diff --git a/robots/g1_description/g1_29dof_with_hand.urdf b/robots/g1_description/g1_29dof_with_hand.urdf
index 04e7f72..62af254 100644
--- a/robots/g1_description/g1_29dof_with_hand.urdf
+++ b/robots/g1_description/g1_29dof_with_hand.urdf
@@ -859,7 +859,7 @@
     </collision>
   </link>
   <joint name="left_hand_thumb_0_joint" type="revolute">
-    <origin xyz="0.028 0 0" rpy="0 0 0"/>
+    <origin xyz="0.0255 0 0" rpy="0 0 0"/>
     <axis xyz="0 1 0"/>
     <parent link="left_hand_palm_link"/>
     <child link="left_hand_thumb_0_link"/>
@@ -867,9 +867,9 @@
   </joint>
   <link name="left_hand_thumb_0_link">
     <inertial>
-      <origin xyz="-0.00035441315 -0.01329887312 0.00041236207" rpy="0 0 0"/>
-      <mass value="0.08033018"/>
-      <inertia ixx="0.00001322529836" ixy="0.00000008155993" ixz="0.00000002632547" iyy="0.00001215546138" iyz="-0.00000064625786" izz="0.00001368834887"/>
+      <origin xyz="-0.00088424580 -0.00863407079 0.00094429336" rpy="0 0 0"/>
+      <mass value="0.08623657"/>
+      <inertia ixx="0.00001602919238" ixy="0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="-0.00000051094752" izz="0.00001637877663"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -888,17 +888,17 @@
     </collision>
   </link>
   <joint name="left_hand_thumb_1_joint" type="revolute">
-    <origin xyz="0 -0.0246 0" rpy="0 0 0"/>
+    <origin xyz="-0.0025 -0.0193 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="left_hand_thumb_0_link"/>
     <child link="left_hand_thumb_1_link"/>
-    <limit effort="0.7" velocity="24" lower="-0.72431163" upper="1.04719755"/>
+    <limit effort="1.4" velocity="12" lower="-0.72431163" upper="1.04719755"/>
   </joint>
   <link name="left_hand_thumb_1_link">
     <inertial>
-      <origin xyz="0.00362060191 -0.04044395878 -0.00029771094" rpy="0 0 0"/>
-      <mass value="0.05619628"/>
-      <inertia ixx="0.00001234776425" ixy="0.00000026810498" ixz="-0.00000008482929" iyy="0.00000501619054" iyz="-0.00000007819408" izz="0.00001212011567"/>
+      <origin xyz="-0.00082788768 -0.03547435774 -0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00001274699945" ixy="-0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="-0.00000027839003" izz="0.00001234543582"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -917,17 +917,17 @@
     </collision>
   </link>
   <joint name="left_hand_thumb_2_joint" type="revolute">
-    <origin xyz="0.0055 -0.0528 0" rpy="0 0 0"/>
+    <origin xyz="0 -0.0458 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="left_hand_thumb_1_link"/>
     <child link="left_hand_thumb_2_link"/>
-    <limit effort="0.7" velocity="24" lower="0" upper="2.09439510"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
   </joint>
   <link name="left_hand_thumb_2_link">
     <inertial>
-      <origin xyz="-0.00081405957 -0.03456206723 0.00012979919" rpy="0 0 0"/>
-      <mass value="0.02487314"/>
-      <inertia ixx="0.00000859888903" ixy="0.00000021727392" ixz="-0.00000000850093" iyy="0.00000198874543" iyz="-0.00000008230043" izz="0.00000768992891"/>
+      <origin xyz="-0.00171735242 -0.02628192939 0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000461267817" ixy="-0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="-0.00000002549885" izz="0.00000386625776"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -946,17 +946,17 @@
     </collision>
   </link>
   <joint name="left_hand_middle_0_joint" type="revolute">
-    <origin xyz="0.1 -0.0017 -0.0285" rpy="0 0 0"/>
+    <origin xyz="0.0777 0.0016 -0.0285" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="left_hand_palm_link"/>
     <child link="left_hand_middle_0_link"/>
-    <limit effort="0.7" velocity="24" lower="-1.83259571" upper="0.19198621"/>
+    <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
   </joint>
   <link name="left_hand_middle_0_link">
     <inertial>
-      <origin xyz="0.04044395878 -0.00362060191 0.00028771094" rpy="0 0 0"/>
-      <mass value="0.05619628"/>
-      <inertia ixx="0.00000501619054" ixy="0.00000026810498" ixz="-0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
+      <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -975,17 +975,17 @@
     </collision>
   </link>
   <joint name="left_hand_middle_1_joint" type="revolute">
-    <origin xyz="0.0528 -0.0055 0" rpy="0 0 0"/>
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="left_hand_middle_0_link"/>
     <child link="left_hand_middle_1_link"/>
-    <limit effort="0.7" velocity="24" lower="-2.09439510" upper="0"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
   </joint>
   <link name="left_hand_middle_1_link">
     <inertial>
-      <origin xyz="0.03456206723 0.00081405957 -0.00012979919" rpy="0 0 0"/>
-      <mass value="0.02487314"/>
-      <inertia ixx="0.00000198874543" ixy="0.00000021727392" ixz="-0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
