl" />
+    <mesh name="Annular_J3.stl" file="Index_bones/Annular_J3.stl" />
+    <mesh name="Index_1.stl" file="Index_bones/Index_1.stl" />
+    <mesh name="Index_2.stl" file="Index_bones/Index_2.stl" />
+    <mesh name="Index_3.stl" file="Index_bones/Index_3.stl" />
+    <mesh name="Index_4.stl" file="Index_bones/Index_4.stl" />
+    <mesh name="Index_J1.stl" file="Index_bones/Index_J1.stl" />
+    <mesh name="Index_J2.stl" file="Index_bones/Index_J2.stl" />
+    <mesh name="Index_J3.stl" file="Index_bones/Index_J3.stl" />
+    <mesh name="J1.stl" file="Index_bones/J1.stl" />
+    <mesh name="J2.stl" file="Index_bones/J2.stl" />
+    <mesh name="J3.stl" file="Index_bones/J3.stl" />
+    <mesh name="Middle_1.stl" file="Index_bones/Middle_1.stl" />
+    <mesh name="Middle_2.stl" file="Index_bones/Middle_2.stl" />
+    <mesh name="Middle_3.stl" file="Index_bones/Middle_3.stl" />
+    <mesh name="Middle_4.stl" file="Index_bones/Middle_4.stl" />
+    <mesh name="Middle_J1.stl" file="Index_bones/Middle_J1.stl" />
+    <mesh name="Middle_J2.stl" file="Index_bones/Middle_J2.stl" />
+    <mesh name="Middle_J3.stl" file="Index_bones/Middle_J3.stl" />
+    <mesh name="Palm.stl" file="Index_bones/Palm.stl" />
+    <mesh name="Pinky_1.stl" file="Index_bones/Pinky_1.stl" />
+    <mesh name="Pinky_2.stl" file="Index_bones/Pinky_2.stl" />
+    <mesh name="Pinky_3.stl" file="Index_bones/Pinky_3.stl" />
+    <mesh name="Pinky_4.stl" file="Index_bones/Pinky_4.stl" />
+    <mesh name="Pinky_J1.stl" file="Index_bones/Pinky_J1.stl" />
+    <mesh name="Pinky_J2.stl" file="Index_bones/Pinky_J2.stl" />
+    <mesh name="Pinky_J3.stl" file="Index_bones/Pinky_J3.stl" />
+    <mesh name="Thumb_1.stl" file="Index_bones/Thumb_1.stl" />
+    <mesh name="Thumb_2.stl" file="Index_bones/Thumb_2.stl" />
+    <mesh name="Thumb_3.stl" file="Index_bones/Thumb_3.stl" />
+    <mesh name="Thumb_J1.stl" file="Index_bones/Thumb_J1.stl" />
+    <mesh name="Thumb_J2.stl" file="Index_bones/Thumb_J2.stl" />
+    <mesh name="Thumb_J3.stl" file="Index_bones/Thumb_J3.stl" />
+
+    <!-- Abdomen phantom -->
+    <material name="aorta"
+      rgba="1.000000 0.750000 0.750000 1.000000" />
+    <material name="cava"
+      rgba="0.500000 0.500000 1.000000 1.000000" />
+    <material name="fat" specular="0.25" shininess="0.1"
+      rgba="1.000000 1.000000 0.650000 1.000000" />
+    <material name="inner_spine"
+      rgba="1.000000 1.000000 1.000000 1.000000" />
+    <material name="liver"
+      rgba="0.500000 0.250000 0.250000 1.000000" />
+    <material name="liver lesion"
+      rgba="0.800000 0.250000 0.250000 1.000000" />
+    <material name="muscle"
+      rgba="1.000000 0.500000 0.500000 1.000000" />
+    <material name="outer_spine"
+      rgba="1.000000 1.000000 0.850000 1.000000" />
+    <material name="portal_vein"
+      rgba="0.750000 0.250000 0.250000 1.000000" />
+    <material name="ribs"
+      rgba="1.000000 1.000000 0.850000 1.000000" />
+    <material name="right_kidney"
+      rgba="0.800000 0.400000 0.400000 1.000000" />
+    <mesh class="phantom" file="phantom-assets/right_kidney.obj" />
+    <mesh class="phantom" file="phantom-assets/ribs.obj" />
+    <mesh class="phantom" file="phantom-assets/portal_vein.obj" />
+    <mesh class="phantom" file="phantom-assets/outer_spine.obj" />
+    <mesh class="phantom" file="phantom-assets/muscle.obj" />
+    <mesh class="phantom" file="phantom-assets/liver.obj" />
+    <mesh class="phantom" file="phantom-assets/inner_spine.obj" />
+    <mesh class="phantom" file="phantom-assets/fat.obj" />
+    <mesh class="phantom" file="phantom-assets/cava.obj" />
+    <mesh class="phantom" file="phantom-assets/aorta.obj" />
+  </asset>
+
+  <equality>
+    <weld body1="right_hand_mocap" body2="right_hand" />
+    <weld body1="left_hand_mocap" body2="left_hand" />
+  </equality>
+
+  <worldbody>
+    <light name="//unnamed_light_0" directional="true" castshadow="false" pos="0 0 5"
+      diffuse="0.4 0.4 0.4" specular="0.1 0.1 0.1" />
+    <light name="//unnamed_light_1" pos="0 0 4" diffuse="0.6 0.6 0.6" specular="0.2 0.2 0.2" />
+    <geom name="floor" type="plane" conaffinity="1" size="10 10 0.1" material="grid" />
+
+    <body name="right_hand_mocap" mocap="true" pos="0 0 1.02">
+      <!-- <geom type="box" size=".02 .03 .03" contype="0" conaffinity="0" /> -->
+    </body>
+    <body name="right_hand" pos="0 0 1">
+      <freejoint name="Right_Freejoint" />
+      <geom type="sphere" size=".02" contype="0" conaffinity="0" />
+      <body name="Right_Palm" pos="0 0 0">
+        <body name="Right_Palm_Right" pos="0 0 0" euler="0 -1.57 -1.57">
+          <geom name="Right_Palm2" type="mesh" contype="0" conaffinity="0" rgba="1 0.5 0.5 0.4"
+            mesh="Palm.stl" />
+          <!-- <geom name="Right_Thumb_J3.stl_collision" class="collision_primitive" type="box"
+            size="0.04521 0.01533 0.01799" pos="0.001582 0.001007 -0.003056" euler="0 0 0" /> -->
+          <geom name="Right_Palm_collision" class="collision_primitive" type="box"
+            size="0.006 0.033 0.026" pos="-0.005 -0.03 0.003" euler="1.4 0 1.6" group="5" />
+          <body name="right_hand_palm" pos="0 0 0">
+            <site name="right_root" rgba="0 1 0 1" size="0.01" />
+            <!-- <light name="light" mode="trackcom" pos="0 0 3" /> -->
+            <body name="Right_Index_1.stl" pos="0.02226 -0.03852 0.004734">
+              <geom name="Right_Index_1.stl" class="bone" group="1" pos="-0.02226 0.03852 -0.004734"
+                mesh="Index_1.stl" />
+              <!-- <geom name="Right_Index_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.006548 0.01119" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Index_J1.stl" pos="0.00227 -0.01802 0.004302">
+                <geom name="Right_Index_J1.stl" class="bone" group="1"
+                  pos="-0.02453 0.05654 -0.009037"
+                  mesh="Index_J1.stl" />
+                <body name="Right_Index_2.stl" pos="0.001246 -0.0129 0.002785">
+                  <geom name="Right_Index_2.stl" class="bone" group="1"
+                    pos="-0.02578 0.06944 -0.01182"
+                    mesh="Index_2.stl" />
+                  <geom name="Right_Index_2.stl_collision" class="collision_primitive"
+                    size="0.005752 0.008655" pos="0 0 0" euler="1.3 0.12 1.6" />
+                  <body name="Right_Index_J2.stl" pos="0.001513 -0.01288 0.003559">
+                    <geom name="Right_Index_J2.stl" class="bone" group="1"
+                      pos="-0.02729 0.08233 -0.01538"
+                      mesh="Index_J2.stl" />
+                    <body name="Right_Index_3.stl" pos="0.0009469 -0.008548 0.002118">
+                      <geom name="Right_Index_3.stl" class="bone" group="1"
+                        pos="-0.02824 0.09087 -0.0175"
+                        mesh="Index_3.stl" />
+                      <geom name="Right_Index_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.006655" pos="0 0 0" euler="1.3 0.12 1.6" />
+                      <body name="Right_Index_J3.stl" pos="0.001143 -0.009198 0.002695">
+                        <geom name="Right_Index_J3.stl" class="bone" group="1"
+                          pos="-0.02938 0.1001 -0.02019" mesh="Index_J3.stl" />
+                        <body name="Right_Index_4.stl" pos="0.0002737 -0.003719 0.0008389">
+                          <site name="RightforSensor" type="capsule" group="3" size="0.004 0.004014"
+                            pos="0 -0.001 -0.002" euler="1.3 0.12 1.6" />
+                          <geom name="Right_Index_4.stl" class="bone" group="1"
+                            pos="-0.02966 0.1038 -0.02103" mesh="Index_4.stl" />
+                          <geom name="Right_Index_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004014" pos="0 0 0" euler="1.3 0.12 1.6" />
+                        </body>
+                        <joint name="Right_Index_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Index_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Index_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_2" pos="0 0 0">
+            <body name="Right_Middle_1.stl" pos="0.00489 -0.0447 0.004943">
+              <geom name="Right_Middle_1.stl" class="bone" group="1" pos="-0.00489 0.0447 -0.004943"
+                mesh="Middle_1.stl" />
+              <!-- <geom name="Right_Middle_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.00603 0.01342" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Middle_J1.stl" pos="-0.001068 -0.02163 0.005161">
+                <geom name="Right_Middle_J1.stl" class="bone" group="1"
+                  pos="-0.003822 0.06633 -0.0101"
+                  mesh="Middle_J1.stl" />
+                <body name="Right_Middle_2.stl" pos="0.000714 -0.0154 0.003356">
+                  <geom name="Right_Middle_2.stl" class="bone" group="1"
+                    pos="-0.004536 0.08173 -0.01346"
+                    mesh="Middle_2.stl" />
+                  <geom name="Right_Middle_2.stl_collision" class="collision_primitive"
+                    size="0.006232 0.01032" pos="0 0 0" euler="1.3 0 1.6" />
+                  <body name="Right_Middle_J2.stl" pos="-7.813e-05 -0.01543 0.00427">
+                    <geom name="Right_Middle_J2.stl" class="bone" group="1"
+                      pos="-0.004457 0.09716 -0.01773"
+                      mesh="Middle_J2.stl" />
+                    <body name="Right_Middle_3.stl" pos="-0.0001241 -0.01023 0.002545">
+                      <geom name="Right_Middle_3.stl" class="bone" group="1"
+                        pos="-0.004333 0.1074 -0.02027"
+                        mesh="Middle_3.stl" />
+                      <geom name="Right_Middle_3.stl_collision" class="collision_primitive"
+                        size="0.0055 0.00792" pos="0 0 0" euler="1.3 0 1.6" />
+                      <body name="Right_Middle_J3.stl" pos="2.234e-05 -0.01103 0.00323">
+                        <geom name="Right_Middle_J3.stl" class="bone" group="1"
+                          pos="-0.004356 0.1184 -0.0235" mesh="Middle_J3.stl" />
+                        <body name="Right_Middle_4.stl" pos="-0.000219 -0.004432 0.001011">
+                          <site name="RightforSensorMiddle_4.stl" type="capsule" group="3"
+                            size="0.0045 0.004789"
+                            pos="0 -0.001 -0.002" euler="1.3 0 1.6" />
+                          <geom name="Right_Middle_4.stl" class="bone" group="1"
+                            pos="-0.004137 0.1229 -0.02452" mesh="Middle_4.stl" />
+                          <geom name="Right_Middle_4.stl_collision" class="collision_primitive"
+                            size="0.0045 0.004789" pos="0 0 0" euler="1.3 0 1.6" />
+                        </body>
+                        <joint name="Right_Middle_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Middle_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Middle_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_3" pos="0 0 0">
+            <body name="Right_Annular_1.stl" pos="-0.01433 -0.0433 0.00541">
+              <geom name="Right_Annular_1.stl" class="bone" group="1" pos="0.01433 0.0433 -0.00541"
+                mesh="Annular_1.stl" />
+              <!-- <geom name="Right_Annular_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.006171 0.01286" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Annular_J1.stl" pos="-0.001102 -0.01956 0.00523">
+                <geom name="Right_Annular_J1.stl" class="bone" group="1"
+                  pos="0.01544 0.06286 -0.01064"
+                  mesh="Annular_J1.stl" />
+                <body name="Right_Annular_2.stl" pos="-0.001203 -0.01394 0.003432">
+                  <geom name="Right_Annular_2.stl" class="bone" group="1"
+                    pos="0.01664 0.0768 -0.01407"
+                    mesh="Annular_2.stl" />
+                  <geom name="Right_Annular_2.stl_collision" class="collision_primitive"
+                    size="0.005781 0.009836" pos="0 0 0" euler="1.3 -0.05 1.6" />
+                  <body name="Right_Annular_J2.stl" pos="-0.00107 -0.01442 0.004259">
+                    <geom name="Right_Annular_J2.stl" class="bone" group="1"
+                      pos="0.01771 0.09122 -0.01833"
+                      mesh="Annular_J2.stl" />
+                    <body name="Right_Annular_3.stl" pos="-0.000481 -0.00878 0.002575">
+                      <geom name="Right_Annular_3.stl" class="bone" group="1"
+                        pos="0.01819 0.1 -0.02091"
+                        mesh="Annular_3.stl" />
+                      <geom name="Right_Annular_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.007487" pos="0 0 0" euler="1.3 -0.05 1.6" />
+                      <body name="Right_Annular_J3.stl" pos="-0.0005647 -0.009967 0.003212">
+                        <geom name="Right_Annular_J3.stl" class="bone" group="1"
+                          pos="0.01875 0.11 -0.02412"
+                          mesh="Annular_J3.stl" />
+                        <body name="Right_Annular_4.stl" pos="-0.0004367 -0.003999 0.00103">
+                          <site name="RightforSensorAnnular_4.stl" type="capsule" group="3"
+                            size="0.004 0.004495"
+                            pos="0 -0.001 -0.002" euler="1.3 -0.05 1.6" />
+                          <geom name="Right_Annular_4.stl" class="bone" group="1"
+                            pos="0.01919 0.114 -0.02515" mesh="Annular_4.stl" />
+                          <geom name="Right_Annular_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004495" pos="0 0 0" euler="1.3 -0.05 1.6" />
+                        </body>
+                        <joint name="Right_Annular_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Annular_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Annular_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_4" pos="0 0 0">
+            <body name="Right_Pinky_1.stl" pos="-0.02988 -0.03668 0.001252">
+              <geom name="Right_Pinky_1.stl" class="bone" group="1" pos="0.02988 0.03668 -0.001252"
+                mesh="Pinky_1.stl" />
+              <!-- <geom name="Right_Pinky_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.005328 0.007868" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Pinky_J1.stl" pos="-0.002258 -0.01362 0.002654">
+                <geom name="Right_Pinky_J1.stl" class="bone" group="1"
+                  pos="0.03214 0.0503 -0.003906"
+                  mesh="Pinky_J1.stl" />
+                <body name="Right_Pinky_2.stl" pos="-0.001899 -0.009659 0.001693">
+                  <geom name="Right_Pinky_2.stl" class="bone" group="1"
+                    pos="0.03404 0.05996 -0.005599"
+                    mesh="Pinky_2.stl" />
+                  <geom name="Right_Pinky_2.stl_collision" class="collision_primitive"
+                    size="0.004725 0.006113" pos="0 0 0" euler="1.3 -0.12 1.6" />
+                  <body name="Right_Pinky_J2.stl" pos="-0.001679 -0.009733 0.002265">
+                    <geom name="Right_Pinky_J2.stl" class="bone" group="1"
+                      pos="0.03572 0.06969 -0.007864"
+                      mesh="Pinky_J2.stl" />
+                    <body name="Right_Pinky_3.stl" pos="-0.001162 -0.006436 0.001322">
+                      <geom name="Right_Pinky_3.stl" class="bone" group="1"
+                        pos="0.03688 0.07612 -0.009186"
+                        mesh="Pinky_3.stl" />
+                      <geom name="Right_Pinky_3.stl_collision" class="collision_primitive"
+                        size="0.004 0.004" pos="0 0 0" euler="1.3 -0.12 1.6" />
+                      <body name="Right_Pinky_J3.stl" pos="-0.001148 -0.006969 0.00173">
+                        <geom name="Right_Pinky_J3.stl" class="bone" group="1"
+                          pos="0.03803 0.08309 -0.01092" mesh="Pinky_J3.stl" />
+                        <body name="Right_Pinky_4.stl" pos="-0.0006076 -0.002766 0.0005188">
+                          <site name="RightforSensorPinky_4.stl" type="capsule" group="3"
+                            size="0.0035 0.002884"
+                            pos="0 -0.001 -0.0015" euler="1.3 -0.12 1.6" />
+                          <geom name="Right_Pinky_4.stl" class="bone" group="1"
+                            pos="0.03864 0.08586 -0.01144" mesh="Pinky_4.stl" />
+                          <geom name="Right_Pinky_4.stl_collision" class="collision_primitive"
+                            size="0.0035 0.002884" pos="0 0 0" euler="1.3 -0.12 1.6" />
+                        </body>
+                        <joint name="Right_Pinky_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Pinky_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Pinky_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_5" pos="0 0 0">
+            <body name="Right_Thumb_J1.stl" pos="0.03785 -0.01644 -0.01504">
+              <geom name="Right_Thumb_J1.stl" class="bone" group="1" pos="-0.03785 0.01644 0.01504"
+                mesh="Thumb_J1.stl" />
+              <body name="Right_Thumb_1.stl" pos="0.003528 -0.01538 -0.0001513">
+                <geom name="Right_Thumb_1.stl" class="bone" group="1" pos="-0.04137 0.03181 0.01519"
+                  mesh="Thumb_1.stl" />
+                <geom name="Right_Thumb_1.stl_collision" class="collision_primitive"
+                  size="0.006 0.01" pos="0 0 0" euler="1.6 0.3 1" />
+
+                <body name="Right_Thumb_J2.stl" pos="0.005477 -0.01727 -0.0001513">
+                  <geom name="Right_Thumb_J2.stl" class="bone" group="1"
+                    pos="-0.04685 0.04908 0.01535"
+                    mesh="Thumb_J2.stl" />
+                  <body name="Right_Thumb_2.stl" pos="0.00245 -0.01045 -7.773e-05">
+                    <geom name="Right_Thumb_2.stl" class="bone" group="1"
+                      pos="-0.0493 0.05954 0.01542"
+                      mesh="Thumb_2.stl" />
+                    <geom name="Right_Thumb_2.stl_collision" class="collision_primitive"
+                      size="0.005 0.006" pos="0 0 0" euler="1.6 0.3 1" />
+
+                    <body name="Right_Thumb_J3.stl" pos="0.003281 -0.01252 -6.956e-05">
+                      <geom name="Right_Thumb_J3.stl" class="bone" group="1"
+                        pos="-0.05258 0.07206 0.01549"
+                        mesh="Thumb_J3.stl" />
+                      <body name="Right_Thumb_3.stl" pos="0.001609 -0.004174 3.497e-05">
+                        <site name="RightforSensorThumb_3.stl" type="capsule" group="3"
+                          size="0.0042 0.005762" pos="0.0 -0.003 0" euler="1.6 0.3 1" />
+                        <geom name="Right_Thumb_3.stl" class="bone" group="1"
+                          pos="-0.05419 0.07623 0.01546"
+                          mesh="Thumb_3.stl" />
+                        <geom name="Right_Thumb_3.stl_collision" class="collision_primitive"
+                          type="capsule"
+                          size="0.004 0.005" pos="0.001 -0.002 0" euler="1.6 0.3 1" />
+                      </body>
+                      <joint name="Right_Thumb_J3.stl" class="f" pos="0 0 0" axis="0 0 -1" />
+                    </body>
+                  </body>
+                  <joint name="Right_Thumb_J2.stl" class="f" pos="0 0 0" axis="0 0 -1" />
+                </body>
+              </body>
+              <joint name="Right_Thumb_J1.stl" class="f" pos="0.01 0.01 0.01" axis="1 0 -0.1" />
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <body name="left_hand_mocap" mocap="true" pos="0 0 1.02">
+      <!-- <geom type="box" size=".02 .03 .03" contype="0" conaffinity="0" /> -->
+    </body>
+    <body name="left_hand" pos="0 0 1">
+      <freejoint name="Left_Freejoint" />
+      <geom type="sphere" size=".02" contype="0" conaffinity="0" />
+      <body name="Left_Palm" pos="0 0 0">
+        <body name="Left_Palm_Left" pos="0 0 0" euler="0 1.57 1.27">
+          <geom name="Left_Palm2" type="mesh" contype="0" conaffinity="0" rgba="1 0.5 0.5 0.4"
+            mesh="Palm.stl" euler="0 3.14 0" />
+          <!-- <geom name="Left_Thumb_J3.stl_collision" class="collision_primitive" type="box"
+            size="0.04521 0.01533 0.01799" pos="0.001582 0.001007 -0.003056" euler="0 0 0" /> -->
+          <geom name="Left_Palm_collision" class="collision_primitive" type="box"
+            size="0.006 0.033 0.026" pos="0.005 -0.025 0.005" euler="-1.4 0 1.6" group="5" />
+          <body name="left_hand_palm" pos="0 0 0">
+            <site name="left_root" rgba="0 1 0 1" size="0.01" />
+            <light name="light" mode="trackcom" pos="0 0 3" />
+
+            <body name="Left_Index_1.stl" pos="-0.02226 -0.03852 0.004734">
+              <geom name="Left_Index_1.stl" class="bone" group="1" pos="0.02226 0.03852 0.004734"
