diff --git a/assets/arms_assets.xml b/assets/arms_assets.xml
index d9465f8..b8317d7 100644
--- a/assets/arms_assets.xml
+++ b/assets/arms_assets.xml
@@ -1,6 +1,6 @@
 <mujocoinclude>
 
-    <compiler angle="radian" meshdir="./../" texturedir='../scenes/' />
+    <compiler angle="radian" meshdir="./../" texturedir='../scenes/'/>
     <size nconmax="1000" njmax="5000"/>
     <option timestep="0.002"/>
 
@@ -12,6 +12,12 @@
             <default class="MPL_arm_dark">
                 <geom rgba=".1 .13 .13 1"/>
             </default>
+            <default class="MPL_hand">
+                <geom condim="6" contype="2" conaffinity="1" rgba=".9 .9 .9 1" type="mesh" material="matmetal"/>
+                <site type="sphere" size="0.005" group="0"/>
+                <joint damping="6" limited="true"/>
+                <position kp="10" ctrllimited="true"/>
+            </default>
         </default>
     </default>
 
diff --git a/assets/arms_chain.xml b/assets/arms_chain.xml
index 7c06b83..473253a 100644
--- a/assets/arms_chain.xml
+++ b/assets/arms_chain.xml
@@ -34,7 +34,7 @@
                                                 <geom mesh="forearm_linkR" class="MPL_arm_dark"/>
 
                                                 <!-- RIGHT HAND -->
-                                                <include file="./../../MPL_sim/assets/simpleHandR_chain.xml"/>
+                                                <include file="simpleHandR_chain.xml"/>
 
                                             </body>
                                         </body>
@@ -60,7 +60,7 @@
                                                 <geom mesh="forearm_linkL" class="MPL_arm_dark"/>
 
                                                 <!-- LEFT HAND -->
-                                                <include file="./../../MPL_sim/assets/simpleHandL_chain.xml"/>
+                                                <include file="simpleHandL_chain.xml"/>
 
                                             </body>
                                         </body>
diff --git a/assets/simpleHandR_assets.xml b/assets/simpleHandR_assets.xml
index e36ce52..55afbff 100644
--- a/assets/simpleHandR_assets.xml
+++ b/assets/simpleHandR_assets.xml
@@ -19,15 +19,6 @@ for the specific language governing permissions and limitations under the Licens
 
 <mujocoinclude>
 
-    <default>
-        <default class="MPL_hand">
-            <geom condim="6" contype="2" conaffinity="1"  rgba=".9 .9 .9 1" type="mesh" material="matmetal"/>
-            <site type="sphere" size="0.005" group="0"/>
-            <joint damping="6" limited="true"/>
-            <position kp="10" ctrllimited="true"/>
-        </default>
-    </default>
-
     <asset>
         <mesh file="meshes/mplR/wrist_rot_link-cvx.stl" name="wrist_rot_linkR"/>
         <mesh file="meshes/mplR/wrist_dev_link-cvx.stl" name="wrist_dev_linkR"/>