+      <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -1004,17 +1004,17 @@
     </collision>
   </link>
   <joint name="left_hand_index_0_joint" type="revolute">
-    <origin xyz="0.1 -0.0017 0.0285" rpy="0 0 0"/>
+    <origin xyz="0.0777 0.0016 0.0285" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="left_hand_palm_link"/>
     <child link="left_hand_index_0_link"/>
-    <limit effort="0.7" velocity="24" lower="-1.83259571" upper="0.19198621"/>
+    <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
   </joint>
   <link name="left_hand_index_0_link">
     <inertial>
-      <origin xyz="0.04044395878 -0.00362060191 0.00028771094" rpy="0 0 0"/>
-      <mass value="0.05619628"/>
-      <inertia ixx="0.00000501619054" ixy="0.00000026810498" ixz="-0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
+      <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -1033,17 +1033,17 @@
     </collision>
   </link>
   <joint name="left_hand_index_1_joint" type="revolute">
-    <origin xyz="0.0528 -0.0055 0" rpy="0 0 0"/>
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="left_hand_index_0_link"/>
     <child link="left_hand_index_1_link"/>
-    <limit effort="0.7" velocity="24" lower="-2.09439510" upper="0"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
   </joint>
   <link name="left_hand_index_1_link">
     <inertial>
-      <origin xyz="0.03456206723 0.00081405957 -0.00012979919" rpy="0 0 0"/>
-      <mass value="0.02487314"/>
-      <inertia ixx="0.00000198874543" ixy="0.00000021727392" ixz="-0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
+      <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -1271,9 +1271,9 @@
   </joint>
   <link name="right_hand_palm_link">
     <inertial>
-      <origin xyz="0.06214634836 0.00050869656 0.00058171093" rpy="0 0 0"/>
+      <origin xyz="0.06214634836 0.00050869656 -0.00058171093" rpy="0 0 0"/>
       <mass value="0.37283854"/>
-      <inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="0.00000242161890" iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907"/>
+      <inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="0.00000042279435" izz="0.00039623390907"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -1292,7 +1292,7 @@
     </collision>
   </link>
   <joint name="right_hand_thumb_0_joint" type="revolute">
-    <origin xyz="0.028 0 0" rpy="0 0 0"/>
+    <origin xyz="0.0255 0 0" rpy="0 0 0"/>
     <axis xyz="0 1 0"/>
     <parent link="right_hand_palm_link"/>
     <child link="right_hand_thumb_0_link"/>
@@ -1300,9 +1300,9 @@
   </joint>
   <link name="right_hand_thumb_0_link">
     <inertial>
-      <origin xyz="-0.00035441315 0.01329887312 -0.00041236207" rpy="0 0 0"/>
-      <mass value="0.08033018"/>
-      <inertia ixx="0.00001322529836" ixy="-0.00000008155993" ixz="-0.00000002632547" iyy="0.00001215546138" iyz="-0.00000064625786" izz="0.00001368834887"/>
+      <origin xyz="-0.00088424580 0.00863407079 0.00094429336" rpy="0 0 0"/>
+      <mass value="0.08623657"/>
+      <inertia ixx="0.00001602919238" ixy="-0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="0.00000051094752" izz="0.00001637877663"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -1321,17 +1321,17 @@
     </collision>
   </link>
   <joint name="right_hand_thumb_1_joint" type="revolute">
-    <origin xyz="0 0.0246 0" rpy="0 0 0"/>
+    <origin xyz="-0.0025 0.0193 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="right_hand_thumb_0_link"/>
     <child link="right_hand_thumb_1_link"/>
-    <limit effort="0.7" velocity="24" lower="-1.04719755" upper="0.72431163"/>
+    <limit effort="1.4" velocity="12" lower="-1.04719755" upper="0.72431163"/>
   </joint>
   <link name="right_hand_thumb_1_link">
     <inertial>
-      <origin xyz="0.00362060191 0.04044395878 0.00029771094" rpy="0 0 0"/>
-      <mass value="0.05619628"/>
-      <inertia ixx="0.00001234776425" ixy="-0.00000026810498" ixz="0.00000008482929" iyy="0.00000501619054" iyz="-0.00000007819408" izz="0.00001212011567"/>
+      <origin xyz="-0.00082788768 0.03547435774 -0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00001274699945" ixy="0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="0.00000027839003" izz="0.00001234543582"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -1350,17 +1350,17 @@
     </collision>
   </link>
   <joint name="right_hand_thumb_2_joint" type="revolute">
-    <origin xyz="0.0055 0.0528 0" rpy="0 0 0"/>
+    <origin xyz="0 0.0458 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="right_hand_thumb_1_link"/>
     <child link="right_hand_thumb_2_link"/>
-    <limit effort="0.7" velocity="24" lower="-2.09439510" upper="0"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
   </joint>
   <link name="right_hand_thumb_2_link">
     <inertial>
-      <origin xyz="-0.00081405957 0.03456206723 -0.00012979919" rpy="0 0 0"/>
-      <mass value="0.02487314"/>