+                mesh="Index_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Index_J1.stl" pos="-0.00227 -0.01802 -0.004302">
+                <geom name="Left_Index_J1.stl" class="bone" group="1"
+                  pos="-0.02453 0.05654 -0.009037"
+                  mesh="Index_J1.stl" />
+                <body name="Left_Index_2.stl" pos="-0.001246 -0.0129 -0.002785">
+                  <geom name="Left_Index_2.stl" class="bone" group="1" pos="0.02578 0.06944 0.01182"
+                    mesh="Index_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Index_2.stl_collision" class="collision_primitive"
+                    size="0.005752 0.008655" pos="0 0 0" euler="1.84 -0.12 1.6" />
+
+                  <body name="Left_Index_J2.stl" pos="-0.001513 -0.01288 -0.003559">
+                    <geom name="Left_Index_J2.stl" class="bone" group="1"
+                      pos="-0.02729 0.08233 -0.01538"
+                      mesh="Index_J2.stl" />
+                    <body name="Left_Index_3.stl" pos="-0.0009469 -0.008548 -0.002118">
+                      <geom name="Left_Index_3.stl" class="bone" group="1"
+                        pos="0.02824 0.09087 0.0175"
+                        mesh="Index_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Index_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.006655" pos="0 0 0" euler="1.84 -0.12 1.6" />
+
+                      <body name="Left_Index_J3.stl" pos="-0.001143 -0.009198 -0.002695">
+                        <geom name="Left_Index_J3.stl" class="bone" group="1"
+                          pos="-0.02938 0.1001 -0.02019" mesh="Index_J3.stl" />
+                        <body name="Left_Index_4.stl" pos="-0.0002737 -0.003719 -0.0008389">
+                          <site name="LeftforSensor" type="capsule" group="3" size="0.004 0.004014"
+                            pos="0 -0.001 -0.002" euler="1.84 -0.12 1.6" />
+                          <geom name="Left_Index_4.stl" class="bone" group="1"
+                            pos="0.02966 0.1038 0.02103" mesh="Index_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Index_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004014" pos="0 0 0" euler="1.84 -0.12 1.6" />
+
+                        </body>
+                        <joint name="Left_Index_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Index_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Index_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_2" pos="0 0 0">
+            <body name="Left_Middle_1.stl" pos="-0.00489 -0.0447 0.004943">
+              <geom name="Left_Middle_1.stl" class="bone" group="1" pos="0.00489 0.0447 0.004943"
+                mesh="Middle_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Middle_J1.stl" pos="0.001068 -0.02163 -0.005161">
+                <geom name="Left_Middle_J1.stl" class="bone" group="1"
+                  pos="-0.003822 0.06633 -0.0101"
+                  mesh="Middle_J1.stl" />
+                <body name="Left_Middle_2.stl" pos="-0.000714 -0.0154 -0.003356">
+                  <geom name="Left_Middle_2.stl" class="bone" group="1"
+                    pos="0.004536 0.08173 0.01346"
+                    mesh="Middle_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Middle_2.stl_collision" class="collision_primitive"
+                    size="0.006232 0.01032" pos="0 0 0" euler="1.84 0 1.6" />
+
+                  <body name="Left_Middle_J2.stl" pos="7.813e-05 -0.01543 -0.00427">
+                    <geom name="Left_Middle_J2.stl" class="bone" group="1"
+                      pos="-0.004457 0.09716 -0.01773"
+                      mesh="Middle_J2.stl" />
+                    <body name="Left_Middle_3.stl" pos="0.0001241 -0.01023 -0.002545">
+                      <geom name="Left_Middle_3.stl" class="bone" group="1"
+                        pos="0.004333 0.1074 0.02027"
+                        mesh="Middle_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Middle_3.stl_collision" class="collision_primitive"
+                        size="0.0055 0.00792" pos="0 0 0" euler="1.84 0 1.6" />
+
+                      <body name="Left_Middle_J3.stl" pos="-2.234e-05 -0.01103 -0.00323">
+                        <geom name="Left_Middle_J3.stl" class="bone" group="1"
+                          pos="-0.004356 0.1184 -0.0235" mesh="Middle_J3.stl" />
+                        <body name="Left_Middle_4.stl" pos="0.000219 -0.004432 -0.001011">
+                          <site name="LeftforSensorMiddle_4.stl" type="capsule" group="3"
+                            size="0.0045 0.004789"
+                            pos="0 -0.001 -0.002" euler="1.84 0 1.6" />
+                          <geom name="Left_Middle_4.stl" class="bone" group="1"
+                            pos="0.004137 0.1229 0.02452" mesh="Middle_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Middle_4.stl_collision" class="collision_primitive"
+                            size="0.0045 0.004789" pos="0 0 0" euler="1.84 0 1.6" />
+                        </body>
+                        <joint name="Left_Middle_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Middle_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Middle_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_3" pos="0 0 0">
+            <body name="Left_Annular_1.stl" pos="0.01433 -0.0433 0.00541">
+              <geom name="Left_Annular_1.stl" class="bone" group="1" pos="-0.01433 0.0433 0.00541"
+                mesh="Annular_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Annular_J1.stl" pos="0.001102 -0.01956 -0.00523">
+                <geom name="Left_Annular_J1.stl" class="bone" group="1"
+                  pos="0.01544 0.06286 -0.01064"
+                  mesh="Annular_J1.stl" />
+                <body name="Left_Annular_2.stl" pos="0.001203 -0.01394 -0.003432">
+                  <geom name="Left_Annular_2.stl" class="bone" group="1"
+                    pos="-0.01664 0.0768 0.01407"
+                    mesh="Annular_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Annular_2.stl_collision" class="collision_primitive"
+                    size="0.005781 0.009836" pos="0 0 0" euler="1.84 0.05 1.6" />
+
+                  <body name="Left_Annular_J2.stl" pos="0.00107 -0.01442 -0.004259">
+                    <geom name="Left_Annular_J2.stl" class="bone" group="1"
+                      pos="0.01771 0.09122 -0.01833"
+                      mesh="Annular_J2.stl" />
+                    <body name="Left_Annular_3.stl" pos="0.000481 -0.00878 -0.002575">
+                      <geom name="Left_Annular_3.stl" class="bone" group="1"
+                        pos="-0.01819 0.1 0.02091"
+                        mesh="Annular_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Annular_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.007487" pos="0 0 0" euler="1.84 0.05 1.6" />
+
+                      <body name="Left_Annular_J3.stl" pos="0.0005647 -0.009967 -0.003212">
+                        <geom name="Left_Annular_J3.stl" class="bone" group="1"
+                          pos="0.01875 0.11 -0.02412"
+                          mesh="Annular_J3.stl" />
+                        <body name="Left_Annular_4.stl" pos="0.0004367 -0.003999 -0.00103">
+                          <site name="LeftforSensorAnnular_4.stl" type="capsule" group="3"
+                            size="0.004 0.004495"
+                            pos="0 -0.001 -0.002" euler="1.84 0.05 1.6" />
+                          <geom name="Left_Annular_4.stl" class="bone" group="1"
+                            pos="-0.01919 0.114 0.02515" mesh="Annular_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Annular_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004495" pos="0 0 0" euler="1.84 0.05 1.6" />
+                        </body>
+                        <joint name="Left_Annular_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Annular_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Annular_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_4" pos="0 0 0">
+            <body name="Left_Pinky_1.stl" pos="0.02988 -0.03668 0.001252">
+              <geom name="Left_Pinky_1.stl" class="bone" group="1" pos="-0.02988 0.03668 0.001252"
+                mesh="Pinky_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Pinky_J1.stl" pos="0.002258 -0.01362 -0.002654">
+                <geom name="Left_Pinky_J1.stl" class="bone" group="1" pos="0.03214 0.0503 -0.003906"
+                  mesh="Pinky_J1.stl" />
+                <body name="Left_Pinky_2.stl" pos="0.001899 -0.009659 -0.001693">
+                  <geom name="Left_Pinky_2.stl" class="bone" group="1"
+                    pos="-0.03404 0.05996 0.005599"
+                    mesh="Pinky_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Pinky_2.stl_collision" class="collision_primitive"
+                    size="0.004725 0.006113" pos="0 0 0" euler="1.84 0.12 1.6" />
+
+                  <body name="Left_Pinky_J2.stl" pos="0.001679 -0.009733 -0.002265">
+                    <geom name="Left_Pinky_J2.stl" class="bone" group="1"
+                      pos="0.03572 0.06969 -0.007864"
+                      mesh="Pinky_J2.stl" />
+                    <body name="Left_Pinky_3.stl" pos="0.001162 -0.006436 -0.001322">
+                      <geom name="Left_Pinky_3.stl" class="bone" group="1"
+                        pos="-0.03688 0.07612 0.009186"
+                        mesh="Pinky_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Pinky_3.stl_collision" class="collision_primitive"
+                        size="0.004 0.004" pos="0 0 0" euler="1.84 0.12 1.6" />
+
+                      <body name="Left_Pinky_J3.stl" pos="0.001148 -0.006969 -0.00173">
+                        <geom name="Left_Pinky_J3.stl" class="bone" group="1"
+                          pos="0.03803 0.08309 -0.01092" mesh="Pinky_J3.stl" />
+                        <body name="Left_Pinky_4.stl" pos="0.0006076 -0.002766 -0.0005188">
+                          <site name="LeftforSensorPinky_4.stl" type="capsule" group="3"
+                            size="0.0035 0.002884"
+                            pos="0 -0.001 -0.0015" euler="1.84 0.12 1.6" />
+                          <geom name="Left_Pinky_4.stl" class="bone" group="1"
+                            pos="-0.03864 0.08586 0.01144" mesh="Pinky_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Pinky_4.stl_collision" class="collision_primitive"
+                            size="0.0035 0.002884" pos="0 0 0" euler="1.84 0.12 1.6" />
+                        </body>
+                        <joint name="Left_Pinky_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Pinky_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Pinky_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_5" pos="0 0 0">
+            <body name="Left_Thumb_J1.stl" pos="-0.03785 -0.01644 -0.01504">
+              <geom name="Left_Thumb_J1.stl" class="bone" group="1" pos="-0.03785 0.01644 0.01504"
+                mesh="Thumb_J1.stl" />
+              <body name="Left_Thumb_1.stl" pos="-0.003528 -0.01538 0.0001513">
+                <geom name="Left_Thumb_1.stl" class="bone" group="1" pos="0.04137 0.03181 -0.01519"
+                  mesh="Thumb_1.stl" euler="0 3.14 0" />
+                <geom name="Left_Thumb_1.stl_collision" class="collision_primitive"
+                  size="0.006 0.01" euler="-1.54 0.3 1" />
+
+                <body name="Left_Thumb_J2.stl" pos="-0.005477 -0.01727 0.0001513">
+                  <geom name="Left_Thumb_J2.stl" class="bone" group="1"
+                    pos="-0.04685 0.04908 0.01535"
+                    mesh="Thumb_J2.stl" />
+                  <body name="Left_Thumb_2.stl" pos="-0.00245 -0.01045 7.773e-05">
+                    <geom name="Left_Thumb_2.stl" class="bone" group="1"
+                      pos="0.0493 0.05954 -0.01542"
+                      mesh="Thumb_2.stl" euler="0 3.14 0" />
+                    <geom name="Left_Thumb_2.stl_collision" class="collision_primitive"
+                      size="0.005 0.006" euler="-1.54 0.3 1" />
+
+                    <body name="Left_Thumb_J3.stl" pos="-0.003281 -0.01252 6.956e-05">
+                      <geom name="Left_Thumb_J3.stl" class="bone" group="1"
+                        pos="-0.05258 0.07206 0.01549"
+                        mesh="Thumb_J3.stl" />
+                      <body name="Left_Thumb_3.stl" pos="-0.001609 -0.004174 -3.497e-05">
+                        <site name="LeftforSensorThumb_3.stl" type="capsule" group="3"
+                          size="0.0042 0.005762" pos="0.002 0 0" euler="-1.54 0.3 1" />
+                        <geom name="Left_Thumb_3.stl" class="bone" group="1"
+                          pos="0.05419 0.07623 -0.01546"
+                          mesh="Thumb_3.stl" euler="0 3.14 0" />
+                        <geom name="Left_Thumb_3.stl_collision" class="collision_primitive"
+                          type="capsule"
+                          size="0.004 0.005" euler="-1.54 0.3 1" />
+                      </body>
+                      <joint name="Left_Thumb_J3.stl" class="f" pos="0 0 0" axis="0 0 1" />
+                    </body>
+                  </body>
+                  <joint name="Left_Thumb_J2.stl" class="f" pos="0 0 0" axis="0 0 1" />
+                </body>
+              </body>
+              <joint name="Left_Thumb_J1.stl" class="f" pos="0.01 0.01 0.01" axis="1 0 -0.1" />
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <frame pos=".1 0 1.3" euler="0 0 3.14">
+      <body name="abdomen phantom" childclass="phantom">
+        <!-- Only visual for now until convex hull -->
+        <geom mesh="right_kidney" material="right_kidney" class="visual" />
+        <geom mesh="ribs" material="ribs" class="visual" />
+        <geom mesh="portal_vein" material="portal_vein" class="visual" />
+        <geom mesh="outer_spine" material="outer_spine" class="visual" />
+        <geom mesh="muscle" material="muscle" class="visual" />
+        <!-- <geom mesh="liver" material="liver" class="visual" /> -->
+        <geom mesh="inner_spine" material="inner_spine" class="visual" />
+        <geom mesh="fat" material="fat" class="visual" />
+        <geom mesh="cava" material="cava" class="visual" />
+        <geom mesh="aorta" material="aorta" class="visual" />
+      </body>
+
+      <!-- 可变形物体（flexcomp）：已启用；如出现数值不稳定可调 timestep/solver 等 -->
+      <flexcomp name="left kidney normal" type="gmsh" dim="3" pos=".1 -.09 1.45" euler="0 0 3.14"
+        file="phantom-assets/left kidney_converted_vol.msh" scale="3 3 3" material="right_kidney">
+        <edge equality="true" />
+        <pin id="47 38 58" />
+        <contact condim="3" solref="0.01 1" solimp=".95 .99 .001"
+          contype="2" conaffinity="1" />
+      </flexcomp>
+
+      <flexcomp name="liver cibrosis" pos=".1 0 1.3" euler="1.57 0 3.14" type="gmsh" dim="3"
+        file="phantom-assets/liver_converted_vol.msh" scale="3 3 3" material="liver">
+        <edge equality="true" damping="1" />
+        <pin id="126 79 66 98 80 101" />
+        <contact condim="3" solref="0.01 1" solimp=".95 .99 .001"
+          contype="2" conaffinity="1" />
+      </flexcomp>
+
+      <flexcomp name="liver lesion" type="ellipsoid" count="4 4 4" spacing=".012 .012 .012"
+        pos=".15 0 1.4"
+        radius=".001" dim="3" mass="5" material="liver lesion">
+        <contact condim="3" solref="0.01 1" solimp=".95 .99 .001"
+          contype="2" conaffinity="1" />
+        <edge equality="true" damping="1" />
+      </flexcomp>
+    </frame>
+
+  </worldbody>
+
+  <actuator>
+    <intvelocity name="Right_Index_J1.stl" class="f" joint="Right_Index_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Index_J2.stl" class="f" joint="Right_Index_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Index_J3.stl" class="f" joint="Right_Index_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Middle_J1.stl" class="f" joint="Right_Middle_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Middle_J2.stl" class="f" joint="Right_Middle_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Middle_J3.stl" class="f" joint="Right_Middle_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Annular_J1.stl" class="f" joint="Right_Annular_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Annular_J2.stl" class="f" joint="Right_Annular_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Annular_J3.stl" class="f" joint="Right_Annular_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Pinky_J1.stl" class="f" joint="Right_Pinky_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Pinky_J2.stl" class="f" joint="Right_Pinky_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Pinky_J3.stl" class="f" joint="Right_Pinky_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Thumb_J1.stl" class="f" joint="Right_Thumb_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Thumb_J2.stl" class="f" joint="Right_Thumb_J2.stl"
+      kp="10000" kv="10" actrange="0 2" />
+    <intvelocity name="Right_Thumb_J3.stl" class="f" joint="Right_Thumb_J3.stl"
+      kp="10000" kv="10" actrange="0 2" />
+
+    <intvelocity name="Left_Index_J1.stl" class="f" joint="Left_Index_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Index_J2.stl" class="f" joint="Left_Index_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Index_J3.stl" class="f" joint="Left_Index_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Middle_J1.stl" class="f" joint="Left_Middle_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Middle_J2.stl" class="f" joint="Left_Middle_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Middle_J3.stl" class="f" joint="Left_Middle_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Annular_J1.stl" class="f" joint="Left_Annular_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Annular_J2.stl" class="f" joint="Left_Annular_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Annular_J3.stl" class="f" joint="Left_Annular_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Pinky_J1.stl" class="f" joint="Left_Pinky_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Pinky_J2.stl" class="f" joint="Left_Pinky_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Pinky_J3.stl" class="f" joint="Left_Pinky_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Thumb_J1.stl" class="f" joint="Left_Thumb_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Thumb_J2.stl" class="f" joint="Left_Thumb_J2.stl"
+      kp="10000" kv="10" actrange="0 2" />
+    <intvelocity name="Left_Thumb_J3.stl" class="f" joint="Left_Thumb_J3.stl"
+      kp="10000" kv="10" actrange="0 2" />
+  </actuator>
+
+  <sensor>
+    <touch name="right_fingertip_index" site="RightforSensor" />
+    <touch name="right_fingertip_middle" site="RightforSensorMiddle_4.stl" />
+    <touch name="right_fingertip_annular" site="RightforSensorAnnular_4.stl" />
+    <touch name="right_fingertip_pinky" site="RightforSensorPinky_4.stl" />
+    <touch name="right_fingertip_thumb" site="RightforSensorThumb_3.stl" />
+
+    <touch name="left_fingertip_index" site="LeftforSensor" />
+    <touch name="left_fingertip_middle" site="LeftforSensorMiddle_4.stl" />
+    <touch name="left_fingertip_annular" site="LeftforSensorAnnular_4.stl" />
+    <touch name="left_fingertip_pinky" site="LeftforSensorPinky_4.stl" />
+    <touch name="left_fingertip_thumb" site="LeftforSensorThumb_3.stl" />
+  </sensor>
+
+</mujoco>
\ No newline at end of file
diff --git a/tactile/code/assets/MuJoCo hands.xml b/tactile/code/assets/MuJoCo hands.xml
new file mode 100644
index 00000000..add9a4fe
--- /dev/null
+++ b/tactile/code/assets/MuJoCo hands.xml	
@@ -0,0 +1,784 @@
+<mujoco model="hand">
+  <size memory="1G" />
+
+  <compiler angle="radian" />
+
+  <option solver="CG" tolerance="1e-6" timestep=".0014" integrator="implicitfast" jacobian="sparse"
+    noslip_iterations="4">
+    <!-- <flag gravity="disable" /> -->
+  </option>
+
+  <option cone="elliptic" impratio="100" />
+  <!-- <option>
+    <flag multiccd="enable" />
+  </option> -->
+  <!-- <option>
+    <!-- <flag passive="disable" /> -->
+  </option> -->
+
+  <visual>
+    <global offwidth="1920" offheight="1080" />
+    <map znear="0.001" />
+    <scale jointlength="8" jointwidth="0.5" framelength="2" framewidth="0.3" />
+  </visual>
+
+  <statistic meansize="0.01" extent="1" />
+
+  <default>
+    <joint limited="true" range="0 1.8" solreflimit="0.01 1" solimplimit="0.9 0.99 0.01 "
+      stiffness="0.1"
+      armature="0.0001" damping="0.01" />
+    <geom friction="0.9" solref="0.01 1" solimp="0.95 0.99 0.001" />
+    <tendon rgba="0.5 0 0 1" />
+    <general actlimited="true" actrange="0 1.7" />
+    <default class="collision_primitive">
+      <geom type="capsule" contype="1" conaffinity="1" condim="1" group="3" rgba="0 0.5 0.5 1"
+        density="300" friction="1 1 0.0001" />
+    </default>
+    <default class="bone">