-      <inertia ixx="0.00000859888903" ixy="-0.00000021727392" ixz="0.00000000850093" iyy="0.00000198874543" iyz="-0.00000008230043" izz="0.00000768992891"/>
+      <origin xyz="-0.00171735242 0.02628192939 0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000461267817" ixy="0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="0.00000002549885" izz="0.00000386625776"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -1378,76 +1378,18 @@
       </geometry>
     </collision>
   </link>
-  <joint name="right_hand_index_0_joint" type="revolute">
-    <origin xyz="0.1 0.0017 0.0285" rpy="0 0 0"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_hand_palm_link"/>
-    <child link="right_hand_index_0_link"/>
-    <limit effort="0.7" velocity="24" lower="-0.19198621" upper="1.83259571"/>
-  </joint>
-  <link name="right_hand_index_0_link">
-    <inertial>
-      <origin xyz="0.04044395878 0.00362060191 -0.00028771094" rpy="0 0 0"/>
-      <mass value="0.05619628"/>
-      <inertia ixx="0.00000501619054" ixy="-0.00000026810498" ixz="0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/right_hand_index_0_link.STL"/>
-      </geometry>
-      <material name="white">
-        <color rgba="0.7 0.7 0.7 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/right_hand_index_0_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="right_hand_index_1_joint" type="revolute">
-    <origin xyz="0.0528 0.0055 0" rpy="0 0 0"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_hand_index_0_link"/>
-    <child link="right_hand_index_1_link"/>
-    <limit effort="0.7" velocity="24" lower="0" upper="2.09439510"/>
-  </joint>
-  <link name="right_hand_index_1_link">
-    <inertial>
-      <origin xyz="0.03456206723 -0.00081405957 0.00012979919" rpy="0 0 0"/>
-      <mass value="0.02487314"/>
-      <inertia ixx="0.00000198874543" ixy="-0.00000021727392" ixz="0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/right_hand_index_1_link.STL"/>
-      </geometry>
-      <material name="white">
-        <color rgba="0.7 0.7 0.7 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/right_hand_index_1_link.STL"/>
-      </geometry>
-    </collision>
-  </link>
   <joint name="right_hand_middle_0_joint" type="revolute">
-    <origin xyz="0.1 0.0017 -0.0285" rpy="0 0 0"/>
+    <origin xyz="0.0777 -0.0016 -0.0285" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="right_hand_palm_link"/>
     <child link="right_hand_middle_0_link"/>
-    <limit effort="0.7" velocity="24" lower="-0.19198621" upper="1.83259571"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
   </joint>
   <link name="right_hand_middle_0_link">
     <inertial>
-      <origin xyz="0.04044395878 0.00362060191 -0.00028771094" rpy="0 0 0"/>
-      <mass value="0.05619628"/>
-      <inertia ixx="0.00000501619054" ixy="-0.00000026810498" ixz="0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
+      <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -1466,17 +1408,17 @@
     </collision>
   </link>
   <joint name="right_hand_middle_1_joint" type="revolute">
-    <origin xyz="0.0528 0.0055 0" rpy="0 0 0"/>
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="right_hand_middle_0_link"/>
     <child link="right_hand_middle_1_link"/>
-    <limit effort="0.7" velocity="24" lower="0" upper="2.09439510"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
   </joint>
   <link name="right_hand_middle_1_link">
     <inertial>
-      <origin xyz="0.03456206723 -0.00081405957 0.00012979919" rpy="0 0 0"/>
-      <mass value="0.02487314"/>
-      <inertia ixx="0.00000198874543" ixy="-0.00000021727392" ixz="0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
+      <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -1494,4 +1436,62 @@
       </geometry>
     </collision>
   </link>
+  <joint name="right_hand_index_0_joint" type="revolute">
+    <origin xyz="0.0777 -0.0016 0.0285" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_palm_link"/>
+    <child link="right_hand_index_0_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
+  </joint>
+  <link name="right_hand_index_0_link">
+    <inertial>
+      <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_0_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_0_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_index_0_link"/>
+    <child link="right_hand_index_1_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
+  </joint>
+  <link name="right_hand_index_1_link">
+    <inertial>
+      <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_1_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_1_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
 </robot>
\ No newline at end of file
diff --git a/robots/g1_description/g1_29dof_with_hand.xml b/robots/g1_description/g1_29dof_with_hand.xml
index dc72f6e..89b423e 100644
--- a/robots/g1_description/g1_29dof_with_hand.xml
+++ b/robots/g1_description/g1_29dof_with_hand.xml
@@ -48,10 +48,10 @@
     <mesh name="right_hand_thumb_0_link" file="right_hand_thumb_0_link.STL"/>
     <mesh name="right_hand_thumb_1_link" file="right_hand_thumb_1_link.STL"/>
     <mesh name="right_hand_thumb_2_link" file="right_hand_thumb_2_link.STL"/>
-    <mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL"/>
-    <mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL"/>
     <mesh name="right_hand_middle_0_link" file="right_hand_middle_0_link.STL"/>
     <mesh name="right_hand_middle_1_link" file="right_hand_middle_1_link.STL"/>
+    <mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL"/>
+    <mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL"/>
   </asset>
 
   <worldbody>
@@ -196,44 +196,44 @@
                           <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
                           <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
                           <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
-                          <body name="left_hand_thumb_0_link" pos="0.0695 0.003 0">
-                            <inertial pos="-0.000354413 -0.0132989 0.000412362" quat="0.385163 0.591021 -0.567321 0.424842" mass="0.0803302" diaginertia="1.39245e-05 1.32309e-05 1.19138e-05"/>
+                          <body name="left_hand_thumb_0_link" pos="0.067 0.003 0">
+                            <inertial pos="-0.000884246 -0.00863407 0.000944293" quat="0.462991 0.643965 -0.460173 0.398986" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
                             <joint name="left_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
                             <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
                             <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
-                            <body name="left_hand_thumb_1_link" pos="0 -0.0246 0">
-                              <inertial pos="0.0036206 -0.040444 -0.000297711" quat="0.696371 0.699653 0.125539 -0.0989605" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
-                              <joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-0.7 0.7"/>
+                            <body name="left_hand_thumb_1_link" pos="-0.0025 -0.0193 0">
+                              <inertial pos="-0.000827888 -0.0354744 -0.0003809" quat="0.685598 0.705471 -0.15207 0.0956069" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                              <joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-1.4 1.4"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_1_link"/>
                               <geom size="0.01 0.015 0.01" pos="-0.001 -0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
-                              <body name="left_hand_thumb_2_link" pos="0.0055 -0.0528 0">
-                                <inertial pos="-0.00081406 -0.0345621 0.000129799" quat="0.701976 0.711984 0.0160342 0.00721768" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
-                                <joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
+                              <body name="left_hand_thumb_2_link" pos="0 -0.0458 0">
+                                <inertial pos="-0.00171735 -0.0262819 0.000107789" quat="0.703174 0.710977 -0.00017564 -0.00766553" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                                <joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
                                 <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
                               </body>
                             </body>
                           </body>
-                          <body name="left_hand_middle_0_link" pos="0.1415 0.0013 -0.0285">
-                            <inertial pos="0.040444 -0.0036206 0.000287711" quat="0.583499 0.422433 0.562384 0.40596" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
-                            <joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7"/>
+                          <body name="left_hand_middle_0_link" pos="0.1192 0.0046 -0.0285">
+                            <inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                            <joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
                             <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
                             <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
-                            <body name="left_hand_middle_1_link" pos="0.0528 -0.0055 0">
-                              <inertial pos="0.0345621 0.00081406 -0.000129799" quat="0.514787 0.501475 0.491268 0.492111" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
-                              <joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
+                            <body name="left_hand_middle_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                              <joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