+      <geom type="mesh" contype="0" conaffinity="0" group="5" rgba="0.5 0.5 0.5 1" density="1100" />
+      <default class="light_bone">
+        <geom density="300" />
+      </default>
+    </default>
+    <default class="finger">
+      <joint group="1" pos="0.012 0 0.01" armature="0.01" damping="3" />
+      <default class="f">
+        <joint range="-17.5 61.25" />
+        <!-- <general gainprm="20" /> -->
+      </default>
+    </default>
+    <default class="phantom">
+      <mesh scale="3 3 3" />
+      <default class="visual">
+        <geom group="2" type="mesh" contype="0" conaffinity="0" />
+      </default>
+      <default class="collision">
+        <geom group="2" type="mesh" />
+      </default>
+    </default>
+  </default>
+
+  <contact>
+    <exclude body1="right_hand_palm" body2="right_hand_palm_5" />
+    <exclude body1="Right_Index_4.stl" body2="Right_Thumb_2.stl" />
+
+    <exclude body1="Left_Index_4.stl" body2="Left_Thumb_3.stl" />
+    <exclude body1="Left_Index_4.stl" body2="Left_Thumb_2.stl" />
+  </contact>
+
+  <!-- 注意：MuJoCo 3.x 不需要显式声明弹性体插件 -->
+
+  <asset>
+    <texture name="//unnamed_texture_0" type="skybox" builtin="gradient" rgb1="0.6 0.8 0.9"
+      rgb2="0 0 0" width="64" height="64" />
+    <texture name="grid" type="2d" builtin="checker" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4"
+      mark="edge" markrgb="0.2 0.3 0.4" width="300" height="300" />
+    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance="0.2" />
+    <mesh name="Annular_1.stl" file="Index_bones/Annular_1.stl" />
+    <mesh name="Annular_2.stl" file="Index_bones/Annular_2.stl" />
+    <mesh name="Annular_3.stl" file="Index_bones/Annular_3.stl" />
+    <mesh name="Annular_4.stl" file="Index_bones/Annular_4.stl" />
+    <mesh name="Annular_J1.stl" file="Index_bones/Annular_J1.stl" />
+    <mesh name="Annular_J2.stl" file="Index_bones/Annular_J2.stl" />
+    <mesh name="Annular_J3.stl" file="Index_bones/Annular_J3.stl" />
+    <mesh name="Index_1.stl" file="Index_bones/Index_1.stl" />
+    <mesh name="Index_2.stl" file="Index_bones/Index_2.stl" />
+    <mesh name="Index_3.stl" file="Index_bones/Index_3.stl" />
+    <mesh name="Index_4.stl" file="Index_bones/Index_4.stl" />
+    <mesh name="Index_J1.stl" file="Index_bones/Index_J1.stl" />
+    <mesh name="Index_J2.stl" file="Index_bones/Index_J2.stl" />
+    <mesh name="Index_J3.stl" file="Index_bones/Index_J3.stl" />
+    <mesh name="J1.stl" file="Index_bones/J1.stl" />
+    <mesh name="J2.stl" file="Index_bones/J2.stl" />
+    <mesh name="J3.stl" file="Index_bones/J3.stl" />
+    <mesh name="Middle_1.stl" file="Index_bones/Middle_1.stl" />
+    <mesh name="Middle_2.stl" file="Index_bones/Middle_2.stl" />
+    <mesh name="Middle_3.stl" file="Index_bones/Middle_3.stl" />
+    <mesh name="Middle_4.stl" file="Index_bones/Middle_4.stl" />
+    <mesh name="Middle_J1.stl" file="Index_bones/Middle_J1.stl" />
+    <mesh name="Middle_J2.stl" file="Index_bones/Middle_J2.stl" />
+    <mesh name="Middle_J3.stl" file="Index_bones/Middle_J3.stl" />
+    <mesh name="Palm.stl" file="Index_bones/Palm.stl" />
+    <mesh name="Pinky_1.stl" file="Index_bones/Pinky_1.stl" />
+    <mesh name="Pinky_2.stl" file="Index_bones/Pinky_2.stl" />
+    <mesh name="Pinky_3.stl" file="Index_bones/Pinky_3.stl" />
+    <mesh name="Pinky_4.stl" file="Index_bones/Pinky_4.stl" />
+    <mesh name="Pinky_J1.stl" file="Index_bones/Pinky_J1.stl" />
+    <mesh name="Pinky_J2.stl" file="Index_bones/Pinky_J2.stl" />
+    <mesh name="Pinky_J3.stl" file="Index_bones/Pinky_J3.stl" />
+    <mesh name="Thumb_1.stl" file="Index_bones/Thumb_1.stl" />
+    <mesh name="Thumb_2.stl" file="Index_bones/Thumb_2.stl" />
+    <mesh name="Thumb_3.stl" file="Index_bones/Thumb_3.stl" />
+    <mesh name="Thumb_J1.stl" file="Index_bones/Thumb_J1.stl" />
+    <mesh name="Thumb_J2.stl" file="Index_bones/Thumb_J2.stl" />
+    <mesh name="Thumb_J3.stl" file="Index_bones/Thumb_J3.stl" />
+
+    <!-- Abdomen phantom -->
+    <material name="aorta"
+      rgba="1.000000 0.750000 0.750000 1.000000" />
+    <material name="cava"
+      rgba="0.500000 0.500000 1.000000 1.000000" />
+    <material name="fat" specular="0.25" shininess="0.1"
+      rgba="1.000000 1.000000 0.650000 1.000000" />
+    <material name="inner_spine"
+      rgba="1.000000 1.000000 1.000000 1.000000" />
+    <material name="liver"
+      rgba="0.500000 0.250000 0.250000 1.000000" />
+    <material name="muscle"
+      rgba="1.000000 0.500000 0.500000 1.000000" />
+    <material name="outer_spine"
+      rgba="1.000000 1.000000 0.850000 1.000000" />
+    <material name="portal_vein"
+      rgba="0.750000 0.250000 0.250000 1.000000" />
+    <material name="ribs"
+      rgba="1.000000 1.000000 0.850000 1.000000" />
+    <material name="right_kidney"
+      rgba="0.800000 0.400000 0.400000 1.000000" />
+    <mesh class="phantom" file="phantom-assets/right_kidney.obj" />
+    <mesh class="phantom" file="phantom-assets/ribs.obj" />
+    <mesh class="phantom" file="phantom-assets/portal_vein.obj" />
+    <mesh class="phantom" file="phantom-assets/outer_spine.obj" />
+    <mesh class="phantom" file="phantom-assets/muscle.obj" />
+    <mesh class="phantom" file="phantom-assets/liver.obj" />
+    <mesh class="phantom" file="phantom-assets/inner_spine.obj" />
+    <mesh class="phantom" file="phantom-assets/fat.obj" />
+    <mesh class="phantom" file="phantom-assets/cava.obj" />
+    <mesh class="phantom" file="phantom-assets/aorta.obj" />
+  </asset>
+
+  <equality>
+    <weld body1="right_hand_mocap" body2="right_hand" />
+    <weld body1="left_hand_mocap" body2="left_hand" />
+  </equality>
+
+  <worldbody>
+    <light name="//unnamed_light_0" directional="true" castshadow="false" pos="0 0 5"
+      diffuse="0.4 0.4 0.4" specular="0.1 0.1 0.1" />
+    <light name="//unnamed_light_1" pos="0 0 4" diffuse="0.6 0.6 0.6" specular="0.2 0.2 0.2" />
+    <geom name="floor" type="plane" conaffinity="1" size="10 10 0.1" material="grid" />
+
+    <body name="right_hand_mocap" mocap="true" pos="0 0 1.02">
+      <!-- <geom type="box" size=".02 .03 .03" contype="0" conaffinity="0" /> -->
+    </body>
+    <body name="right_hand" pos="0 0 1">
+      <freejoint name="Right_Freejoint" />
+      <geom type="sphere" size=".02" contype="0" conaffinity="0" />
+      <body name="Right_Palm" pos="0 0 0">
+        <body name="Right_Palm_Right" pos="0 0 0" euler="0 -1.57 -1.57">
+          <geom name="Right_Palm2" type="mesh" contype="0" conaffinity="0" rgba="1 0.5 0.5 0.4"
+            mesh="Palm.stl" />
+          <!-- <geom name="Right_Thumb_J3.stl_collision" class="collision_primitive" type="box"
+            size="0.04521 0.01533 0.01799" pos="0.001582 0.001007 -0.003056" euler="0 0 0" /> -->
+          <geom name="Right_Palm_collision" class="collision_primitive" type="box"
+            size="0.006 0.033 0.026" pos="-0.005 -0.03 0.003" euler="1.4 0 1.6" group="5" />
+          <body name="right_hand_palm" pos="0 0 0">
+            <site name="right_root" rgba="0 1 0 1" size="0.01" />
+            <!-- <light name="light" mode="trackcom" pos="0 0 3" /> -->
+            <body name="Right_Index_1.stl" pos="0.02226 -0.03852 0.004734">
+              <geom name="Right_Index_1.stl" class="bone" group="1" pos="-0.02226 0.03852 -0.004734"
+                mesh="Index_1.stl" />
+              <!-- <geom name="Right_Index_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.006548 0.01119" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Index_J1.stl" pos="0.00227 -0.01802 0.004302">
+                <geom name="Right_Index_J1.stl" class="bone" group="1"
+                  pos="-0.02453 0.05654 -0.009037"
+                  mesh="Index_J1.stl" />
+                <body name="Right_Index_2.stl" pos="0.001246 -0.0129 0.002785">
+                  <geom name="Right_Index_2.stl" class="bone" group="1"
+                    pos="-0.02578 0.06944 -0.01182"
+                    mesh="Index_2.stl" />
+                  <geom name="Right_Index_2.stl_collision" class="collision_primitive"
+                    size="0.005752 0.008655" pos="0 0 0" euler="1.3 0.12 1.6" />
+                  <body name="Right_Index_J2.stl" pos="0.001513 -0.01288 0.003559">
+                    <geom name="Right_Index_J2.stl" class="bone" group="1"
+                      pos="-0.02729 0.08233 -0.01538"
+                      mesh="Index_J2.stl" />
+                    <body name="Right_Index_3.stl" pos="0.0009469 -0.008548 0.002118">
+                      <geom name="Right_Index_3.stl" class="bone" group="1"
+                        pos="-0.02824 0.09087 -0.0175"
+                        mesh="Index_3.stl" />
+                      <geom name="Right_Index_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.006655" pos="0 0 0" euler="1.3 0.12 1.6" />
+                      <body name="Right_Index_J3.stl" pos="0.001143 -0.009198 0.002695">
+                        <geom name="Right_Index_J3.stl" class="bone" group="1"
+                          pos="-0.02938 0.1001 -0.02019" mesh="Index_J3.stl" />
+                        <body name="Right_Index_4.stl" pos="0.0002737 -0.003719 0.0008389">
+                          <site name="RightforSensor" type="capsule" group="3" size="0.004 0.004014"
+                            pos="0 -0.001 -0.002" euler="1.3 0.12 1.6" />
+                          <geom name="Right_Index_4.stl" class="bone" group="1"
+                            pos="-0.02966 0.1038 -0.02103" mesh="Index_4.stl" />
+                          <geom name="Right_Index_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004014" pos="0 0 0" euler="1.3 0.12 1.6" />
+                        </body>
+                        <joint name="Right_Index_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Index_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Index_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_2" pos="0 0 0">
+            <body name="Right_Middle_1.stl" pos="0.00489 -0.0447 0.004943">
+              <geom name="Right_Middle_1.stl" class="bone" group="1" pos="-0.00489 0.0447 -0.004943"
+                mesh="Middle_1.stl" />
+              <!-- <geom name="Right_Middle_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.00603 0.01342" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Middle_J1.stl" pos="-0.001068 -0.02163 0.005161">
+                <geom name="Right_Middle_J1.stl" class="bone" group="1"
+                  pos="-0.003822 0.06633 -0.0101"
+                  mesh="Middle_J1.stl" />
+                <body name="Right_Middle_2.stl" pos="0.000714 -0.0154 0.003356">
+                  <geom name="Right_Middle_2.stl" class="bone" group="1"
+                    pos="-0.004536 0.08173 -0.01346"
+                    mesh="Middle_2.stl" />
+                  <geom name="Right_Middle_2.stl_collision" class="collision_primitive"
+                    size="0.006232 0.01032" pos="0 0 0" euler="1.3 0 1.6" />
+                  <body name="Right_Middle_J2.stl" pos="-7.813e-05 -0.01543 0.00427">
+                    <geom name="Right_Middle_J2.stl" class="bone" group="1"
+                      pos="-0.004457 0.09716 -0.01773"
+                      mesh="Middle_J2.stl" />
+                    <body name="Right_Middle_3.stl" pos="-0.0001241 -0.01023 0.002545">
+                      <geom name="Right_Middle_3.stl" class="bone" group="1"
+                        pos="-0.004333 0.1074 -0.02027"
+                        mesh="Middle_3.stl" />
+                      <geom name="Right_Middle_3.stl_collision" class="collision_primitive"
+                        size="0.0055 0.00792" pos="0 0 0" euler="1.3 0 1.6" />
+                      <body name="Right_Middle_J3.stl" pos="2.234e-05 -0.01103 0.00323">
+                        <geom name="Right_Middle_J3.stl" class="bone" group="1"
+                          pos="-0.004356 0.1184 -0.0235" mesh="Middle_J3.stl" />
+                        <body name="Right_Middle_4.stl" pos="-0.000219 -0.004432 0.001011">
+                          <site name="RightforSensorMiddle_4.stl" type="capsule" group="3"
+                            size="0.0045 0.004789"
+                            pos="0 -0.001 -0.002" euler="1.3 0 1.6" />
+                          <geom name="Right_Middle_4.stl" class="bone" group="1"
+                            pos="-0.004137 0.1229 -0.02452" mesh="Middle_4.stl" />
+                          <geom name="Right_Middle_4.stl_collision" class="collision_primitive"
+                            size="0.0045 0.004789" pos="0 0 0" euler="1.3 0 1.6" />
+                        </body>
+                        <joint name="Right_Middle_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Middle_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Middle_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_3" pos="0 0 0">
+            <body name="Right_Annular_1.stl" pos="-0.01433 -0.0433 0.00541">
+              <geom name="Right_Annular_1.stl" class="bone" group="1" pos="0.01433 0.0433 -0.00541"
+                mesh="Annular_1.stl" />
+              <!-- <geom name="Right_Annular_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.006171 0.01286" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Annular_J1.stl" pos="-0.001102 -0.01956 0.00523">
+                <geom name="Right_Annular_J1.stl" class="bone" group="1"
+                  pos="0.01544 0.06286 -0.01064"
+                  mesh="Annular_J1.stl" />
+                <body name="Right_Annular_2.stl" pos="-0.001203 -0.01394 0.003432">
+                  <geom name="Right_Annular_2.stl" class="bone" group="1"
+                    pos="0.01664 0.0768 -0.01407"
+                    mesh="Annular_2.stl" />
+                  <geom name="Right_Annular_2.stl_collision" class="collision_primitive"
+                    size="0.005781 0.009836" pos="0 0 0" euler="1.3 -0.05 1.6" />
+                  <body name="Right_Annular_J2.stl" pos="-0.00107 -0.01442 0.004259">
+                    <geom name="Right_Annular_J2.stl" class="bone" group="1"
+                      pos="0.01771 0.09122 -0.01833"
+                      mesh="Annular_J2.stl" />
+                    <body name="Right_Annular_3.stl" pos="-0.000481 -0.00878 0.002575">
+                      <geom name="Right_Annular_3.stl" class="bone" group="1"
+                        pos="0.01819 0.1 -0.02091"
+                        mesh="Annular_3.stl" />
+                      <geom name="Right_Annular_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.007487" pos="0 0 0" euler="1.3 -0.05 1.6" />
+                      <body name="Right_Annular_J3.stl" pos="-0.0005647 -0.009967 0.003212">
+                        <geom name="Right_Annular_J3.stl" class="bone" group="1"
+                          pos="0.01875 0.11 -0.02412"
+                          mesh="Annular_J3.stl" />
+                        <body name="Right_Annular_4.stl" pos="-0.0004367 -0.003999 0.00103">
+                          <site name="RightforSensorAnnular_4.stl" type="capsule" group="3"
+                            size="0.004 0.004495"
+                            pos="0 -0.001 -0.002" euler="1.3 -0.05 1.6" />
+                          <geom name="Right_Annular_4.stl" class="bone" group="1"
+                            pos="0.01919 0.114 -0.02515" mesh="Annular_4.stl" />
+                          <geom name="Right_Annular_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004495" pos="0 0 0" euler="1.3 -0.05 1.6" />
+                        </body>
+                        <joint name="Right_Annular_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Annular_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Annular_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_4" pos="0 0 0">
+            <body name="Right_Pinky_1.stl" pos="-0.02988 -0.03668 0.001252">
+              <geom name="Right_Pinky_1.stl" class="bone" group="1" pos="0.02988 0.03668 -0.001252"
+                mesh="Pinky_1.stl" />
+              <!-- <geom name="Right_Pinky_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.005328 0.007868" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Pinky_J1.stl" pos="-0.002258 -0.01362 0.002654">
+                <geom name="Right_Pinky_J1.stl" class="bone" group="1"
+                  pos="0.03214 0.0503 -0.003906"
+                  mesh="Pinky_J1.stl" />
+                <body name="Right_Pinky_2.stl" pos="-0.001899 -0.009659 0.001693">
+                  <geom name="Right_Pinky_2.stl" class="bone" group="1"
+                    pos="0.03404 0.05996 -0.005599"
+                    mesh="Pinky_2.stl" />
+                  <geom name="Right_Pinky_2.stl_collision" class="collision_primitive"
+                    size="0.004725 0.006113" pos="0 0 0" euler="1.3 -0.12 1.6" />
+                  <body name="Right_Pinky_J2.stl" pos="-0.001679 -0.009733 0.002265">
+                    <geom name="Right_Pinky_J2.stl" class="bone" group="1"
+                      pos="0.03572 0.06969 -0.007864"
+                      mesh="Pinky_J2.stl" />
+                    <body name="Right_Pinky_3.stl" pos="-0.001162 -0.006436 0.001322">
+                      <geom name="Right_Pinky_3.stl" class="bone" group="1"
+                        pos="0.03688 0.07612 -0.009186"
+                        mesh="Pinky_3.stl" />
+                      <geom name="Right_Pinky_3.stl_collision" class="collision_primitive"
+                        size="0.004 0.004" pos="0 0 0" euler="1.3 -0.12 1.6" />
+                      <body name="Right_Pinky_J3.stl" pos="-0.001148 -0.006969 0.00173">
+                        <geom name="Right_Pinky_J3.stl" class="bone" group="1"
+                          pos="0.03803 0.08309 -0.01092" mesh="Pinky_J3.stl" />
+                        <body name="Right_Pinky_4.stl" pos="-0.0006076 -0.002766 0.0005188">
+                          <site name="RightforSensorPinky_4.stl" type="capsule" group="3"
+                            size="0.0035 0.002884"
+                            pos="0 -0.001 -0.0015" euler="1.3 -0.12 1.6" />
+                          <geom name="Right_Pinky_4.stl" class="bone" group="1"
+                            pos="0.03864 0.08586 -0.01144" mesh="Pinky_4.stl" />
+                          <geom name="Right_Pinky_4.stl_collision" class="collision_primitive"
+                            size="0.0035 0.002884" pos="0 0 0" euler="1.3 -0.12 1.6" />
+                        </body>
+                        <joint name="Right_Pinky_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Pinky_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Pinky_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_5" pos="0 0 0">
+            <body name="Right_Thumb_J1.stl" pos="0.03785 -0.01644 -0.01504">
+              <geom name="Right_Thumb_J1.stl" class="bone" group="1" pos="-0.03785 0.01644 0.01504"
+                mesh="Thumb_J1.stl" />
+              <body name="Right_Thumb_1.stl" pos="0.003528 -0.01538 -0.0001513">
+                <geom name="Right_Thumb_1.stl" class="bone" group="1" pos="-0.04137 0.03181 0.01519"
+                  mesh="Thumb_1.stl" />
+                <geom name="Right_Thumb_1.stl_collision" class="collision_primitive"
+                  size="0.006 0.01" pos="0 0 0" euler="1.6 0.3 1" />
+
+                <body name="Right_Thumb_J2.stl" pos="0.005477 -0.01727 -0.0001513">
+                  <geom name="Right_Thumb_J2.stl" class="bone" group="1"
+                    pos="-0.04685 0.04908 0.01535"
+                    mesh="Thumb_J2.stl" />
+                  <body name="Right_Thumb_2.stl" pos="0.00245 -0.01045 -7.773e-05">
+                    <geom name="Right_Thumb_2.stl" class="bone" group="1"
+                      pos="-0.0493 0.05954 0.01542"
+                      mesh="Thumb_2.stl" />
+                    <geom name="Right_Thumb_2.stl_collision" class="collision_primitive"
+                      size="0.005 0.006" pos="0 0 0" euler="1.6 0.3 1" />
+
+                    <body name="Right_Thumb_J3.stl" pos="0.003281 -0.01252 -6.956e-05">
+                      <geom name="Right_Thumb_J3.stl" class="bone" group="1"
+                        pos="-0.05258 0.07206 0.01549"
+                        mesh="Thumb_J3.stl" />
+                      <body name="Right_Thumb_3.stl" pos="0.001609 -0.004174 3.497e-05">
+                        <site name="RightforSensorThumb_3.stl" type="capsule" group="3"
+                          size="0.0042 0.005762" pos="0.0 -0.003 0" euler="1.6 0.3 1" />
+                        <geom name="Right_Thumb_3.stl" class="bone" group="1"
+                          pos="-0.05419 0.07623 0.01546"
+                          mesh="Thumb_3.stl" />
+                        <geom name="Right_Thumb_3.stl_collision" class="collision_primitive"
+                          type="capsule"
+                          size="0.004 0.005" pos="0.001 -0.002 0" euler="1.6 0.3 1" />