                               <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
                             </body>
                           </body>
-                          <body name="left_hand_index_0_link" pos="0.1415 0.0013 0.0285">
-                            <inertial pos="0.040444 -0.0036206 0.000287711" quat="0.583499 0.422433 0.562384 0.40596" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
-                            <joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7"/>
+                          <body name="left_hand_index_0_link" pos="0.1192 0.0046 0.0285">
+                            <inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                            <joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
                             <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
                             <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
-                            <body name="left_hand_index_1_link" pos="0.0528 -0.0055 0">
-                              <inertial pos="0.0345621 0.00081406 -0.000129799" quat="0.514787 0.501475 0.491268 0.492111" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
-                              <joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
+                            <body name="left_hand_index_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                              <joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
                               <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
                             </body>
@@ -276,54 +276,54 @@
                         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
                         <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
                         <body name="right_wrist_yaw_link" pos="0.046 0 0">
-                          <inertial pos="0.0885506 -0.00212216 0.000573742" quat="0.507224 0.511377 0.494292 0.486717" mass="0.457415" diaginertia="0.0010598 0.000895373 0.0003238"/>
+                          <inertial pos="0.0885506 -0.00212216 -0.000374562" quat="0.505358 0.513241 0.493844 0.487149" mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
                           <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
                           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
                           <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
                           <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
                           <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
-                          <body name="right_hand_thumb_0_link" pos="0.0695 -0.003 0">
-                            <inertial pos="-0.000354413 0.0132989 -0.000412362" quat="0.424842 0.567321 -0.591021 0.385163" mass="0.0803302" diaginertia="1.39245e-05 1.32309e-05 1.19138e-05"/>
+                          <body name="right_hand_thumb_0_link" pos="0.067 -0.003 0">
+                            <inertial pos="-0.000884246 0.00863407 0.000944293" quat="0.643965 0.462991 -0.398986 0.460173" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
                             <joint name="right_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
                             <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
                             <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
-                            <body name="right_hand_thumb_1_link" pos="0 0.0246 0">
-                              <inertial pos="0.0036206 0.040444 0.000297711" quat="0.696371 0.699653 -0.125539 0.0989605" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
-                              <joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-0.7 0.7"/>
+                            <body name="right_hand_thumb_1_link" pos="-0.0025 0.0193 0">
+                              <inertial pos="-0.000827888 0.0354744 -0.0003809" quat="0.705471 0.685598 -0.0956069 0.15207" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                              <joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-1.4 1.4"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_1_link"/>
                               <geom size="0.01 0.015 0.01" pos="-0.001 0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
-                              <body name="right_hand_thumb_2_link" pos="0.0055 0.0528 0">
-                                <inertial pos="-0.00081406 0.0345621 -0.000129799" quat="0.701976 0.711984 -0.0160342 -0.00721768" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
-                                <joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
+                              <body name="right_hand_thumb_2_link" pos="0 0.0458 0">