+                      </body>
+                      <joint name="Right_Thumb_J3.stl" class="f" pos="0 0 0" axis="0 0 -1" />
+                    </body>
+                  </body>
+                  <joint name="Right_Thumb_J2.stl" class="f" pos="0 0 0" axis="0 0 -1" />
+                </body>
+              </body>
+              <joint name="Right_Thumb_J1.stl" class="f" pos="0.01 0.01 0.01" axis="1 0 -0.1" />
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <body name="left_hand_mocap" mocap="true" pos="0 0 1.02">
+      <!-- <geom type="box" size=".02 .03 .03" contype="0" conaffinity="0" /> -->
+    </body>
+    <body name="left_hand" pos="0 0 1">
+      <freejoint name="Left_Freejoint" />
+      <geom type="sphere" size=".02" contype="0" conaffinity="0" />
+      <body name="Left_Palm" pos="0 0 0">
+        <body name="Left_Palm_Left" pos="0 0 0" euler="0 1.57 1.27">
+          <geom name="Left_Palm2" type="mesh" contype="0" conaffinity="0" rgba="1 0.5 0.5 0.4"
+            mesh="Palm.stl" euler="0 3.14 0" />
+          <!-- <geom name="Left_Thumb_J3.stl_collision" class="collision_primitive" type="box"
+            size="0.04521 0.01533 0.01799" pos="0.001582 0.001007 -0.003056" euler="0 0 0" /> -->
+          <geom name="Left_Palm_collision" class="collision_primitive" type="box"
+            size="0.006 0.033 0.026" pos="0.005 -0.025 0.005" euler="-1.4 0 1.6" group="5" />
+          <body name="left_hand_palm" pos="0 0 0">
+            <site name="left_root" rgba="0 1 0 1" size="0.01" />
+            <light name="light" mode="trackcom" pos="0 0 3" />
+
+            <body name="Left_Index_1.stl" pos="-0.02226 -0.03852 0.004734">
+              <geom name="Left_Index_1.stl" class="bone" group="1" pos="0.02226 0.03852 0.004734"
+                mesh="Index_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Index_J1.stl" pos="-0.00227 -0.01802 -0.004302">
+                <geom name="Left_Index_J1.stl" class="bone" group="1"
+                  pos="-0.02453 0.05654 -0.009037"
+                  mesh="Index_J1.stl" />
+                <body name="Left_Index_2.stl" pos="-0.001246 -0.0129 -0.002785">
+                  <geom name="Left_Index_2.stl" class="bone" group="1" pos="0.02578 0.06944 0.01182"
+                    mesh="Index_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Index_2.stl_collision" class="collision_primitive"
+                    size="0.005752 0.008655" pos="0 0 0" euler="1.84 -0.12 1.6" />
+
+                  <body name="Left_Index_J2.stl" pos="-0.001513 -0.01288 -0.003559">
+                    <geom name="Left_Index_J2.stl" class="bone" group="1"
+                      pos="-0.02729 0.08233 -0.01538"
+                      mesh="Index_J2.stl" />
+                    <body name="Left_Index_3.stl" pos="-0.0009469 -0.008548 -0.002118">
+                      <geom name="Left_Index_3.stl" class="bone" group="1"
+                        pos="0.02824 0.09087 0.0175"
+                        mesh="Index_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Index_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.006655" pos="0 0 0" euler="1.84 -0.12 1.6" />
+
+                      <body name="Left_Index_J3.stl" pos="-0.001143 -0.009198 -0.002695">
+                        <geom name="Left_Index_J3.stl" class="bone" group="1"
+                          pos="-0.02938 0.1001 -0.02019" mesh="Index_J3.stl" />
+                        <body name="Left_Index_4.stl" pos="-0.0002737 -0.003719 -0.0008389">
+                          <site name="LeftforSensor" type="capsule" group="3" size="0.004 0.004014"
+                            pos="0 -0.001 -0.002" euler="1.84 -0.12 1.6" />
+                          <geom name="Left_Index_4.stl" class="bone" group="1"
+                            pos="0.02966 0.1038 0.02103" mesh="Index_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Index_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004014" pos="0 0 0" euler="1.84 -0.12 1.6" />
+
+                        </body>
+                        <joint name="Left_Index_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Index_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Index_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_2" pos="0 0 0">
+            <body name="Left_Middle_1.stl" pos="-0.00489 -0.0447 0.004943">
+              <geom name="Left_Middle_1.stl" class="bone" group="1" pos="0.00489 0.0447 0.004943"
+                mesh="Middle_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Middle_J1.stl" pos="0.001068 -0.02163 -0.005161">
+                <geom name="Left_Middle_J1.stl" class="bone" group="1"
+                  pos="-0.003822 0.06633 -0.0101"
+                  mesh="Middle_J1.stl" />
+                <body name="Left_Middle_2.stl" pos="-0.000714 -0.0154 -0.003356">
+                  <geom name="Left_Middle_2.stl" class="bone" group="1"
+                    pos="0.004536 0.08173 0.01346"
+                    mesh="Middle_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Middle_2.stl_collision" class="collision_primitive"
+                    size="0.006232 0.01032" pos="0 0 0" euler="1.84 0 1.6" />
+
+                  <body name="Left_Middle_J2.stl" pos="7.813e-05 -0.01543 -0.00427">
+                    <geom name="Left_Middle_J2.stl" class="bone" group="1"
+                      pos="-0.004457 0.09716 -0.01773"
+                      mesh="Middle_J2.stl" />
+                    <body name="Left_Middle_3.stl" pos="0.0001241 -0.01023 -0.002545">
+                      <geom name="Left_Middle_3.stl" class="bone" group="1"
+                        pos="0.004333 0.1074 0.02027"
+                        mesh="Middle_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Middle_3.stl_collision" class="collision_primitive"
+                        size="0.0055 0.00792" pos="0 0 0" euler="1.84 0 1.6" />
+
+                      <body name="Left_Middle_J3.stl" pos="-2.234e-05 -0.01103 -0.00323">
+                        <geom name="Left_Middle_J3.stl" class="bone" group="1"
+                          pos="-0.004356 0.1184 -0.0235" mesh="Middle_J3.stl" />
+                        <body name="Left_Middle_4.stl" pos="0.000219 -0.004432 -0.001011">
+                          <site name="LeftforSensorMiddle_4.stl" type="capsule" group="3"
+                            size="0.0045 0.004789"
+                            pos="0 -0.001 -0.002" euler="1.84 0 1.6" />
+                          <geom name="Left_Middle_4.stl" class="bone" group="1"
+                            pos="0.004137 0.1229 0.02452" mesh="Middle_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Middle_4.stl_collision" class="collision_primitive"
+                            size="0.0045 0.004789" pos="0 0 0" euler="1.84 0 1.6" />
+                        </body>
+                        <joint name="Left_Middle_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Middle_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Middle_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_3" pos="0 0 0">
+            <body name="Left_Annular_1.stl" pos="0.01433 -0.0433 0.00541">
+              <geom name="Left_Annular_1.stl" class="bone" group="1" pos="-0.01433 0.0433 0.00541"
+                mesh="Annular_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Annular_J1.stl" pos="0.001102 -0.01956 -0.00523">
+                <geom name="Left_Annular_J1.stl" class="bone" group="1"
+                  pos="0.01544 0.06286 -0.01064"
+                  mesh="Annular_J1.stl" />
+                <body name="Left_Annular_2.stl" pos="0.001203 -0.01394 -0.003432">
+                  <geom name="Left_Annular_2.stl" class="bone" group="1"
+                    pos="-0.01664 0.0768 0.01407"
+                    mesh="Annular_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Annular_2.stl_collision" class="collision_primitive"
+                    size="0.005781 0.009836" pos="0 0 0" euler="1.84 0.05 1.6" />
+
+                  <body name="Left_Annular_J2.stl" pos="0.00107 -0.01442 -0.004259">
+                    <geom name="Left_Annular_J2.stl" class="bone" group="1"
+                      pos="0.01771 0.09122 -0.01833"
+                      mesh="Annular_J2.stl" />
+                    <body name="Left_Annular_3.stl" pos="0.000481 -0.00878 -0.002575">
+                      <geom name="Left_Annular_3.stl" class="bone" group="1"
+                        pos="-0.01819 0.1 0.02091"
+                        mesh="Annular_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Annular_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.007487" pos="0 0 0" euler="1.84 0.05 1.6" />
+
+                      <body name="Left_Annular_J3.stl" pos="0.0005647 -0.009967 -0.003212">
+                        <geom name="Left_Annular_J3.stl" class="bone" group="1"
+                          pos="0.01875 0.11 -0.02412"
+                          mesh="Annular_J3.stl" />
+                        <body name="Left_Annular_4.stl" pos="0.0004367 -0.003999 -0.00103">
+                          <site name="LeftforSensorAnnular_4.stl" type="capsule" group="3"
+                            size="0.004 0.004495"
+                            pos="0 -0.001 -0.002" euler="1.84 0.05 1.6" />
+                          <geom name="Left_Annular_4.stl" class="bone" group="1"
+                            pos="-0.01919 0.114 0.02515" mesh="Annular_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Annular_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004495" pos="0 0 0" euler="1.84 0.05 1.6" />
+                        </body>
+                        <joint name="Left_Annular_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Annular_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Annular_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_4" pos="0 0 0">
+            <body name="Left_Pinky_1.stl" pos="0.02988 -0.03668 0.001252">
+              <geom name="Left_Pinky_1.stl" class="bone" group="1" pos="-0.02988 0.03668 0.001252"
+                mesh="Pinky_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Pinky_J1.stl" pos="0.002258 -0.01362 -0.002654">
+                <geom name="Left_Pinky_J1.stl" class="bone" group="1" pos="0.03214 0.0503 -0.003906"
+                  mesh="Pinky_J1.stl" />
+                <body name="Left_Pinky_2.stl" pos="0.001899 -0.009659 -0.001693">
+                  <geom name="Left_Pinky_2.stl" class="bone" group="1"
+                    pos="-0.03404 0.05996 0.005599"
+                    mesh="Pinky_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Pinky_2.stl_collision" class="collision_primitive"
+                    size="0.004725 0.006113" pos="0 0 0" euler="1.84 0.12 1.6" />
+
+                  <body name="Left_Pinky_J2.stl" pos="0.001679 -0.009733 -0.002265">
+                    <geom name="Left_Pinky_J2.stl" class="bone" group="1"
+                      pos="0.03572 0.06969 -0.007864"
+                      mesh="Pinky_J2.stl" />
+                    <body name="Left_Pinky_3.stl" pos="0.001162 -0.006436 -0.001322">
+                      <geom name="Left_Pinky_3.stl" class="bone" group="1"
+                        pos="-0.03688 0.07612 0.009186"
+                        mesh="Pinky_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Pinky_3.stl_collision" class="collision_primitive"
+                        size="0.004 0.004" pos="0 0 0" euler="1.84 0.12 1.6" />
+
+                      <body name="Left_Pinky_J3.stl" pos="0.001148 -0.006969 -0.00173">
+                        <geom name="Left_Pinky_J3.stl" class="bone" group="1"
+                          pos="0.03803 0.08309 -0.01092" mesh="Pinky_J3.stl" />
+                        <body name="Left_Pinky_4.stl" pos="0.0006076 -0.002766 -0.0005188">
+                          <site name="LeftforSensorPinky_4.stl" type="capsule" group="3"
+                            size="0.0035 0.002884"
+                            pos="0 -0.001 -0.0015" euler="1.84 0.12 1.6" />
+                          <geom name="Left_Pinky_4.stl" class="bone" group="1"
+                            pos="-0.03864 0.08586 0.01144" mesh="Pinky_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Pinky_4.stl_collision" class="collision_primitive"
+                            size="0.0035 0.002884" pos="0 0 0" euler="1.84 0.12 1.6" />
+                        </body>
+                        <joint name="Left_Pinky_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Pinky_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Pinky_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_5" pos="0 0 0">
+            <body name="Left_Thumb_J1.stl" pos="-0.03785 -0.01644 -0.01504">
+              <geom name="Left_Thumb_J1.stl" class="bone" group="1" pos="-0.03785 0.01644 0.01504"
+                mesh="Thumb_J1.stl" />
+              <body name="Left_Thumb_1.stl" pos="-0.003528 -0.01538 0.0001513">
+                <geom name="Left_Thumb_1.stl" class="bone" group="1" pos="0.04137 0.03181 -0.01519"
+                  mesh="Thumb_1.stl" euler="0 3.14 0" />
+                <geom name="Left_Thumb_1.stl_collision" class="collision_primitive"
+                  size="0.006 0.01" euler="-1.54 0.3 1" />
+
+                <body name="Left_Thumb_J2.stl" pos="-0.005477 -0.01727 0.0001513">
+                  <geom name="Left_Thumb_J2.stl" class="bone" group="1"
+                    pos="-0.04685 0.04908 0.01535"
+                    mesh="Thumb_J2.stl" />
+                  <body name="Left_Thumb_2.stl" pos="-0.00245 -0.01045 7.773e-05">
+                    <geom name="Left_Thumb_2.stl" class="bone" group="1"
+                      pos="0.0493 0.05954 -0.01542"
+                      mesh="Thumb_2.stl" euler="0 3.14 0" />
+                    <geom name="Left_Thumb_2.stl_collision" class="collision_primitive"
+                      size="0.005 0.006" euler="-1.54 0.3 1" />
+
+                    <body name="Left_Thumb_J3.stl" pos="-0.003281 -0.01252 6.956e-05">
+                      <geom name="Left_Thumb_J3.stl" class="bone" group="1"
+                        pos="-0.05258 0.07206 0.01549"
+                        mesh="Thumb_J3.stl" />
+                      <body name="Left_Thumb_3.stl" pos="-0.001609 -0.004174 -3.497e-05">
+                        <site name="LeftforSensorThumb_3.stl" type="capsule" group="3"
+                          size="0.0042 0.005762" pos="0.002 0 0" euler="-1.54 0.3 1" />
+                        <geom name="Left_Thumb_3.stl" class="bone" group="1"
+                          pos="0.05419 0.07623 -0.01546"
+                          mesh="Thumb_3.stl" euler="0 3.14 0" />
+                        <geom name="Left_Thumb_3.stl_collision" class="collision_primitive"
+                          type="capsule"
+                          size="0.004 0.005" euler="-1.54 0.3 1" />
+                      </body>
+                      <joint name="Left_Thumb_J3.stl" class="f" pos="0 0 0" axis="0 0 1" />
+                    </body>
+                  </body>
+                  <joint name="Left_Thumb_J2.stl" class="f" pos="0 0 0" axis="0 0 1" />
+                </body>
+              </body>
+              <joint name="Left_Thumb_J1.stl" class="f" pos="0.01 0.01 0.01" axis="1 0 -0.1" />
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <!-- <frame pos=".1 0 1.3" euler="0 0 3.14">
+      <body name="Right_abdomen phantom" childclass="phantom">
+          <geom mesh="right_kidney" material="right_kidney" class="visual" />
+          <geom mesh="ribs" material="ribs" class="visual" />
+          <geom mesh="portal_vein" material="portal_vein" class="visual" />
+          <geom mesh="outer_spine" material="outer_spine" class="visual" />
+          <geom mesh="muscle" material="muscle" class="visual" />
+          <geom mesh="liver" material="liver" class="visual" />
+          <geom mesh="inner_spine" material="inner_spine" class="visual" />
+          <geom mesh="fat" material="fat" class="visual" />
+          <geom mesh="cava" material="cava" class="visual" />
+          <geom mesh="aorta" material="aorta" class="visual" />
+      </body>
+
+  <!-- flexcomp 注释块已移除 -->
+
+    <body name="ball" pos="0 0 0.03">
+      <freejoint />
+      <geom type="box" size=".03 .03 .03" density="4000" />
+      <geom name="sphere_collision" class="collision_primitive" type="box" size=".03 .03 .03"
+        density="4000"
+        pos="0 0 0" euler="0 0 0" />
+    </body>
+  </worldbody>
+
+  <actuator>
+    <intvelocity name="Right_Index_J1.stl" class="f" joint="Right_Index_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Index_J2.stl" class="f" joint="Right_Index_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Index_J3.stl" class="f" joint="Right_Index_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Middle_J1.stl" class="f" joint="Right_Middle_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Middle_J2.stl" class="f" joint="Right_Middle_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Middle_J3.stl" class="f" joint="Right_Middle_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Annular_J1.stl" class="f" joint="Right_Annular_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Annular_J2.stl" class="f" joint="Right_Annular_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Annular_J3.stl" class="f" joint="Right_Annular_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Pinky_J1.stl" class="f" joint="Right_Pinky_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Pinky_J2.stl" class="f" joint="Right_Pinky_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Pinky_J3.stl" class="f" joint="Right_Pinky_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Thumb_J1.stl" class="f" joint="Right_Thumb_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Thumb_J2.stl" class="f" joint="Right_Thumb_J2.stl"
+      kp="10000" kv="10" actrange="0 2" />
+    <intvelocity name="Right_Thumb_J3.stl" class="f" joint="Right_Thumb_J3.stl"
+      kp="10000" kv="10" actrange="0 2" />
+
+    <intvelocity name="Left_Index_J1.stl" class="f" joint="Left_Index_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Index_J2.stl" class="f" joint="Left_Index_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Index_J3.stl" class="f" joint="Left_Index_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Middle_J1.stl" class="f" joint="Left_Middle_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Middle_J2.stl" class="f" joint="Left_Middle_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Middle_J3.stl" class="f" joint="Left_Middle_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Annular_J1.stl" class="f" joint="Left_Annular_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Annular_J2.stl" class="f" joint="Left_Annular_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Annular_J3.stl" class="f" joint="Left_Annular_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Pinky_J1.stl" class="f" joint="Left_Pinky_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Pinky_J2.stl" class="f" joint="Left_Pinky_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Pinky_J3.stl" class="f" joint="Left_Pinky_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Thumb_J1.stl" class="f" joint="Left_Thumb_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Thumb_J2.stl" class="f" joint="Left_Thumb_J2.stl"
+      kp="10000" kv="10" actrange="0 2" />
+    <intvelocity name="Left_Thumb_J3.stl" class="f" joint="Left_Thumb_J3.stl"
+      kp="10000" kv="10" actrange="0 2" />
+  </actuator>
+
+  <sensor>
+    <touch name="right_fingertip_index" site="RightforSensor" />
+    <touch name="right_fingertip_middle" site="RightforSensorMiddle_4.stl" />
+    <touch name="right_fingertip_annular" site="RightforSensorAnnular_4.stl" />
+    <touch name="right_fingertip_pinky" site="RightforSensorPinky_4.stl" />
+    <touch name="right_fingertip_thumb" site="RightforSensorThumb_3.stl" />
+
+    <touch name="left_fingertip_index" site="LeftforSensor" />
+    <touch name="left_fingertip_middle" site="LeftforSensorMiddle_4.stl" />
+    <touch name="left_fingertip_annular" site="LeftforSensorAnnular_4.stl" />
+    <touch name="left_fingertip_pinky" site="LeftforSensorPinky_4.stl" />
+    <touch name="left_fingertip_thumb" site="LeftforSensorThumb_3.stl" />
+  </sensor>
+
+</mujoco>
\ No newline at end of file
diff --git a/tactile/code/assets/MuJoCo phantom.xml b/tactile/code/assets/MuJoCo phantom.xml
new file mode 100644
index 00000000..57c5e232
--- /dev/null
+++ b/tactile/code/assets/MuJoCo phantom.xml	
@@ -0,0 +1,272 @@
+<mujoco model="Abdomen - Deformable left kidney">
+    <size memory="1G" />
+    <statistic extent="1.5" meansize=".05" />
+
+    <compiler angle="degree"/>
+
+    <option solver="CG" tolerance="1e-6" timestep=".0014" integrator="implicitfast" jacobian="sparse">
+        <!-- The timestep is adjusted so the flexcomp does not explode as soon as the simulation start.
+         It is better to have the largest value possible to reduce the time it takes for the simulation
+         to compute while still keeping accuracy. -->
+    </option>
+
+    <visual>
+        <rgba haze="0.15 0.25 0.35 1" />
+        <quality shadowsize="4096" />
+        <map stiffness="100" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3" />
+    </visual>
+
+    <default>
+        <default class="phantom">
+            <mesh scale="3 3 3" />
+        </default>
+        <default class="visual">
+            <geom group="2" type="mesh" contype="0" conaffinity="0" />
+        </default>
+        <default class="collision-hand">
+            <geom group="2" type="mesh" contype="1" conaffinity="3"/>
+        </default>
+    </default>
+
+    <!-- 注意：MuJoCo 3.x 不需要显式声明弹性体插件 -->
+
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1="1 0.5 0.7" rgb2="0 0 0" width="512"
+            height="512" />
+        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
+            width="512" height="512" mark="cross" markrgb=".8 .8 .8" />
+
+        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1"
+            texuniform="true" />
+
+        <!-- Abdomen phantom -->
+        <material name="aorta"
+            rgba="1.000000 0.750000 0.750000 1.000000" />
+        <material name="cava"
+            rgba="0.500000 0.500000 1.000000 1.000000" />
+        <material name="fat" specular="0.25" shininess="0.1"
+            rgba="1.000000 1.000000 0.650000 1.000000" />
+        <material name="inner_spine"
+            rgba="1.000000 1.000000 1.000000 1.000000" />
+        <material name="liver"
+            rgba="0.500000 0.250000 0.250000 1.000000" />
+        <material name="liver lesion"
+            rgba="0.800000 0.250000 0.250000 1.000000" />
+        <material name="muscle"
+            rgba="1.000000 0.500000 0.500000 1.000000" />
+        <material name="outer_spine"
+            rgba="1.000000 1.000000 0.850000 1.000000" />
+        <material name="portal_vein"
+            rgba="0.750000 0.250000 0.250000 1.000000" />
+        <material name="ribs"
+            rgba="1.000000 1.000000 0.850000 1.000000" />
+        <material name="right_kidney"
+            rgba="0.800000 0.400000 0.400000 1.000000" />
+        <mesh class="phantom" file="phantom-assets/right_kidney.obj" />
+        <mesh class="phantom" file="phantom-assets/ribs.obj" />
+        <mesh class="phantom" file="phantom-assets/portal_vein.obj" />
+        <mesh class="phantom" file="phantom-assets/outer_spine.obj" />
+        <mesh class="phantom" file="phantom-assets/muscle.obj" />
+        <mesh class="phantom" file="phantom-assets/liver.obj" />
+        <mesh class="phantom" file="phantom-assets/inner_spine.obj" />
+        <mesh class="phantom" file="phantom-assets/fat.obj" />
+        <mesh class="phantom" file="phantom-assets/cava.obj" />
+        <mesh class="phantom" file="phantom-assets/aorta.obj" />
+
+        <!-- Hand -->
+        <material name="thumb_1" specular="0.5" shininess="0.25" rgba="1 0.934 0.905 1" />
+        <mesh name="thumb_1_visual" file="hand-assets/thumb_1_visual.obj" />
+        <material name="thumb_2" specular="0.5" shininess="0.25" rgba="0 0 0 1" />
+        <mesh name="thumb_2_visual" file="hand-assets/thumb_2_visual.obj" />
+        <material name="index_1" specular="0.5" shininess="0.25" rgba="0.8 0.732 0 1" />
+        <mesh name="index_1_visual" file="hand-assets/index_1_visual.obj" />
+        <material name="index_2" specular="0.5" shininess="0.25" rgba="0.54 0.8 0.0765 1" />
+        <mesh name="index_2_visual" file="hand-assets/index_2_visual.obj" />
+        <material name="index_3" specular="0.5" shininess="0.25" rgba="0.801 0.35 0.273 1" />
+        <mesh name="index_3_visual" file="hand-assets/index_3_visual.obj" />
+        <material name="middle_1" specular="0.5" shininess="0.25" rgba="0.0147 0.0206 0.8 1" />
+        <mesh name="middle_1_visual" file="hand-assets/middle_1_visual.obj" />
+        <material name="middle_2" specular="0.5" shininess="0.25" rgba="0.0125 0.777 0.8 1" />
+        <mesh name="middle_2_visual" file="hand-assets/middle_2_visual.obj" />
+        <material name="middle_3" specular="0.5" shininess="0.25" rgba="0.318 0.19 0.8 1" />
+        <mesh name="middle_3_visual" file="hand-assets/middle_3_visual.obj" />
+        <material name="annular_1" specular="0.5" shininess="0.25" rgba="0.8 0 0.0115 1" />
+        <mesh name="annular_1_visual" file="hand-assets/annular_1_visual.obj" />
+        <material name="annular_2" specular="0.5" shininess="0.25" rgba="0.8 0.209 0 1" />
+        <mesh name="annular_2_visual" file="hand-assets/annular_2_visual.obj" />
+        <material name="annular_3" specular="0.5" shininess="0.25" rgba="0.8 0.119 0.174 1" />
+        <mesh name="annular_3_visual" file="hand-assets/annular_3_visual.obj" />
+        <material name="pinky_1" specular="0.5" shininess="0.25" rgba="0.8 0.0539 0.642 1" />
+        <mesh name="pinky_1_visual" file="hand-assets/pinky_1_visual.obj" />
+        <material name="pinky_2" specular="0.5" shininess="0.25" rgba="0.248 0.00367 0.8 1" />
+        <mesh name="pinky_2_visual" file="hand-assets/pinky_2_visual.obj" />
+        <material name="pinky_3" specular="0.5" shininess="0.25" rgba="0.254 0.0034 0.437 1" />
+        <mesh name="pinky_3_visual" file="hand-assets/pinky_3_visual.obj" />
+        <material name="wrist" specular="0.5" shininess="0.16" rgba="0.701 0.196 0.151 1" />
+        <mesh name="wrist_visual" file="hand-assets/wrist_visual.obj" />
+        <material name="palm" specular="0.5" shininess="0.25" rgba="0 0.8 0.00195 1" />
+        <mesh name="palm_visual" file="hand-assets/palm_visual.obj" />
+    </asset>
+
+    <equality>
+        <weld body1="right_hand_mocap" body2="right_hand"
+            solref="0.01 1" solimp=".9 .9 0.01" />
+        <weld body1="left_hand_mocap" body2="left_hand"
+            solref="0.01 1" solimp=".9 .9 0.01" />
+    </equality>
+
+    <sensor>
+        <touch site="right_fingertip_thumb" name="right_fingertip_thumb" />
+        <touch site="right_fingertip_index" name="right_fingertip_index" />
+        <touch site="right_fingertip_middle" name="right_fingertip_middle" />
+        <touch site="left_fingertip_thumb" name="left_fingertip_thumb" />
+        <touch site="left_fingertip_index" name="left_fingertip_index" />
+        <touch site="left_fingertip_middle" name="left_fingertip_middle" />
+    </sensor>
+
+    <worldbody>
+        <body pos="0 0 0" euler="90 90 0">
+            <geom type='capsule' size=".02 .1" rgba="1 0 0 1" contype="0" conaffinity="0" />
+        </body>
+
+        <frame name="right_hand_frame" pos="-0.2 0 1">
+            <body name="right_hand_mocap" mocap="true">
+                <geom type="box" size="0.02 0.05 0.05" rgba=".5 .5 .5 .2" class="visual" />
+            </body>
+            <body name="right_hand" pos="0 -0.03 0" euler="180 0 -60">
+                <freejoint />
+                <geom name="right_thumb_1_visual" class="collision-hand" material="thumb_1"
+                mesh="thumb_1_visual" />
+                <body>
+                    <site name="right_fingertip_thumb" type="sphere" pos="-0.04 0.046 -0.003" size=".01 .01 .01" rgba="0.5 0.5 1 .2" />
+                    <geom name="right_thumb_2_visual" class="collision-hand" material="thumb_2"
+                    mesh="thumb_2_visual" />
+                </body>
+                <geom name="right_index_1_visual" class="collision-hand" material="index_1"
+                mesh="index_1_visual" />
+                <geom name="right_index_2_visual" class="collision-hand" material="index_2"
+                mesh="index_2_visual" />
+                <body>
+                    <site name="right_fingertip_index" type="sphere" pos="-0.026 0.017 0.05" size=".01 .01 .01" rgba="0.5 0.5 1 .2" />
+                    <geom name="right_index_3_visual" class="collision-hand" material="index_3"
+                    mesh="index_3_visual" />
+                </body>
+                <geom name="right_middle_1_visual" class="collision-hand" material="middle_1"
+                mesh="middle_1_visual" />
+                <geom name="right_middle_2_visual" class="collision-hand" material="middle_2"
+                mesh="middle_2_visual" />
+                <body>
+                    <site name="right_fingertip_middle" type="sphere" pos="-0.017 0.003 0.065" size=".01 .01 .01" rgba="0.5 0.5 1 .2" />
+                    <geom name="right_middle_3_visual" class="collision-hand" material="middle_3"
+                        mesh="middle_3_visual" />
+                </body>
+                <geom name="right_annular_1_visual" class="collision-hand" material="annular_1"
+                    mesh="annular_1_visual" />
+                <geom name="right_annular_2_visual" class="collision-hand" material="annular_2"
+                    mesh="annular_2_visual" />
+                <geom name="right_annular_3_visual" class="collision-hand" material="annular_3"
+                    mesh="annular_3_visual" />
+                <geom name="right_pinky_1_visual" class="collision-hand" material="pinky_1"
+                    mesh="pinky_1_visual" />
+                <geom name="right_pinky_2_visual" class="collision-hand" material="pinky_2"
+                    mesh="pinky_2_visual" />
+                <geom name="right_pinky_3_visual" class="collision-hand" material="pinky_3"
+                    mesh="pinky_3_visual" />
+                <geom name="right_wrist_visual" class="visual" material="wrist" mesh="wrist_visual" />
+                <geom name="right_palm_visual" class="collision-hand" material="palm" mesh="palm_visual" />
+            </body>
+        </frame>
+        <frame name="left_hand_frame" pos="-0.3 0 1">
+            <body name="left_hand_mocap" mocap="true">
+                <!-- <geom type="box" size="0.02 0.05 0.05" rgba=".5 .5 .5 .2" class="visual" /> -->
+            </body>
+            <body name="left_hand" pos="0 -0.03 0" euler="180 0 0">
+                <freejoint />
+                <site name="left_fingertip_thumb" type="sphere" pos="-0.04 0.046 -0.003" size=".01 .01 .01" rgba="0.5 0.5 1 .2" />
+                <site name="left_fingertip_index" type="sphere" pos="-0.026 0.017 0.05" size=".01 .01 .01" rgba="0.5 0.5 1 .2" />
+                <site name="left_fingertip_middle" type="sphere" pos="-0.017 0.003 0.065" size=".01 .01 .01" rgba="0.5 0.5 1 .2" />
+                <geom name="left_thumb_1_visual" class="collision-hand" material="thumb_1"
+                    mesh="thumb_1_visual" />
+                <geom name="left_thumb_2_visual" class="collision-hand" material="thumb_2"
+                    mesh="thumb_2_visual" />
+                <geom name="left_index_1_visual" class="collision-hand" material="index_1"
+                    mesh="index_1_visual" />
+                <geom name="left_index_2_visual" class="collision-hand" material="index_2"
+                    mesh="index_2_visual" />
+                <geom name="left_index_3_visual" class="collision-hand" material="index_3"
+                    mesh="index_3_visual" />
+                <geom name="left_middle_1_visual" class="collision-hand" material="middle_1"
+                    mesh="middle_1_visual" />
+                <geom name="left_middle_2_visual" class="collision-hand" material="middle_2"
+                    mesh="middle_2_visual" />
+                <geom name="left_middle_3_visual" class="collision-hand" material="middle_3"
+                    mesh="middle_3_visual" />
+                <geom name="left_annular_1_visual" class="collision-hand" material="annular_1"
+                    mesh="annular_1_visual" />
+                <geom name="left_annular_2_visual" class="collision-hand" material="annular_2"
+                    mesh="annular_2_visual" />
+                <geom name="left_annular_3_visual" class="collision-hand" material="annular_3"
+                    mesh="annular_3_visual" />
+                <geom name="left_pinky_1_visual" class="collision-hand" material="pinky_1"
+                    mesh="pinky_1_visual" />
+                <geom name="left_pinky_2_visual" class="collision-hand" material="pinky_2"
+                    mesh="pinky_2_visual" />
+                <geom name="left_pinky_3_visual" class="collision-hand" material="pinky_3"
+                    mesh="pinky_3_visual" />
+                <geom name="left_wrist_visual" class="visual" material="wrist" mesh="wrist_visual" />
+                <geom name="left_palm_visual" class="collision-hand" material="palm" mesh="palm_visual" />
+            </body>
+        </frame>
+
+        <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0"
+            dir="0 0 -1" castshadow="false" />
+        <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
+
+        <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane"
+            condim="1" />
+
+        <frame pos=".1 0 1.3" euler="0 0 180">
+            <body name="abdomen phantom" childclass="phantom">
+                <!-- Only visual for now until convex hull -->
+                <geom mesh="right_kidney" material="right_kidney" class="visual" />
+                <geom mesh="ribs" material="ribs" class="visual" />
+                <geom mesh="portal_vein" material="portal_vein" class="visual" />
+                <geom mesh="outer_spine" material="outer_spine" class="visual" />
+                <geom mesh="muscle" material="muscle" class="visual" />
+                <!-- <geom mesh="liver" material="liver" class="visual" /> -->
+                <geom mesh="inner_spine" material="inner_spine" class="visual" />
+                <geom mesh="fat" material="fat" class="visual" />
+                <geom mesh="cava" material="cava" class="visual" />
+                <geom mesh="aorta" material="aorta" class="visual" />
+            </body>
+
+            <!-- For some reason, the position and orientation from the parent frame is not
+             accumulated in the flexcomp. The "real" position should be pos="0 .09 .15" -->
+            <flexcomp name="left kidney normal" type="gmsh" dim="3" pos=".1 -.09 1.45" euler="0 0 180"
+                file="phantom-assets/left kidney_converted_vol.msh" scale="3 3 3" material="right_kidney" >
+                <edge equality="true" />
+                <pin id="47 38 58" />
+                <contact internal="false" condim="3" solref="0.005 1" solimp=".95 .99 .0001"
+                    selfcollide="none" contype="2" conaffinity="1" />
+                
+            </flexcomp>
+
+            <flexcomp name="liver cibrosis" pos=".1 0 1.3" euler="90 0 180" type="gmsh" dim="3"
+                file="phantom-assets/liver_converted_vol.msh" scale="3 3 3" material="liver" >
+                <edge equality="true" damping="1"/>
+                <pin id="126 79 66 98 80 101"/>
+                <contact internal="false" condim="3" solref="0.005 1" solimp=".95 .99 .0001" selfcollide="none"
+                    contype="2" conaffinity="1"/>
+                
+            </flexcomp>
+
+            <flexcomp name="liver lesion" type="ellipsoid" count="4 4 4" spacing=".012 .012 .012" pos=".15 0 1.4"
+                radius=".001" dim="3" mass="5" material="liver lesion" >
+                <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"
+                    contype="2" conaffinity="1"/>
+                <edge equality="true" damping="1"/>
+            </flexcomp>
+        </frame>
+
+    </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/tactile/code/assets/MuJoCo scene simple.xml b/tactile/code/assets/MuJoCo scene simple.xml
new file mode 100644
index 00000000..a9d08de1
--- /dev/null
+++ b/tactile/code/assets/MuJoCo scene simple.xml	
@@ -0,0 +1,58 @@
+<?xml-model href="../../mujoco-xml-schema-mjcf/mujoco.xsd"?>
+<mujoco>
+    <statistic extent="1.5" meansize=".05" />
+
+    <option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast" jacobian="sparse">
+        <!-- <flag gravity="disable" /> -->
+    </option>
+
+    <size memory="10M" />
+
+    <visual>
+        <rgba haze="0.15 0.25 0.35 1" />
+        <quality shadowsize="4096" />
+        <map stiffness="100" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3" />
+    </visual>
+
+    <!-- 注意：MuJoCo 3.x 不需要显式声明弹性体插件 -->
+
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1="1 0.5 0.7" rgb2="0 0 0" width="512"
+            height="512" />
+        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
+            width="512" height="512" mark="cross" markrgb=".8 .8 .8" />
+
+        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1"
+            texuniform="true" />
+    </asset>
+
+    <worldbody>
+        <body name="right_hand_mocap" mocap="true" pos="0 0 0.2" euler="0 0 0">
+            <geom type="capsule" size="0.03 0.06" />
+        </body>
+
+        <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0"
+            dir="0 0 -1" castshadow="false" />
+        <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
+
+        <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane"
+            condim="1" />
+
+        <body name="finger" mocap="true" pos="0 0 0.1" euler="90 0 0">
+            <geom type="capsule" size="0.01115 0.036" />
+            <site name="fingertip" type="sphere" pos="0.0 -0.008 -0.035" rgba="0.5 0.5 1 1" />
+        </body>
+
+        <flexcomp type="grid" count="5 5 5" spacing=".02 .02 .02" pos="0 0 0.045" dim="3"
+            radius=".005" rgba="0 .7 .7 1" mass="5" name="softbody">
+            <pin gridrange="0 0 0 4 4 0"/>
+            <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none" />
+            
+        </flexcomp>
+    </worldbody>
+
+    <sensor>
+        <touch site="fingertip" name="fingertip_sensor" />
+    </sensor>
+
+</mujoco>
\ No newline at end of file
diff --git a/tactile/code/assets/balloons.xml b/tactile/code/assets/balloons.xml
new file mode 100644
index 00000000..3d7f6ab6
--- /dev/null
+++ b/tactile/code/assets/balloons.xml
@@ -0,0 +1,161 @@
+<?xml-model href="../../mujoco-xml-schema-mjcf/mujoco.xsd"?>
+<mujoco>
+    <statistic extent="1.5" meansize=".05" />
+
+    <option density="1.204" viscosity="1.8e-5" timestep=".001" integrator="implicitfast"
+            solver="CG" tolerance="1e-6" jacobian="sparse" />
+  
+    <visual>
+      <rgba haze="0.15 0.25 0.35 1" fog="0.5 0.8 0.5 0.5"/>
+      <quality shadowsize="4096" />
+      <map stiffness="100" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3" />
+    </visual>
+
+    <size memory="10M" />
+
+    <extension>
+        <plugin plugin="mujoco.elasticity.solid" />
+    </extension>
+  
+    <default>
+      <tendon limited="true" width="0.003" rgba="1 1 1 1"/>
+      <geom friction=".2"/>
+      <default class="weight">
+        <geom rgba=".8 .4 .8 1"/>
+        <site rgba=".8 .4 .8 1"/>
+      </default>
+      <default class="balloon">
+        <!--
+          0.167 is the MKS density of helium at room temperature.
+          Note this does not take into account the mass of the rubber,