+                                <inertial pos="-0.00171735 0.0262819 0.000107789" quat="0.710977 0.703174 0.00766553 0.00017564" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                                <joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
                                 <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
                               </body>
                             </body>
                           </body>
-                          <body name="right_hand_index_0_link" pos="0.1415 -0.0013 0.0285">
-                            <inertial pos="0.040444 0.0036206 -0.000287711" quat="0.562384 0.40596 0.583499 0.422433" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
-                            <joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="-0.191986 1.8326" actuatorfrcrange="-0.7 0.7"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
-                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
-                            <body name="right_hand_index_1_link" pos="0.0528 0.0055 0">
-                              <inertial pos="0.0345621 -0.00081406 0.000129799" quat="0.491268 0.492111 0.514787 0.501475" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
-                              <joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
-                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
-                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
-                            </body>
-                          </body>
-                          <body name="right_hand_middle_0_link" pos="0.1415 -0.0013 -0.0285">
-                            <inertial pos="0.040444 0.0036206 -0.000287711" quat="0.562384 0.40596 0.583499 0.422433" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
-                            <joint name="right_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="-0.191986 1.8326" actuatorfrcrange="-0.7 0.7"/>
+                          <body name="right_hand_middle_0_link" pos="0.1192 -0.0046 -0.0285">
+                            <inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                            <joint name="right_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
                             <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
                             <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
-                            <body name="right_hand_middle_1_link" pos="0.0528 0.0055 0">
-                              <inertial pos="0.0345621 -0.00081406 0.000129799" quat="0.491268 0.492111 0.514787 0.501475" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
-                              <joint name="right_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
+                            <body name="right_hand_middle_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                              <joint name="right_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
                               <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
                             </body>
                           </body>
+                          <body name="right_hand_index_0_link" pos="0.1192 -0.0046 0.0285">
+                            <inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                            <joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
+                            <body name="right_hand_index_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                              <joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
+                            </body>
+                          </body>
                         </body>
                       </body>
                     </body>
diff --git a/robots/g1_description/images/g1_29dof_with_hand.png b/robots/g1_description/images/g1_29dof_with_hand.png
index c49d939..667397a 100644
Binary files a/robots/g1_description/images/g1_29dof_with_hand.png and b/robots/g1_description/images/g1_29dof_with_hand.png differ
diff --git a/robots/g1_description/meshes/left_hand_index_0_link.STL b/robots/g1_description/meshes/left_hand_index_0_link.STL
index d574489..8069369 100644
Binary files a/robots/g1_description/meshes/left_hand_index_0_link.STL and b/robots/g1_description/meshes/left_hand_index_0_link.STL differ
diff --git a/robots/g1_description/meshes/left_hand_index_1_link.STL b/robots/g1_description/meshes/left_hand_index_1_link.STL
index 31990c1..89d231d 100644
Binary files a/robots/g1_description/meshes/left_hand_index_1_link.STL and b/robots/g1_description/meshes/left_hand_index_1_link.STL differ
diff --git a/robots/g1_description/meshes/left_hand_middle_0_link.STL b/robots/g1_description/meshes/left_hand_middle_0_link.STL
index d574489..8069369 100644
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