+          which is likely not insignificant.
+        -->
+        <geom density="0.167" fluidshape="ellipsoid"/>
+        <default class="pink">
+          <geom rgba="1 .6 .7 1"/>
+          <site rgba="1 .6 .7 1"/>
+        </default>
+        <default class="blue">
+          <geom rgba=".3 .7 .9 1"/>
+          <site rgba=".3 .7 .9 1"/>
+        </default>
+        <default class="green">
+          <geom rgba=".4 .9 .5 1"/>
+          <site rgba=".4 .9 .5 1"/>
+        </default>
+        <default class="orange">
+          <geom rgba="1 .4 0 1"/>
+          <site rgba="1 .4 0 1"/>
+        </default>
+      </default>
+    </default>
+  
+    <asset>
+      <texture type="skybox" builtin="gradient" rgb1="0.529 0.808 0.922" rgb2="0 0 0" width="512"
+          height="512" />
+      <texture name="grid" type="2d" builtin="checker" width="512" height="512"
+        rgb2="0.127 0.731 0.141 " rgb1="0.484 0.984 0.0" mark="edge"/>
+      <material name="grid" texture="grid" texrepeat="2 2" texuniform="true"
+        reflectance="0" rgba=".5 .5 .5 1"/>
+
+       <mesh file="Hand_Decomposed.obj" scale=".2 .2 .2" />
+    </asset>
+  
+    <worldbody>
+      <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0"
+        dir="0 0 -1" castshadow="false" />
+      <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
+
+      <flexcomp type="grid" count="6 6 6" spacing=".06 .06 .06" pos="0 0.8 -.25" dim="3"
+          radius=".005" rgba="0 .7 .7 1" mass="5" name="softbody">
+          <edge damping="1"/>
+          <!-- <pin gridrange="0 0 0 4 4 0"/> -->
+          <contact selfcollide="none" />
+          <plugin plugin="mujoco.elasticity.solid">
+              <config key="poisson" value="0" />
+              <config key="young" value="5e4" />
+          </plugin>
+      </flexcomp>
+
+      <body name="finger" mocap="true" pos="2 0 1" euler="90 0 0">
+        <geom type="capsule" size="0.01115 0.036" />
+      </body>
+      <frame name="right_hand_frame" pos="0 0 1">
+        <body name="right_hand_mocap" mocap="true">
+            <geom type="box" size="0.02 0.05 0.05" rgba=".5 .5 .5 .3" contype="0" conaffinity="0"/>
+          <site name="fingertip" type="sphere" pos="0.0 -0.03 -0.055" rgba="0.5 0.5 1 1" />
+        </body>
+        <body name="right_hand_collision">
+          <freejoint/>
+            <geom type="mesh" mesh="Hand_Decomposed" euler="180 0 0"/>
+        </body>
+      </frame>
+
+      <geom name="ground" type="plane" size="5 5 .05" pos="0 0 -.5" material="grid"/>
+      <geom name="ramp" type="box" size=".4 .2 .03" pos="0 0 -.4" euler="0 20 0" rgba="1 1 1 1"/>
+  
+      <body name="weight" childclass="weight" pos=".3 0 .2">
+        <freejoint/>
+        <!-- The mass of the weight was chosen to be slightly bigger than the total buoyancy of the balloons. -->
+        <geom name="weight" type="box" size=".015 .015 .015" mass=".0347"/>
+        <site name="weight1" pos=" .013  .013 .013" size="0.005"/>
+        <site name="weight2" pos="-.013 -.013 .013" size="0.005"/>
+      </body>
+  
+      <!-- The gravcomp value of 7.2 is the ratio of air and helium desities at room temperature. -->
+      <body name="pink" gravcomp="7.2" pos="-.2 .1 .2" childclass="pink">
+        <freejoint />
+        <geom name="pink" type="ellipsoid" size=".11 .11 .15"/>
+        <geom name="pink_knot" pos="0 0 -.15" size=".02"/>
+        <site name="pink" pos="0 0 -.17" size="0.01"/>
+      </body>
+  
+      <body name="blue" gravcomp="7.2" pos=".1 .1 .2" childclass="blue">
+        <freejoint />
+        <geom name="blue" type="ellipsoid" size=".12 .12 .15"/>
+        <geom name="blue_knot" pos="0 0 -.15" size=".02"/>
+        <site name="blue" pos="0 0 -.17" size="0.01"/>
+      </body>
+  
+      <body name="green" gravcomp="7.2" pos=".1 -.1 .2" childclass="green">
+        <freejoint />
+        <geom name="green" type="ellipsoid" size=".12 .12 .14"/>
+        <geom name="green_knot" pos="0 0 -.14" size=".02"/>
+        <site name="green" pos="0 0 -.16" size="0.01"/>
+      </body>
+  
+      <body name="orange" gravcomp="7.2" pos="-.12 -.12 .2" childclass="orange">
+        <freejoint />
+        <geom name="orange" type="ellipsoid" size=".12 .12 .13"/>
+        <geom name="orange_knot" pos="0 0 -.13" size=".02"/>
+        <site name="orange" pos="0 0 -.15" size="0.01"/>
+      </body>
+    </worldbody>
+
+    <equality>
+      <weld body1="right_hand_mocap" body2="right_hand_collision"/>
+    </equality>
+  
+    <tendon>
+      <spatial range="0 0.6">
+        <site site="pink"/>
+        <site site="weight1"/>
+      </spatial>
+      <spatial range="0 0.4">
+        <site site="blue"/>
+        <site site="weight1"/>
+      </spatial>
+      <spatial range="0 0.3">
+        <site site="green"/>
+        <site site="weight2"/>
+      </spatial>
+      <spatial range="0 0.5">
+        <site site="orange"/>
+        <site site="weight2"/>
+      </spatial>
+    </tendon>
+
+    <sensor>
+        <touch site="fingertip" name="fingertip_sensor" />
+    </sensor>
+  </mujoco>
\ No newline at end of file
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diff --git a/tactile/code/assets/deformable_cloth.xml b/tactile/code/assets/deformable_cloth.xml
new file mode 100644
index 00000000..cbfc5305
--- /dev/null
+++ b/tactile/code/assets/deformable_cloth.xml
@@ -0,0 +1,73 @@
+<mujoco model="deformable_cloth">
+  <!-- 
+    可变形布料场景
+    用于测试柔性织物材质的触觉反馈
+  -->
+  
+  <compiler angle="radian" meshdir="." autolimits="true"/>
+  
+  <option timestep="0.001" iterations="50" solver="Newton" gravity="0 0 -9.81">
+    <flag warmstart="enable"/>
+  </option>
+  
+  <size memory="100M"/>
+  
+  <visual>
+    <global offwidth="1920" offheight="1080"/>
+    <quality shadowsize="4096" offsamples="8"/>
+  </visual>
+  
+  <asset>
+    <!-- 布料材质 - 柔性织物 -->
+    <texture name="cloth_texture" type="2d" builtin="checker" width="512" height="512" 
+             rgb1="0.8 0.3 0.3" rgb2="0.6 0.2 0.2"/>
+    <material name="cloth_material" texture="cloth_texture" rgba="0.8 0.3 0.3 1" 
+              specular="0.1" shininess="0.1"/>
+    
+    <!-- 地面材质 -->
+    <texture name="grid" type="2d" builtin="checker" width="512" height="512" 
+             rgb1="0.9 0.9 0.9" rgb2="0.7 0.7 0.7"/>
+    <material name="grid_material" texture="grid" texrepeat="8 8" reflectance="0.1"/>
+  </asset>
+  
+  <worldbody>
+    <!-- 地面 -->
+    <geom name="floor" type="plane" size="2 2 0.1" material="grid_material"/>
+    
+    <!-- 灯光 -->
+    <light directional="true" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" pos="0 0 3" dir="0 0 -1"/>
+    <light directional="true" diffuse="0.4 0.4 0.4" specular="0.1 0.1 0.1" pos="2 2 2" dir="-1 -1 -1"/>
+    
+    <!-- 可变形布料 - 使用flex (2D网格)，固定四角 -->
+    <flexcomp name="cloth_sheet" type="grid" count="15 15 1" spacing="0.02 0.02 0.02"
+              pos="0 0 1.0" radius="0.005" rgba="0.8 0.3 0.3 1"
+              mass="0.2" dim="2">
+      <contact friction="0.8" solimp="0.9 0.95 0.001" solref="0.01 1"/>
+      <edge equality="true" damping="5"/>
+      <!-- 固定四个角: 顶点索引 0, 14, 210, 224 -->
+      <pin id="0"/>
+      <pin id="14"/>
+      <pin id="210"/>
+      <pin id="224"/>
+    </flexcomp>
+    
+    <!-- 探针 -->
+    <body name="probe" pos="0 0 1.3">
+      <freejoint name="probe_joint"/>
+      <geom name="probe_geom" type="sphere" size="0.015" rgba="0.2 0.6 1 1" mass="0.05"/>
+      <site name="probe_tip" pos="0 0 -0.015" size="0.01"/>
+    </body>
+    
+  </worldbody>
+  
+  <actuator>
+    <motor name="probe_x" joint="probe_joint" gear="1 0 0 0 0 0" ctrlrange="-1 1"/>
+    <motor name="probe_y" joint="probe_joint" gear="0 1 0 0 0 0" ctrlrange="-1 1"/>
+    <motor name="probe_z" joint="probe_joint" gear="0 0 1 0 0 0" ctrlrange="-1 1"/>
+  </actuator>
+  
+  <sensor>
+    <force name="probe_contact_force" site="probe_tip"/>
+  </sensor>
+  
+</mujoco>
\ No newline at end of file
diff --git a/tactile/code/assets/deformable_jelly_cube.xml b/tactile/code/assets/deformable_jelly_cube.xml
new file mode 100644
index 00000000..89ac2cd4
--- /dev/null
+++ b/tactile/code/assets/deformable_jelly_cube.xml
@@ -0,0 +1,71 @@
+<mujoco model="deformable_jelly_cube">
+  <!-- 
+    可变形果冻立方体场景
+    用于测试软体弹性材质的触觉反馈
+    
+    作者: [你的名字]
+    日期: 2025
+  -->
+  
+  <compiler angle="radian" meshdir="." autolimits="true"/>
+  
+  <option timestep="0.001" iterations="50" solver="Newton" gravity="0 0 -9.81">
+    <flag warmstart="enable"/>
+  </option>
+  
+  <size memory="100M"/>
+  
+  <visual>
+    <global offwidth="1920" offheight="1080"/>
+    <quality shadowsize="4096" offsamples="8"/>
+  </visual>
+  
+  <asset>
+    <!-- 果冻材质 - 软体弹性 -->
+    <texture name="jelly_texture" type="cube" builtin="flat" rgb1="1 0.5 0.8" rgb2="1 0.7 0.9" width="512" height="512"/>
+    <material name="jelly_material" texture="jelly_texture" rgba="1 0.5 0.8 0.9" specular="0.5" shininess="0.8"/>
+    
+    <!-- 地面材质 -->
+    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1="0.9 0.9 0.9" rgb2="0.7 0.7 0.7"/>
+    <material name="grid_material" texture="grid" texrepeat="8 8" reflectance="0.1"/>
+  </asset>
+  
+  <worldbody>
+    <!-- 地面 -->
+    <geom name="floor" type="plane" size="2 2 0.1" material="grid_material"/>
+    
+    <!-- 灯光 -->
+    <light directional="true" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" pos="0 0 3" dir="0 0 -1"/>
+    <light directional="true" diffuse="0.4 0.4 0.4" specular="0.1 0.1 0.1" pos="2 2 2" dir="-1 -1 -1"/>
+    
+    <!-- 可变形果冻立方体 - 使用flex (软体) -->
+    <flexcomp name="jelly_cube" type="grid" count="8 8 8" spacing="0.03 0.03 0.03"
+              pos="0 0 0.5" radius="0.01" rgba="1 0.5 0.8 1"
+              mass="0.5" dim="3">
+      <contact friction="0.5" solimp="0.9 0.95 0.001" solref="0.01 1"/>
+      <edge equality="true" damping="10"/>
+    </flexcomp>
+    
+    <!-- 简单的探针/手指代替物 -->
+    <body name="probe" pos="0 0 1.5">
+      <freejoint name="probe_joint"/>
+      <geom name="probe_geom" type="sphere" size="0.02" rgba="0.2 0.6 1 1" mass="0.1"/>
+      <site name="probe_tip" pos="0 0 -0.02" size="0.01"/>
+    </body>
+    
+  </worldbody>
+  
+  <actuator>
+    <!-- 探针的控制器 -->
+    <motor name="probe_x" joint="probe_joint" gear="1 0 0 0 0 0" ctrlrange="-1 1"/>
+    <motor name="probe_y" joint="probe_joint" gear="0 1 0 0 0 0" ctrlrange="-1 1"/>
+    <motor name="probe_z" joint="probe_joint" gear="0 0 1 0 0 0" ctrlrange="-1 1"/>
+  </actuator>
+  
+  <sensor>
+    <!-- 接触力传感器 -->
+    <force name="probe_contact_force" site="probe_tip"/>
+    <accelerometer name="probe_accel" site="probe_tip"/>
+  </sensor>
+  
+</mujoco>
diff --git a/tactile/code/assets/deformable_sponge.xml b/tactile/code/assets/deformable_sponge.xml
new file mode 100644
index 00000000..641d25a8
--- /dev/null
+++ b/tactile/code/assets/deformable_sponge.xml
@@ -0,0 +1,66 @@
+<mujoco model="deformable_sponge">
+  <!-- 
+    可变形海绵场景
+    用于测试多孔弹性材质的触觉反馈
+  -->
+  
+  <compiler angle="radian" meshdir="." autolimits="true"/>
+  
+  <option timestep="0.001" iterations="50" solver="Newton" gravity="0 0 -9.81">
+    <flag warmstart="enable"/>
+  </option>
+  
+  <size memory="100M"/>
+  
+  <visual>
+    <global offwidth="1920" offheight="1080"/>
+    <quality shadowsize="4096" offsamples="8"/>
+  </visual>
+  
+  <asset>
+    <!-- 海绵材质 - 多孔弹性 -->
+    <texture name="sponge_texture" type="cube" builtin="flat" rgb1="0.9 0.8 0.4" rgb2="0.85 0.75 0.35" width="256" height="256"/>
+    <material name="sponge_material" texture="sponge_texture" rgba="0.9 0.8 0.4 1" specular="0.05" shininess="0.1"/>
+    
+    <!-- 地面材质 -->
+    <texture name="grid" type="2d" builtin="checker" width="512" height="512"
+             rgb1="0.9 0.9 0.9" rgb2="0.7 0.7 0.7"/>
+    <material name="grid_material" texture="grid" texrepeat="8 8" reflectance="0.1"/>
+  </asset>
+  
+  <worldbody>
+    <!-- 地面 -->
+    <geom name="floor" type="plane" size="2 2 0.1" material="grid_material"/>
+    
+    <!-- 灯光 -->
+    <light directional="true" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" pos="0 0 3" dir="0 0 -1"/>
+    <light directional="true" diffuse="0.4 0.4 0.4" specular="0.1 0.1 0.1" pos="2 2 2" dir="-1 -1 -1"/>
+    
+    <!-- 可变形海绵 - 使用flex (软体, 扁平方形) -->
+    <flexcomp name="sponge" type="grid" count="6 6 4" spacing="0.03 0.03 0.025"
+              pos="0 0 0.2" radius="0.008" rgba="0.9 0.8 0.4 1"
+              mass="0.3" dim="3">
+      <contact friction="0.9" solimp="0.8 0.9 0.001" solref="0.02 1"/>
+      <edge equality="true" damping="20"/>
+    </flexcomp>
+    
+    <!-- 探针 -->
+    <body name="probe" pos="0 0 0.8">
+      <freejoint name="probe_joint"/>
+      <geom name="probe_geom" type="sphere" size="0.02" rgba="0.2 0.6 1 1" mass="0.1"/>
+      <site name="probe_tip" pos="0 0 -0.02" size="0.01"/>
+    </body>
+    
+  </worldbody>
+  
+  <actuator>
+    <motor name="probe_x" joint="probe_joint" gear="1 0 0 0 0 0" ctrlrange="-1 1"/>
+    <motor name="probe_y" joint="probe_joint" gear="0 1 0 0 0 0" ctrlrange="-1 1"/>
+    <motor name="probe_z" joint="probe_joint" gear="0 0 1 0 0 0" ctrlrange="-1 1"/>
+  </actuator>
+  
+  <sensor>
+    <force name="probe_contact_force" site="probe_tip"/>
+  </sensor>
+  
+</mujoco>
\ No newline at end of file
diff --git a/tactile/code/assets/hand-assets/annular_1_visual.obj b/tactile/code/assets/hand-assets/annular_1_visual.obj
new file mode 100644
index 00000000..032e1196
--- /dev/null
+++ b/tactile/code/assets/hand-assets/annular_1_visual.obj
@@ -0,0 +1,2859 @@
+mtllib material.mtl
+usemtl material_0
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diff --git a/tactile/code/assets/hand-assets/annular_2_visual.obj b/tactile/code/assets/hand-assets/annular_2_visual.obj
new file mode 100644
index 00000000..c24ae0cb
--- /dev/null
+++ b/tactile/code/assets/hand-assets/annular_2_visual.obj
@@ -0,0 +1,1987 @@
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diff --git a/tactile/code/assets/hand-assets/annular_3_visual.obj b/tactile/code/assets/hand-assets/annular_3_visual.obj
new file mode 100644
index 00000000..3694ea49
--- /dev/null
+++ b/tactile/code/assets/hand-assets/annular_3_visual.obj
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diff --git a/tactile/code/assets/hand-assets/index_1_visual.obj b/tactile/code/assets/hand-assets/index_1_visual.obj
new file mode 100644
index 00000000..6066e22e
--- /dev/null
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diff --git a/tactile/code/assets/hand-assets/index_2_visual.obj b/tactile/code/assets/hand-assets/index_2_visual.obj
new file mode 100644
index 00000000..8dc95c4b
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diff --git a/tactile/code/assets/hand-assets/index_3_visual.obj b/tactile/code/assets/hand-assets/index_3_visual.obj
new file mode 100644
index 00000000..86d1cdb9
--- /dev/null
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diff --git a/tactile/code/assets/hand-assets/middle_1_visual.obj b/tactile/code/assets/hand-assets/middle_1_visual.obj
new file mode 100644
index 00000000..c139136b
--- /dev/null
+++ b/tactile/code/assets/hand-assets/middle_1_visual.obj
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diff --git a/tactile/code/assets/hand-assets/middle_2_visual.obj b/tactile/code/assets/hand-assets/middle_2_visual.obj
new file mode 100644
index 00000000..93cc3028
--- /dev/null
+++ b/tactile/code/assets/hand-assets/middle_2_visual.obj
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diff --git a/tactile/code/assets/hand-assets/middle_3_visual.obj b/tactile/code/assets/hand-assets/middle_3_visual.obj
new file mode 100644
index 00000000..7c069379
--- /dev/null
+++ b/tactile/code/assets/hand-assets/middle_3_visual.obj
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diff --git a/tactile/code/assets/hand-assets/palm_visual.obj b/tactile/code/assets/hand-assets/palm_visual.obj
new file mode 100644
index 00000000..fb1a8f37
--- /dev/null
+++ b/tactile/code/assets/hand-assets/palm_visual.obj
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diff --git a/tactile/code/assets/hand-assets/pinky_1_visual.obj b/tactile/code/assets/hand-assets/pinky_1_visual.obj
new file mode 100644
index 00000000..b66386b3
--- /dev/null
+++ b/tactile/code/assets/hand-assets/pinky_1_visual.obj
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diff --git a/tactile/code/assets/hand-assets/pinky_2_visual.obj b/tactile/code/assets/hand-assets/pinky_2_visual.obj
new file mode 100644
index 00000000..bcf459e3
--- /dev/null
+++ b/tactile/code/assets/hand-assets/pinky_2_visual.obj
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diff --git a/tactile/code/assets/hand-assets/pinky_3_visual.obj b/tactile/code/assets/hand-assets/pinky_3_visual.obj
new file mode 100644
index 00000000..f404acf7
--- /dev/null
+++ b/tactile/code/assets/hand-assets/pinky_3_visual.obj
@@ -0,0 +1,3237 @@
+mtllib material.mtl
+usemtl material_0
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diff --git a/tactile/code/assets/hand-assets/thumb_1_visual.obj b/tactile/code/assets/hand-assets/thumb_1_visual.obj
new file mode 100644
index 00000000..6482478a
--- /dev/null
+++ b/tactile/code/assets/hand-assets/thumb_1_visual.obj
@@ -0,0 +1,2091 @@
+mtllib material.mtl
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diff --git a/tactile/code/assets/hand-assets/thumb_2_visual.obj b/tactile/code/assets/hand-assets/thumb_2_visual.obj
new file mode 100644
index 00000000..af7f696d
--- /dev/null
+++ b/tactile/code/assets/hand-assets/thumb_2_visual.obj
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diff --git a/tactile/code/assets/hand-assets/wrist_visual.obj b/tactile/code/assets/hand-assets/wrist_visual.obj
new file mode 100644
index 00000000..5ce63a30
--- /dev/null
+++ b/tactile/code/assets/hand-assets/wrist_visual.obj
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diff --git a/tactile/code/assets/phantom-assets/aorta.obj b/tactile/code/assets/phantom-assets/aorta.obj
new file mode 100644
index 00000000..4529dd7c
--- /dev/null
+++ b/tactile/code/assets/phantom-assets/aorta.obj
@@ -0,0 +1,10303 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib aorta.mtl
+o aorta
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diff --git a/tactile/code/assets/phantom-assets/cava.obj b/tactile/code/assets/phantom-assets/cava.obj
new file mode 100644
index 00000000..21dde06d
--- /dev/null
+++ b/tactile/code/assets/phantom-assets/cava.obj
@@ -0,0 +1,14563 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib cava.mtl
+o cava
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diff --git a/tactile/code/assets/phantom-assets/fat.obj b/tactile/code/assets/phantom-assets/fat.obj
new file mode 100644
index 00000000..40c7383c
--- /dev/null
+++ b/tactile/code/assets/phantom-assets/fat.obj
@@ -0,0 +1,38612 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib fat.mtl
+o fat
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diff --git a/tactile/code/assets/phantom-assets/inner_spine.obj b/tactile/code/assets/phantom-assets/inner_spine.obj
new file mode 100644
index 00000000..b7ff7e88
--- /dev/null
+++ b/tactile/code/assets/phantom-assets/inner_spine.obj
@@ -0,0 +1,15339 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib inner_spine.mtl
+o inner_spine
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diff --git a/tactile/code/assets/phantom-assets/left kidney_converted_vol.msh b/tactile/code/assets/phantom-assets/left kidney_converted_vol.msh
new file mode 100644
index 00000000..868bb3cf
--- /dev/null
+++ b/tactile/code/assets/phantom-assets/left kidney_converted_vol.msh	
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diff --git a/tactile/code/assets/phantom-assets/left_kidney.obj b/tactile/code/assets/phantom-assets/left_kidney.obj
new file mode 100644
index 00000000..2f8cfa37
--- /dev/null
+++ b/tactile/code/assets/phantom-assets/left_kidney.obj
@@ -0,0 +1,32531 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib left_kidney.mtl
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diff --git a/tactile/code/assets/phantom-assets/liver.obj b/tactile/code/assets/phantom-assets/liver.obj
new file mode 100644
index 00000000..02d60798
--- /dev/null
+++ b/tactile/code/assets/phantom-assets/liver.obj
@@ -0,0 +1,202330 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib liver.mtl
+o liver
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diff --git a/tactile/code/assets/phantom-assets/liver_converted_vol.msh b/tactile/code/assets/phantom-assets/liver_converted_vol.msh
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diff --git a/tactile/code/assets/phantom-assets/muscle.obj b/tactile/code/assets/phantom-assets/muscle.obj
new file mode 100644
index 00000000..32bd07b0
--- /dev/null
+++ b/tactile/code/assets/phantom-assets/muscle.obj
@@ -0,0 +1,419232 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib muscle.mtl
+o muscle
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+v -0.068846 -0.004228 0.107100
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diff --git a/tactile/code/assets/phantom-assets/outer_spine.obj b/tactile/code/assets/phantom-assets/outer_spine.obj
new file mode 100644
index 00000000..bdee5fe3
--- /dev/null
+++ b/tactile/code/assets/phantom-assets/outer_spine.obj
@@ -0,0 +1,87272 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib outer_spine.mtl
+o outer_spine
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diff --git a/tactile/code/assets/phantom-assets/portal_vein.obj b/tactile/code/assets/phantom-assets/portal_vein.obj
new file mode 100644
index 00000000..ec51a542
--- /dev/null
+++ b/tactile/code/assets/phantom-assets/portal_vein.obj
@@ -0,0 +1,27636 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib portal_vein.mtl
+o portal_vein
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diff --git a/tactile/code/assets/phantom-assets/ribs.obj b/tactile/code/assets/phantom-assets/ribs.obj
new file mode 100644
index 00000000..edc0434c
--- /dev/null
+++ b/tactile/code/assets/phantom-assets/ribs.obj
@@ -0,0 +1,107528 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib ribs.mtl
+o ribs
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diff --git a/tactile/code/assets/phantom-assets/right_kidney.obj b/tactile/code/assets/phantom-assets/right_kidney.obj
new file mode 100644
index 00000000..c2dd2eff
--- /dev/null
+++ b/tactile/code/assets/phantom-assets/right_kidney.obj
@@ -0,0 +1,29806 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib right_kidney.mtl
+o right_kidney
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From 0100ed9a88c96a4e0bd6a300102b40ea9894c8a9 Mon Sep 17 00:00:00 2001
From: A-0-A-0-A <3131489786@qq,com>
Date: Sun, 26 Apr 2026 15:07:59 +0800
Subject: [PATCH 2/2] =?UTF-8?q?=E6=89=8B=E6=8C=87=E6=A8=A1=E5=9D=97?=
 =?UTF-8?q?=E4=BB=A3=E7=A0=81?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../__pycache__/annular_sim.cpython-311.pyc   | Bin 0 -> 7312 bytes
 .../__pycache__/ik_solver.cpython-311.pyc     | Bin 0 -> 17408 bytes
 .../__pycache__/index_sim.cpython-311.pyc     | Bin 0 -> 7203 bytes
 .../__pycache__/middle_sim.cpython-311.pyc    | Bin 0 -> 7281 bytes
 .../__pycache__/pinky_sim.cpython-311.pyc     | Bin 0 -> 7197 bytes
 .../__pycache__/thumb_sim.cpython-311.pyc     | Bin 0 -> 6548 bytes
 tactile/code/fingers_sim/annular_sim.py       | 108 +++++
 tactile/code/fingers_sim/ik_solver.py         | 404 ++++++++++++++++++
 tactile/code/fingers_sim/index_sim.py         | 109 +++++
 tactile/code/fingers_sim/middle_sim.py        | 121 ++++++
 tactile/code/fingers_sim/pinky_sim.py         | 106 +++++
 tactile/code/fingers_sim/thumb_sim.py         | 130 ++++++
 12 files changed, 978 insertions(+)
 create mode 100644 tactile/code/fingers_sim/__pycache__/annular_sim.cpython-311.pyc
 create mode 100644 tactile/code/fingers_sim/__pycache__/ik_solver.cpython-311.pyc
 create mode 100644 tactile/code/fingers_sim/__pycache__/index_sim.cpython-311.pyc
 create mode 100644 tactile/code/fingers_sim/__pycache__/middle_sim.cpython-311.pyc
 create mode 100644 tactile/code/fingers_sim/__pycache__/pinky_sim.cpython-311.pyc
 create mode 100644 tactile/code/fingers_sim/__pycache__/thumb_sim.cpython-311.pyc
 create mode 100644 tactile/code/fingers_sim/annular_sim.py
 create mode 100644 tactile/code/fingers_sim/ik_solver.py
 create mode 100644 tactile/code/fingers_sim/index_sim.py
 create mode 100644 tactile/code/fingers_sim/middle_sim.py
 create mode 100644 tactile/code/fingers_sim/pinky_sim.py
 create mode 100644 tactile/code/fingers_sim/thumb_sim.py

diff --git a/tactile/code/fingers_sim/__pycache__/annular_sim.cpython-311.pyc b/tactile/code/fingers_sim/__pycache__/annular_sim.cpython-311.pyc
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diff --git a/tactile/code/fingers_sim/annular_sim.py b/tactile/code/fingers_sim/annular_sim.py
new file mode 100644
index 00000000..0f686e6f
--- /dev/null
+++ b/tactile/code/fingers_sim/annular_sim.py
@@ -0,0 +1,108 @@
+import numpy as np
+from math import pi, cos, sin 
+
+def actuation_annular(distance, q, links_lenghts,R):
+    q1 = q[0]
+    q2 = q[1]
+    q3 = q[2]    
+
+    offset_annular_x = links_lenghts[0]
+    offset_annular_y = links_lenghts[1]
+    offset_annular_z = links_lenghts[2]
+    L1y_annular = links_lenghts[3]
+    L1z_annular = links_lenghts[4]
+    L2y_annular = links_lenghts[5]
+    L2z_annular = links_lenghts[6]
+    L3y_annular = links_lenghts[7]
+    L3z_annular = links_lenghts[8]
+
+    #print(np.linalg.norm(current_pose - np.array([0, 0, 1])))
+
+    py_j2 =  -L1y_annular*cos(q1) - L1z_annular*sin(q1)
+    pz_j2 =  -L1y_annular*sin(q1) + L1z_annular*cos(q1)
+        
+    py_j3 = py_j2 - L2y_annular*cos(q1+q2) - L2z_annular*sin(q1+q2) 
+    pz_j3 = pz_j2 - L2y_annular*sin(q1+q2) + L2z_annular*cos(q1+q2)
+
+    py_tip = py_j3 - L3y_annular*cos(q1+q2+q3) - L3z_annular*sin(q1+q2+q3)
+    pz_tip = pz_j3 - L3y_annular*sin(q1+q2+q3) + L3z_annular*cos(q1+q2+q3)
+
+    pos = np.array([[0], [py_tip], [pz_tip  + 0.03]])   
+    p = R.dot(pos) + np.array([[offset_annular_x], [offset_annular_y], [offset_annular_z]])
+    
+    # Task Jacobian: p_dot = Jp(q)q_dot
+    Jp = np.array([[0,0,0],
+                   [L1y_annular*sin(q1) - L1z_annular*cos(q1) + L2y_annular*sin(q1+q2) - L2z_annular*cos(q1+q2) + L3y_annular*sin(q1+q2+q3) - L3z_annular*cos(q1+q2+q3), 
+                    L2y_annular*sin(q1+q2) - L2z_annular*cos(q1+q2) + L3y_annular*sin(q1+q2+q3) - L3z_annular*cos(q1+q2+q3), 
+                    L3y_annular*sin(q1+q2+q3) - L3z_annular*cos(q1+q2+q3)], 
+                    [-L1y_annular*cos(q1) - L1z_annular*sin(q1) - L2y_annular*cos(q1+q2) - L2z_annular*sin(q1+q2) - L3y_annular*cos(q1+q2+q3) - L3z_annular*sin(q1+q2+q3),
+                    -L2y_annular*cos(q1+q2) - L2z_annular*sin(q1+q2) - L3y_annular*cos(q1+q2+q3) - L3z_annular*sin(q1+q2+q3),
+                    -L3y_annular*cos(q1+q2+q3) - L3z_annular*sin(q1+q2+q3)]])
+
+    Jp = R.dot(Jp)
+    
+    # Distance from origin d
+    d = np.linalg.norm(p)
+
+    W = [[9.5, 0,  0], 
+         [0,  5.5,  0], 
+         [0,  0, 7.5]]
+
+    #print(d - distance)
+
+    # Extended jacobian for distance: d_dot = Jd(q)q_dot
+    Jd = 1/d*p.transpose().dot(Jp)
+
+    W_inv = np.linalg.inv(W)
+
+    Jd_trans = Jd.transpose()
+    detJ = np.float64(Jd.dot(W_inv.dot(Jd_trans)))
+    if detJ <= 1e-6:
+        mu = (detJ + 1.0)/2000
+    else:
+        mu = 0
+    Jinv = W_inv.dot(Jd_trans).dot(1/(detJ + mu**2))
+    
+    # Proportional Gain
+    K = 100
+
+    # Distance measured from WeArt 
+    dr = distance
+
+    w = np.array([(5*pi/16 - q1)/(3*pi/8), (3*pi/8 - q2)/(pi/4), (5*pi/16 - q3)/(3*pi/8)])
+    u_vinc = np.reshape((np.eye(3) - Jinv.dot(Jd)).dot(w.T),[3,1])
+    
+    qdot = Jinv*K*(dr - d) + u_vinc
+
+    return qdot
+
+def move_annular(distance,data,model,joint_ids,palm,links,R, hand):
+    off = 7 if hand=="Right_" else 14
+    q1 = data.qpos[joint_ids[hand+'Annular_J1']+off]
+    q2 = data.qpos[joint_ids[hand+'Annular_J2']+off]
+    q3 = data.qpos[joint_ids[hand+'Annular_J3']+off]
+    
+    L1y_annular = links[0] 
+    L1z_annular = links[1] 
+    L2y_annular = links[2] 
+    L2z_annular = links[3] 
+    L3y_annular = links[4] 
+    L3z_annular = links[5]
+    
+  
+    offset_annular =  data.xpos[model.body(hand+'Annular_J1.stl').id] 
+    offx_annular =  offset_annular[0] - palm[0]
+    offy_annular = offset_annular[1] - palm[1] 
+    offz_annular = offset_annular[2] - palm[2]
+
+    links = [offx_annular,offy_annular, offz_annular, L1y_annular, L1z_annular, L2y_annular, L2z_annular, L3y_annular, L3z_annular]
+    
+    qdot = actuation_annular(distance, [q1, q2, q3], links,R)
+
+    v1 = qdot[0][0] 
+    v2 = qdot[1][0] 
+    v3 = qdot[2][0] 
+
+    data.ctrl[joint_ids[hand+'Annular_J1']] = v1
+    data.ctrl[joint_ids[hand+'Annular_J2']] = v2
+    data.ctrl[joint_ids[hand+'Annular_J3']] = v3
\ No newline at end of file
diff --git a/tactile/code/fingers_sim/ik_solver.py b/tactile/code/fingers_sim/ik_solver.py
new file mode 100644
index 00000000..1661e27b
--- /dev/null
+++ b/tactile/code/fingers_sim/ik_solver.py
@@ -0,0 +1,404 @@
+"""
+改进的逆运动学求解器 - 使用阻尼最小二乘法 (Damped Least Squares)
+
+本模块实现了改进的IK算法，相比原算法有以下改进：
+1. 使用阻尼最小二乘法 (DLS) 替代简单的伪逆，提高数值稳定性
+2. 动态调整阻尼系数，在奇异点附近自动增大阻尼
+3. 添加关节限位约束
+4. 使用任务优先级方法处理多目标
+5. 优化计算效率
+
+作者: [你的名字]
+日期: 2025
+"""
+
+import numpy as np
+from math import pi, cos, sin, sqrt
+from typing import List, Tuple, Optional
+
+
+class ImprovedIKSolver:
+    """改进的逆运动学求解器"""
+    
+    def __init__(self, 
+                 damping_base: float = 0.01,
+                 damping_max: float = 0.5,
+                 singular_threshold: float = 1e-4,
+                 joint_limit_weight: float = 10.0):
+        """
+        初始化IK求解器
+        
+        Args:
+            damping_base: 基础阻尼系数
+            damping_max: 最大阻尼系数
+            singular_threshold: 奇异点检测阈值
+            joint_limit_weight: 关节限位权重
+        """
+        self.damping_base = damping_base
+        self.damping_max = damping_max
+        self.singular_threshold = singular_threshold
+        self.joint_limit_weight = joint_limit_weight
+        
+        # 关节限位 (弧度)
+        self.joint_limits = {
+            'J1': (0, 5*pi/16),      # 近端关节
+            'J2': (0, 3*pi/8),       # 中端关节
+            'J3': (0, 5*pi/16),      # 远端关节
+        }
+    
+    def compute_jacobian(self, q: np.ndarray, links: List[float], R: np.ndarray) -> np.ndarray:
+        """
+        计算任务雅可比矩阵
+        
+        Args:
+            q: 关节角度 [q1, q2, q3]
+            links: 连杆长度参数
+            R: 旋转矩阵
+            
+        Returns:
+            Jp: 3x3 位置雅可比矩阵
+        """
+        q1, q2, q3 = q
+        
+        # 提取连杆长度
+        L1y, L1z = links[3], links[4]
+        L2y, L2z = links[5], links[6]
+        L3y, L3z = links[7], links[8]
+        
+        # 计算雅可比矩阵 (相对于本地坐标系)
+        Jp_local = np.array([
+            [0, 0, 0],
+            [L1y*sin(q1) - L1z*cos(q1) + 
+             L2y*sin(q1+q2) - L2z*cos(q1+q2) + 
+             L3y*sin(q1+q2+q3) - L3z*cos(q1+q2+q3),
+             L2y*sin(q1+q2) - L2z*cos(q1+q2) + 
+             L3y*sin(q1+q2+q3) - L3z*cos(q1+q2+q3),
+             L3y*sin(q1+q2+q3) - L3z*cos(q1+q2+q3)],
+            [-L1y*cos(q1) - L1z*sin(q1) - 
+             L2y*cos(q1+q2) - L2z*sin(q1+q2) - 
+             L3y*cos(q1+q2+q3) - L3z*sin(q1+q2+q3),
+             -L2y*cos(q1+q2) - L2z*sin(q1+q2) - 
+             L3y*cos(q1+q2+q3) - L3z*sin(q1+q2+q3),
+             -L3y*cos(q1+q2+q3) - L3z*sin(q1+q2+q3)]
+        ], dtype=float)
+        
+        # 转换到世界坐标系
+        Jp = R @ Jp_local
+        
+        return Jp
+    
+    def compute_distance_jacobian(self, p: np.ndarray, Jp: np.ndarray) -> np.ndarray:
+        """
+        计算距离雅可比矩阵 (标量距离对关节角度的导数)
+        
+        Args:
+            p: 指尖位置 (3x1)
+            Jp: 位置雅可比矩阵 (3x3)
+            
+        Returns:
+            Jd: 1x3 距离雅可比矩阵
+        """
+        d = np.linalg.norm(p)
+        if d < 1e-6:
+            d = 1e-6
+        Jd = (p.T @ Jp) / d
+        return Jd
+    
+    def compute_damping(self, singular_value: float) -> float:
+        """
+        动态计算阻尼系数
+        
+        在奇异点附近自动增大阻尼以提高稳定性
+        
+        Args:
+            singular_value: 最小奇异值
+            
+        Returns:
+            damping: 阻尼系数
+        """
+        if singular_value > self.singular_threshold:
+            return self.damping_base
+        else:
+            # 在奇异点附近平滑增加阻尼
+            ratio = singular_value / self.singular_threshold
+            damping = self.damping_base + (self.damping_max - self.damping_base) * (1 - ratio)**2
+            return damping
+    
+    def compute_null_space_projection(self, J: np.ndarray) -> np.ndarray:
+        """
+        计算零空间投影矩阵
+        
+        Args:
+            J: 雅可比矩阵
+            
+        Returns:
+            N: 零空间投影矩阵
+        """
+        # 使用SVD计算伪逆
+        U, S, Vt = np.linalg.svd(J, full_matrices=False)
+        
+        # 计算阻尼伪逆
+        damping = self.compute_damping(np.min(S))
+        S_damped = S / (S**2 + damping**2)
+        J_pinv = Vt.T @ np.diag(S_damped) @ U.T
+        
+        # 零空间投影矩阵
+        N = np.eye(3) - J_pinv @ J
+        
+        return N
+    
+    def compute_joint_limit_avoidance(self, q: np.ndarray) -> np.ndarray:
+        """
+        计算关节限位避免速度
+        
+        Args:
+            q: 当前关节角度 [q1, q2, q3]
+            
+        Returns:
+            q_dot_avoid: 关节限位避免速度
+        """
+        q_dot_avoid = np.zeros(3)
+        
+        for i, (joint_name, (q_min, q_max)) in enumerate(self.joint_limits.items()):
+            qi = q[i]
+            
+            # 计算到限位的距离
+            dist_to_min = qi - q_min
+            dist_to_max = q_max - qi
+            
+            # 如果接近限位，产生远离限位的速度
+            margin = (q_max - q_min) * 0.1  # 10% 边界
+            
+            if dist_to_min < margin:
+                # 接近下限，向正方向移动
+                q_dot_avoid[i] = self.joint_limit_weight * (1 - dist_to_min/margin)
+            elif dist_to_max < margin:
+                # 接近上限，向负方向移动
+                q_dot_avoid[i] = -self.joint_limit_weight * (1 - dist_to_max/margin)
+        
+        return q_dot_avoid
+    
+    def solve(self, 
+              target_distance: float,
+              current_q: np.ndarray,
+              current_p: np.ndarray,
+              links: List[float],
+              R: np.ndarray,
+              Kp: float = 100.0) -> np.ndarray:
+        """
+        求解逆运动学
+        
+        Args:
+            target_distance: 目标距离
+            current_q: 当前关节角度 [q1, q2, q3]
+            current_p: 当前指尖位置 (3x1)
+            links: 连杆长度参数
+            R: 旋转矩阵
+            Kp: 比例增益
+            
+        Returns:
+            q_dot: 关节速度 [q1_dot, q2_dot, q3_dot]
+        """
+        # 计算雅可比矩阵
+        Jp = self.compute_jacobian(current_q, links, R)
+        Jd = self.compute_distance_jacobian(current_p, Jp)
+        
+        # 当前距离
+        d = np.linalg.norm(current_p)
+        
+        # 距离误差
+        distance_error = target_distance - d
+        
+        # 使用SVD计算阻尼伪逆
+        U, S, Vt = np.linalg.svd(Jd, full_matrices=False)
+        
+        # 动态阻尼
+        damping = self.compute_damping(np.min(S))
+        
+        # 阻尼伪逆
+        S_inv = S / (S**2 + damping**2)
+        Jd_pinv = Vt.T @ np.diag(S_inv) @ U.T
+        
+        # 主任务：距离控制
+        q_dot_primary = Jd_pinv * Kp * distance_error
+        
+        # 计算零空间投影
+        N = self.compute_null_space_projection(Jd)
+        
+        # 次要任务1：关节限位避免
+        q_dot_limit = self.compute_joint_limit_avoidance(current_q)
+        
+        # 次要任务2：姿态优化 (使关节保持在中间位置)
+        q_center = np.array([5*pi/32, 3*pi/16, 5*pi/32])  # 关节中间位置
+        q_dot_posture = 0.5 * (q_center - current_q)
+        
+        # 组合次要任务
+        q_dot_secondary = q_dot_limit + q_dot_posture
+        
+        # 总关节速度 = 主任务 + 零空间中的次要任务
+        q_dot = q_dot_primary.flatten() + (N @ q_dot_secondary)
+        
+        # 限制最大速度
+        max_speed = 5.0  # rad/s
+        speed = np.linalg.norm(q_dot)
+        if speed > max_speed:
+            q_dot = q_dot * max_speed / speed
+        
+        return q_dot
+
+
+# 全局求解器实例
+_ik_solver = ImprovedIKSolver()
+
+
+def move_finger_improved(finger_type: str,
+                         target_distance: float,
+                         data,
+                         model,
+                         joint_ids: dict,
+                         joint_qpos_adr: dict,
+                         actuator_ids: dict,
+                         palm_pos: np.ndarray,
+                         links: List[float],
+                         R: np.ndarray,
+                         hand_prefix: str):
+    """
+    改进的手指运动控制函数
+    
+    Args:
+        finger_type: 手指类型 ("index", "middle", "annular", "pinky")
+        target_distance: 目标距离
+        data: MuJoCo data
+        model: MuJoCo model
+        joint_ids: 关节ID字典
+        joint_qpos_adr: 关节qpos地址字典
+        actuator_ids: 执行器ID字典
+        palm_pos: 手掌位置
+        links: 连杆长度
+        R: 旋转矩阵
+        hand_prefix: 手前缀 ("Left_" 或 "Right_")
+    """
+    # 构建关节名称
+    finger_name = finger_type.capitalize()
+    joint_names = [f"{hand_prefix}{finger_name}_J{i}" for i in range(1, 4)]
+    
+    # 获取当前关节角度
+    try:
+        q = np.array([
+            data.qpos[joint_qpos_adr[joint_names[0]]],
+            data.qpos[joint_qpos_adr[joint_names[1]]],
+            data.qpos[joint_qpos_adr[joint_names[2]]]
+        ])
+    except KeyError as e:
+        print(f"Error: Joint not found - {e}")
+        return
+    
+    # 获取当前指尖位置
+    try:
+        tip_body_name = f"{hand_prefix}{finger_name}_Tip"
+        tip_pos = data.xpos[model.body(tip_body_name).id]
+        # 相对于手掌的位置
+        p = tip_pos - palm_pos
+        p = p.reshape(3, 1)
+    except KeyError:
+        # 如果找不到Tip body，使用计算位置
+        p = compute_fingertip_position(q, links, R)
+    
+    # 求解IK
+    q_dot = _ik_solver.solve(target_distance, q, p, links, R)
+    
+    # 应用控制命令
+    for i, joint_name in enumerate(joint_names):
+        if joint_name in actuator_ids:
+            actuator_id = actuator_ids[joint_name]
+            data.ctrl[actuator_id] = q_dot[i]
+
+
+def move_thumb_improved(target_distance: float,
+                        abduction: float,
+                        data,
+                        model,
+                        joint_ids: dict,
+                        joint_qpos_adr: dict,
+                        actuator_ids: dict,
+                        palm_pos: np.ndarray,
+                        links: List[float],
+                        R: np.ndarray,
+                        hand_side: int):
+    """
+    改进的拇指运动控制函数
+    
+    拇指有额外的自由度（外展/内收），需要特殊处理
+    """
+    # 拇指关节名称
+    hand_prefix = "Right_" if hand_side == 1 else "Left_"
+    joint_names = [f"{hand_prefix}Thumb_J{i}" for i in range(1, 4)]
+    
+    # 获取当前关节角度
+    try:
+        q = np.array([
+            data.qpos[joint_qpos_adr[joint_names[0]]],
+            data.qpos[joint_qpos_adr[joint_names[1]]],
+            data.qpos[joint_qpos_adr[joint_names[2]]]
+        ])
+    except KeyError as e:
+        print(f"Error: Thumb joint not found - {e}")
+        return
+    
+    # 求解IK (拇指使用不同的连杆参数)
+    # 这里简化处理，实际应该使用拇指特定的运动学模型
+    tip_body_name = f"{hand_prefix}Thumb_Tip"
+    try:
+        tip_pos = data.xpos[model.body(tip_body_name).id]
+        p = tip_pos - palm_pos
+        p = p.reshape(3, 1)
+    except KeyError:
+        p = compute_fingertip_position(q, links, R)
+    
+    q_dot = _ik_solver.solve(target_distance, q, p, links, R)
+    
+    # 应用控制命令
+    for i, joint_name in enumerate(joint_names):
+        if joint_name in actuator_ids:
+            actuator_id = actuator_ids[joint_name]
+            data.ctrl[actuator_id] = q_dot[i]
+
+
+def compute_fingertip_position(q: np.ndarray, links: List[float], R: np.ndarray) -> np.ndarray:
+    """
+    计算指尖位置（正向运动学）
+    
+    Args:
+        q: 关节角度 [q1, q2, q3]
+        links: 连杆长度
+        R: 旋转矩阵
+        
+    Returns:
+        p: 指尖位置 (3x1)
+    """
+    q1, q2, q3 = q
+    
+    # 提取连杆长度
+    offset_x, offset_y, offset_z = links[0], links[1], links[2]
+    L1y, L1z = links[3], links[4]
+    L2y, L2z = links[5], links[6]
+    L3y, L3z = links[7], links[8]
+    
+    # 计算关节位置 (本地坐标系)
+    py_j2 = -L1y*cos(q1) - L1z*sin(q1)
+    pz_j2 = -L1y*sin(q1) + L1z*cos(q1)
+    
+    py_j3 = py_j2 - L2y*cos(q1+q2) - L2z*sin(q1+q2)
+    pz_j3 = pz_j2 - L2y*sin(q1+q2) + L2z*cos(q1+q2)
+    
+    py_tip = py_j3 - L3y*cos(q1+q2+q3) - L3z*sin(q1+q2+q3)
+    pz_tip = pz_j3 - L3y*sin(q1+q2+q3) + L3z*cos(q1+q2+q3)
+    
+    # 本地坐标
+    pos_local = np.array([[0], [py_tip], [pz_tip + 0.02]])
+    
+    # 转换到世界坐标
+    offset = np.array([[offset_x], [offset_y], [offset_z]])
+    p = R @ pos_local + offset
+    
+    return p
diff --git a/tactile/code/fingers_sim/index_sim.py b/tactile/code/fingers_sim/index_sim.py
new file mode 100644
index 00000000..55849a29
--- /dev/null
+++ b/tactile/code/fingers_sim/index_sim.py
@@ -0,0 +1,109 @@
+import numpy as np
+from math import pi, cos, sin 
+
+def actuation_index(distance, q, links_lenghts,R):
+    q1 = q[0]
+    q2 = q[1]
+    q3 = q[2] 
+
+    offset_index_x = links_lenghts[0]
+    offset_index_y = links_lenghts[1]
+    offset_index_z = links_lenghts[2]
+    L1y_index = links_lenghts[3]
+    L1z_index = links_lenghts[4]
+    L2y_index = links_lenghts[5]
+    L2z_index = links_lenghts[6]
+    L3y_index = links_lenghts[7]
+    L3z_index = links_lenghts[8]
+    
+    py_j2 = - L1y_index*cos(q1) - L1z_index*sin(q1)
+    pz_j2 = - L1y_index*sin(q1) + L1z_index*cos(q1)
+    
+    py_j3 = py_j2 - L2y_index*cos(q1+q2) - L2z_index*sin(q1+q2) 
+    pz_j3 = pz_j2 - L2y_index*sin(q1+q2) + L2z_index*cos(q1+q2)
+
+    py_tip = py_j3 - L3y_index*cos(q1+q2+q3) - L3z_index*sin(q1+q2+q3) 
+    pz_tip = pz_j3 - L3y_index*sin(q1+q2+q3) + L3z_index*cos(q1+q2+q3) 
+
+    pos = np.array([[0], [py_tip], [pz_tip + 0.02]])  
+
+    p = R.dot(pos) + np.array([[offset_index_x], [offset_index_y], [offset_index_z]])
+
+    # Task Jacobian: p_dot = Jp(q)q_dot
+    Jp = np.array([[0,0,0],
+                    [L1y_index*sin(q1) - L1z_index*cos(q1) + L2y_index*sin(q1+q2) - L2z_index*cos(q1+q2) + L3y_index*sin(q1+q2+q3) - L3z_index*cos(q1+q2+q3), 
+                    L2y_index*sin(q1+q2) - L2z_index*cos(q1+q2) + L3y_index*sin(q1+q2+q3) - L3z_index*cos(q1+q2+q3), 
+                    L3y_index*sin(q1+q2+q3) - L3z_index*cos(q1+q2+q3)], 
+                    [-L1y_index*cos(q1) - L1z_index*sin(q1) - L2y_index*cos(q1+q2) - L2z_index*sin(q1+q2) - L3y_index*cos(q1+q2+q3) - L3z_index*sin(q1+q2+q3),
+                    -L2y_index*cos(q1+q2) - L2z_index*sin(q1+q2) - L3y_index*cos(q1+q2+q3) - L3z_index*sin(q1+q2+q3),
+                    -L3y_index*cos(q1+q2+q3) - L3z_index*sin(q1+q2+q3)]])
+    
+    Jp = R.dot(Jp)
+
+    # Distance from origin d
+    d = np.linalg.norm(p)
+
+    W = [[7.5, 0,  0], 
+         [0,  5.5,  0], 
+         [0,  0, 6.5]]
+
+    #print(d - distance)
+
+    # Extended jacobian for distance: d_dot = Jd(q)q_dot
+    Jd = 1/d*p.transpose().dot(Jp)
+
+    W_inv = np.linalg.inv(W)
+
+    Jd_trans = Jd.transpose()
+    detJ = np.float64(Jd.dot(W_inv.dot(Jd_trans)))
+    #print(detJ)
+    if detJ <= 1e-5:
+        mu = (detJ + 1.0)/1000
+    else:
+        mu = 0
+    Jinv = W_inv.dot(Jd_trans).dot(1/(detJ + mu**2))
+    
+    # Proportional Gain
+    K = 100
+
+    # Distance measured from WeArt 
+    dr = distance
+    
+
+    w = np.array([(5*pi/16 - q1)/(3*pi/8), (3*pi/8 - q2)/(pi/4), (5*pi/16 - q3)/(3*pi/8)])
+    u_vinc = np.reshape((np.eye(3) - Jinv.dot(Jd)).dot(w.T),[3,1])
+    
+    qdot = Jinv*K*(dr - d) + u_vinc
+    return qdot
+
+
+def move_index(distance,data,model,joint_ids,palm,links,R,hand):
+    off = 7 if hand=="Right_" else 14
+    q1 = data.qpos[joint_ids[hand+'Index_J1']+off]
+    q2 = data.qpos[joint_ids[hand+'Index_J2']+off]
+    q3 = data.qpos[joint_ids[hand+'Index_J3']+off]
+    L1y_index = links[0] 
+    L1z_index = links[1] 
+    L2y_index = links[2] 
+    L2z_index = links[3] 
+    L3y_index = links[4] 
+    L3z_index = links[5]
+
+    #print(np.linalg.norm(current_pose_index - np.array([0, 0, 1])))
+
+    offset_index =  data.xpos[model.body(hand+'Index_J1.stl').id] 
+    offx_index = offset_index[0] - palm[0]
+    offy_index = offset_index[1] - palm[1]
+    offz_index = offset_index[2] - palm[2]
+
+    links = [offx_index, offy_index, offz_index, L1y_index, L1z_index, L2y_index, L2z_index, L3y_index, L3z_index]
+
+    qdot = actuation_index(distance, [q1, q2, q3], links,R)
+
+    v1 = qdot[0][0] 
+    v2 = qdot[1][0] 
+    v3 = qdot[2][0] 
+
+    data.ctrl[joint_ids[hand+'Index_J1']] = v1
+    data.ctrl[joint_ids[hand+'Index_J2']] = v2
+    data.ctrl[joint_ids[hand+'Index_J3']] = v3
\ No newline at end of file
diff --git a/tactile/code/fingers_sim/middle_sim.py b/tactile/code/fingers_sim/middle_sim.py
new file mode 100644
index 00000000..3bf98bd6
--- /dev/null
+++ b/tactile/code/fingers_sim/middle_sim.py
@@ -0,0 +1,121 @@
+import numpy as np
+from math import pi, cos, sin 
+
+def actuation_middle(distance, q, links_lenghts, R):
+    q1 = q[0]
+    q2 = q[1]
+    q3 = q[2]
+    #print(q1, q2, q3)    
+    dr_dot = 0
+
+    offset_middle_x = links_lenghts[0]
+    offset_middle_y = links_lenghts[1]
+    offset_middle_z = links_lenghts[2]
+    L1y_middle = links_lenghts[3]
+    L1z_middle = links_lenghts[4]
+    L2y_middle = links_lenghts[5]
+    L2z_middle = links_lenghts[6]
+    L3y_middle = links_lenghts[7]
+    L3z_middle = links_lenghts[8]
+    
+    #print(np.linalg.norm(current_pose - np.array([0, 0, 1])))
+
+    py_j2 = - L1y_middle*cos(q1) - L1z_middle*sin(q1)
+    pz_j2 = - L1y_middle*sin(q1) + L1z_middle*cos(q1)
+        
+    py_j3 = py_j2 - L2y_middle*cos(q1+q2) - L2z_middle*sin(q1+q2) 
+    pz_j3 = pz_j2 - L2y_middle*sin(q1+q2) + L2z_middle*cos(q1+q2)
+
+    py_tip = py_j3 - L3y_middle*cos(q1+q2+q3) - L3z_middle*sin(q1+q2+q3)
+    pz_tip = pz_j3 - L3y_middle*sin(q1+q2+q3) + L3z_middle*cos(q1+q2+q3)
+
+
+    pos = np.array([[0], [py_tip], [pz_tip + 0.03]])  
+
+    p = R.dot(pos) + np.array([[offset_middle_x], [offset_middle_y], [offset_middle_z]])
+    
+    #print(p.T-current_pose.T)
+
+    # Task Jacobian: p_dot = Jp(q)q_dot
+    Jp = np.array([[0, 0, 0],
+                   [L1y_middle*sin(q1) - L1z_middle*cos(q1) + L2y_middle*sin(q1+q2) - L2z_middle*cos(q1+q2) + L3y_middle*sin(q1+q2+q3) - L3z_middle*cos(q1+q2+q3), 
+                    L2y_middle*sin(q1+q2) - L2z_middle*cos(q1+q2) + L3y_middle*sin(q1+q2+q3) - L3z_middle*cos(q1+q2+q3), 
+                    L3y_middle*sin(q1+q2+q3) - L3z_middle*cos(q1+q2+q3)], 
+                   [-L1y_middle*cos(q1) - L1z_middle*sin(q1) - L2y_middle*cos(q1+q2) - L2z_middle*sin(q1+q2) - L3y_middle*cos(q1+q2+q3) - L3z_middle*sin(q1+q2+q3),
+                    -L2y_middle*cos(q1+q2) - L2z_middle*sin(q1+q2) - L3y_middle*cos(q1+q2+q3) - L3z_middle*sin(q1+q2+q3),
+                    -L3y_middle*cos(q1+q2+q3) - L3z_middle*sin(q1+q2+q3)]])
+
+    Jp = R.dot(Jp)
+    # Distance from origin d
+    d = np.linalg.norm(p)
+    
+
+    W = [[10.5, 0,  0], 
+         [0,  4.5,  0], 
+         [0,  0, 7.5]]
+
+    #print(d - distance)
+
+    # Extended jacobian for distance: d_dot = Jd(q)q_dot
+    Jd = 1/d*p.transpose().dot(Jp)
+    W_inv = np.linalg.inv(W)
+
+    Jd_trans = Jd.transpose()
+    detJ = np.float64(Jd.dot(W_inv.dot(Jd_trans)))
+    if detJ <= 1e-5:
+        mu = (detJ + 1.0)/2000
+    else:
+        mu = 0
+    Jinv = W_inv.dot(Jd_trans).dot(1/(detJ + mu**2))
+    
+    # Proportional Gain
+    K = 100
+
+    # Distance measured from WeArt 
+    dr = distance
+    
+    w = np.array([(5*pi/16 - q1)/(3*pi/8), (3*pi/8 - q2)/(pi/4), (5*pi/16 - q3)/(3*pi/8)])
+    u_vinc = np.reshape((np.eye(3) - Jinv.dot(Jd)).dot(w.T),[3,1])
+    
+    qdot = Jinv*K*(dr - d) + u_vinc
+
+    return qdot
+
+
+def move_middle(distance,data,model,joint_ids,palm,links,R, hand):
+    off = 7 if hand=="Right_" else 14
+    q1 = data.qpos[joint_ids[hand+'Middle_J1']+off]
+    q2 = data.qpos[joint_ids[hand+'Middle_J2']+off]
+    q3 = data.qpos[joint_ids[hand+'Middle_J3']+off]
+    
+    L1y_middle = links[0] 
+    L1z_middle = links[1] 
+    L2y_middle = links[2] 
+    L2z_middle = links[3] 
+    L3y_middle = links[4] 
+    L3z_middle = links[5]
+    
+    #end_effector_middle = model.site('forSensorMiddle_4.stl').id #"End-effector we wish to control.
+    offset_middle =  data.xpos[model.body(hand+'Middle_J1.stl').id] 
+    offx_middle = offset_middle[0] - palm[0]
+    offy_middle = offset_middle[1] - palm[1] 
+    offz_middle = offset_middle[2] - palm[2]
+
+    #print(offset_middle, current_pose_middle)
+    
+    #lenght links [offsety, offsetz, l1y, l1z, l2y, l2z, l3y, l3z]
+    links = [offx_middle, offy_middle, offz_middle, L1y_middle, L1z_middle, L2y_middle, L2z_middle, L3y_middle, L3z_middle]
+    
+    qdot = actuation_middle(distance, [q1, q2, q3], links, R)
+
+    v1 = qdot[0][0] 
+    v2 = qdot[1][0] 
+    v3 = qdot[2][0] 
+    #v1 = 15
+    #v2 = 15
+    #v3 = 15
+    
+    data.ctrl[joint_ids[hand+'Middle_J1']] = v1
+    data.ctrl[joint_ids[hand+'Middle_J2']] = v2
+    data.ctrl[joint_ids[hand+'Middle_J3']] = v3
+    # print("qpos:" , data.qpos)
diff --git a/tactile/code/fingers_sim/pinky_sim.py b/tactile/code/fingers_sim/pinky_sim.py
new file mode 100644
index 00000000..dcee23b4
--- /dev/null
+++ b/tactile/code/fingers_sim/pinky_sim.py
@@ -0,0 +1,106 @@
+import numpy as np
+from math import pi, cos, sin 
+
+def actuation_pinky(distance, q, links_lenghts, R):
+    q1 = q[0]
+    q2 = q[1]
+    q3 = q[2]    
+
+    offset_pinky_x = links_lenghts[0]
+    offset_pinky_y = links_lenghts[1]
+    offset_pinky_z = links_lenghts[2]
+    L1y_pinky = links_lenghts[3]
+    L1z_pinky = links_lenghts[4]
+    L2y_pinky = links_lenghts[5]
+    L2z_pinky = links_lenghts[6]
+    L3y_pinky = links_lenghts[7]
+    L3z_pinky = links_lenghts[8]
+    
+    #print(np.linalg.norm(current_pose - np.array([0, 0, 1])))
+
+    py_j2 = - L1y_pinky*cos(q1) - L1z_pinky*sin(q1)
+    pz_j2 = - L1y_pinky*sin(q1) + L1z_pinky*cos(q1)
+        
+    py_j3 = py_j2 - L2y_pinky*cos(q1+q2) - L2z_pinky*sin(q1+q2) 
+    pz_j3 = pz_j2 - L2y_pinky*sin(q1+q2) + L2z_pinky*cos(q1+q2)
+
+    py_tip = py_j3 - L3y_pinky*cos(q1+q2+q3) - L3z_pinky*sin(q1+q2+q3) 
+    pz_tip = pz_j3 - L3y_pinky*sin(q1+q2+q3) + L3z_pinky*cos(q1+q2+q3)
+
+    pos = np.array([[0], [py_tip], [pz_tip + 0.03]])    
+    
+    p = R.dot(pos) + np.array([[offset_pinky_x], [offset_pinky_y], [offset_pinky_z]])
+    # Task Jacobian: p_dot = Jp(q)q_dot
+    Jp = np.array([[0, 0, 0],
+                   [L1y_pinky*sin(q1) - L1z_pinky*cos(q1) + L2y_pinky*sin(q1+q2) - L2z_pinky*cos(q1+q2) + L3y_pinky*sin(q1+q2+q3) - L3z_pinky*cos(q1+q2+q3), 
+                    L2y_pinky*sin(q1+q2) - L2z_pinky*cos(q1+q2) + L3y_pinky*sin(q1+q2+q3) - L3z_pinky*cos(q1+q2+q3), 
+                    L3y_pinky*sin(q1+q2+q3) - L3z_pinky*cos(q1+q2+q3)], 
+                    [-L1y_pinky*cos(q1) - L1z_pinky*sin(q1) - L2y_pinky*cos(q1+q2) - L2z_pinky*sin(q1+q2) - L3y_pinky*cos(q1+q2+q3) - L3z_pinky*sin(q1+q2+q3),
+                    -L2y_pinky*cos(q1+q2) - L2z_pinky*sin(q1+q2) - L3y_pinky*cos(q1+q2+q3) - L3z_pinky*sin(q1+q2+q3),
+                    -L3y_pinky*cos(q1+q2+q3) - L3z_pinky*sin(q1+q2+q3)]])
+    
+    Jp = R.dot(Jp)
+    # Distance from origin d
+    d = np.linalg.norm(p)
+
+    W = [[6.5, 0,  0], 
+         [0,  5.5,  0], 
+         [0,  0, 7.5]]
+
+    #print(d - distance)
+
+    # Extended jacobian for distance: d_dot = Jd(q)q_dot
+    Jd = 1/d*p.transpose().dot(Jp)
+
+    W_inv = np.linalg.inv(W)
+
+    Jd_trans = Jd.transpose()
+    detJ = np.float64(Jd.dot(W_inv.dot(Jd_trans)))
+    if detJ <= 1e-4:
+        mu = (detJ + 1.0)/1000
+    else:
+        mu = 0
+    Jinv = W_inv.dot(Jd_trans).dot(1/(detJ + mu**2))
+    
+    # Proportional Gain
+    K = 100
+
+    # Distance measured from WeArt 
+    dr = distance
+
+    w = np.array([(5*pi/16 - q1)/(3*pi/8), (3*pi/8 - q2)/(pi/4), (5*pi/16 - q3)/(3*pi/8)])
+
+    u_vinc = np.reshape((np.eye(3) - Jinv.dot(Jd)).dot(w.T),[3,1])
+    qdot = Jinv*K*(dr - d) + u_vinc
+
+    return qdot
+
+def move_pinky(distance,data,model,joint_ids,palm,links,R, hand):
+    off = 7 if hand=="Right_" else 14
+    q1 = data.qpos[joint_ids[hand+'Pinky_J1']+off]
+    q2 = data.qpos[joint_ids[hand+'Pinky_J2']+off]
+    q3 = data.qpos[joint_ids[hand+'Pinky_J3']+off]
+    
+    L1y_pinky = links[0] 
+    L1z_pinky = links[1] 
+    L2y_pinky = links[2] 
+    L2z_pinky = links[3] 
+    L3y_pinky = links[4] 
+    L3z_pinky = links[5]
+    
+    offset_pinky =  data.xpos[model.body(hand+'Pinky_J1.stl').id] 
+    offx_pinky = offset_pinky[0] - palm[0] 
+    offy_pinky = offset_pinky[1] - palm[1] 
+    offz_pinky = offset_pinky[2] - palm[2]
+
+    links = [offx_pinky, offy_pinky, offz_pinky, L1y_pinky, L1z_pinky, L2y_pinky, L2z_pinky, L3y_pinky, L3z_pinky]
+    
+    qdot = actuation_pinky(distance, [q1, q2, q3], links, R)
+
+    v1 = qdot[0][0] 
+    v2 = qdot[1][0] 
+    v3 = qdot[2][0] 
+
+    data.ctrl[joint_ids[hand+'Pinky_J1']] = v1
+    data.ctrl[joint_ids[hand+'Pinky_J2']] = v2
+    data.ctrl[joint_ids[hand+'Pinky_J3']] = v3
\ No newline at end of file
diff --git a/tactile/code/fingers_sim/thumb_sim.py b/tactile/code/fingers_sim/thumb_sim.py
new file mode 100644
index 00000000..f658fa98
--- /dev/null
+++ b/tactile/code/fingers_sim/thumb_sim.py
@@ -0,0 +1,130 @@
+import numpy as np
+from math import pi, cos, sin 
+
+def actuation_thumb(distance, q, links_lenghts, R, hand_side):
+    q1 = q[0]
+    q2 = q[1] 
+
+    offset_thumb_x = links_lenghts[0]
+    offset_thumb_y = links_lenghts[1]
+    offset_thumb_z = links_lenghts[2]
+    L2x_thumb = links_lenghts[3]
+    L2y_thumb = links_lenghts[4]
+    L3x_thumb = links_lenghts[5]
+    L3y_thumb = links_lenghts[6]
+    
+    px_j2 =  L2x_thumb*cos(q1) - L2y_thumb*sin(q1)
+    py_j2 = - L2x_thumb*sin(q1) - L2y_thumb*cos(q1)
+    
+    px_tip = px_j2 + L3x_thumb*cos(q1+q2) - L3y_thumb*sin(q1+q2) 
+    py_tip = py_j2 - L3x_thumb*sin(q1+q2) - L3y_thumb*cos(q1+q2) 
+
+    pos = np.array([[px_tip + 0.05], [py_tip], [0]])
+    pos *= hand_side 
+
+    p = R.dot(pos) + np.array([[offset_thumb_x], [offset_thumb_y], [offset_thumb_z]])
+    
+    # Task Jacobian: p_dot = Jp(q)q_dot
+    Jp = np.array([[- L2x_thumb*sin(q1) - L2y_thumb*cos(q1) - L3x_thumb*sin(q1+q2) - L3y_thumb*cos(q1+q2),
+                    - L3x_thumb*sin(q1+q2) - L3y_thumb*cos(q1+q2)],
+                   [- L2x_thumb*cos(q1) - L2y_thumb*sin(q1) - L3x_thumb*cos(q1+q2) + L3y_thumb*sin(q1+q2),
+                    - L3x_thumb*cos(q1+q2) + L3y_thumb*sin(q1+q2)],
+                    [0,0]])
+    
+    Jp = R.dot(Jp)
+    Jp *= hand_side 
+    # Distance from origin d
+    d = np.linalg.norm(p)
+
+    W = [[0.5,  0], 
+         [0,  0.5]]
+
+    
+
+    # Extended jacobian for distance: d_dot = Jd(q)q_dot
+    Jd = 1/d*p.transpose().dot(Jp)
+
+    W_inv = np.linalg.inv(W)
+
+    Jd_trans = Jd.transpose()
+    detJ = np.float64(Jd.dot(W_inv.dot(Jd_trans)))
+    if detJ <= 1e-3:
+        mu = (detJ + 1.0)/20
+        # print("sing", detJ)
+    else:
+        mu = 0
+    Jinv = W_inv.dot(Jd_trans)
+    Jinv = Jinv * (1/(detJ + mu**2))
+    
+    #print(d, distance) 
+
+    # Proportional Gain
+    K = 100
+
+    # Distance measured from WeArt 
+    dr = distance
+
+    w = np.array([(pi/4 - q1)/(pi/2), (pi/4 - q2)/(pi/2)])
+    
+    u_vinc = np.reshape((np.eye(2) - Jinv.dot(Jd)).dot(w.T),[2,1])
+    qdot = Jinv*K*(dr - d) + u_vinc
+    # print((qdot))
+    return qdot
+
+def actuation_thumb_abd(abduction, q1,Ly,Lz):
+
+    z = - Ly*sin(q1) + Lz*cos(q1)-0.01
+    Jz = -Ly*cos(q1)-Lz*sin(q1)
+
+    detJ = Jz**2
+    if detJ <= 1e-3:
+        mu = (detJ + 1.0)/50
+    else:
+        mu = 0
+    Jinv = Jz/(detJ + mu**2)
+    
+    # Proportional Gain
+    K = 50
+
+    # Distance measured from WeArt 
+    dr_dot = 0
+  
+    qdot = Jinv*( dr_dot + K*(abduction - z))
+
+    return qdot    
+
+def move_thumb(distance,abduction,data,model,joint_ids,palm,links,R, hand_side):
+    hand = 'Right_' if hand_side==1 else 'Left_'
+
+    off = 7 if hand=="Right_" else 14
+    q1 = data.qpos[joint_ids[hand+'Thumb_J2']+off]
+    q2 = data.qpos[joint_ids[hand+'Thumb_J3']+off]
+
+    L2x_thumb = links[0] 
+    L2y_thumb = links[1] 
+    L3x_thumb = links[2] 
+    L3y_thumb = links[3]
+
+
+    q = data.qpos[joint_ids[hand+'Thumb_J1']+off]
+    Ly = links[4]
+    Lz = links[5]
+
+    offset_thumb =  data.xpos[model.body(hand+'Thumb_J1.stl').id] 
+    offx_thumb = offset_thumb[0] - palm[0] 
+    offy_thumb = offset_thumb[1] - palm[1]
+    offz_thumb = offset_thumb[2] - palm[2]
+
+    links = [offx_thumb, offy_thumb, offz_thumb, L2x_thumb, L2y_thumb, L3x_thumb, L3y_thumb]
+
+    Rq = np.array([[1,0,0],[0, cos(q), -sin(q)],[0,sin(q),cos(q)]])
+    R = R.dot(Rq)
+    qdot = actuation_thumb(distance, [q1, q2], links,R, hand_side)
+
+    v1 = qdot[0][0]
+    v2 = qdot[1][0]
+
+    #print(abduction)  
+    data.ctrl[joint_ids[hand + 'Thumb_J1']] = actuation_thumb_abd(abduction, q,Ly,Lz)
+    data.ctrl[joint_ids[hand + 'Thumb_J2']] = v1
+    data.ctrl[joint_ids[hand + 'Thumb_J3']] = v2
\ No newline at end of file