diff --git a/.idea/.gitignore b/.idea/.gitignore
new file mode 100644
index 0000000..13566b8
--- /dev/null
+++ b/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
diff --git a/.idea/MPL_sim.iml b/.idea/MPL_sim.iml
new file mode 100644
index 0000000..d0876a7
--- /dev/null
+++ b/.idea/MPL_sim.iml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml
new file mode 100644
index 0000000..3beb735
--- /dev/null
+++ b/.idea/inspectionProfiles/Project_Default.xml
@@ -0,0 +1,15 @@
+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
+      <option name="ignoredPackages">
+        <value>
+          <list size="2">
+            <item index="0" class="java.lang.String" itemvalue="azure.storage.blob" />
+            <item index="1" class="java.lang.String" itemvalue="gitpython" />
+          </list>
+        </value>
+      </option>
+    </inspection_tool>
+  </profile>
+</component>
\ No newline at end of file
diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
index 0000000..105ce2d
--- /dev/null
+++ b/.idea/inspectionProfiles/profiles_settings.xml
@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
new file mode 100644
index 0000000..d56657a
--- /dev/null
+++ b/.idea/misc.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9" project-jdk-type="Python SDK" />
+</project>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000..7d35729
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/MPL_sim.iml" filepath="$PROJECT_DIR$/.idea/MPL_sim.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000..35eb1dd
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/assets/arms_assets.xml b/assets/arms_assets.xml
index f03277b..b8317d7 100644
--- a/assets/arms_assets.xml
+++ b/assets/arms_assets.xml
@@ -1,6 +1,6 @@
 <mujocoinclude>
 
-    <compiler angle="radian" meshdir="./../" texturedir='../scenes/' convexhull="false"/>
+    <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/handL_assets.xml b/assets/handL_assets.xml
new file mode 100644
index 0000000..eb1bf86
--- /dev/null
+++ b/assets/handL_assets.xml
@@ -0,0 +1,162 @@
+<!-- =========== Copyright | Vikash Kumar | vikashplus@gmail.com ==========================
+    Model       :: MPL
+    Mujoco      :: Advanced physics simulation engine
+        Source      : www.roboti.us
+        Version     : 2.00
+        Released    : 1Oct"18
+    Author      :: Vikash Kumar
+        Contacts    : vikashplus@gmail.com
+        Last edits  : 25Dec"19
+
+Copyright 2018 Vikash Kumar: Licensed under Apache License, Version 2.0 (the "License")
+
+You may not use this file except in compliance with the License. You may obtain a copy of
+the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law
+or agreed to in writing, software distributed under the License is distributed on an "AS IS"
+BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License
+for the specific language governing permissions and limitations under the License.
+============================================================================================= -->
+
+<mujocoinclude>
+    <compiler meshdir=".." texturedir='../scenes/'/>
+    <default>
+        <default class="MPL">
+            <geom condim="1" contype="2" conaffinity="1" type="mesh" rgba=".9 .9 2 1"/>
+            <joint limited="true" damping="0.2" armature=".01"/>
+            <site material="prosthesis/MatTouch" type="ellipsoid" group="3"/>
+            <position ctrllimited="true" kp="10"/>
+        </default>
+
+        <default class="IMU">
+
+            <site material="prosthesis/MatIMU" type="box" group="4"/>
+        </default>
+
+        <default class="free">
+            <joint type="free" damping="0" armature="0" limited="false"/>
+        </default>
+    </default>
+
+    <asset>
+        <mesh name="prosthesis/index0" file="../MPL_sim/meshes/mplL/index0_left.stl"/>
+        <mesh name="prosthesis/index1" file="../MPL_sim/meshes/mplL/index1_left.stl"/>
+        <mesh name="prosthesis/index2" file="../MPL_sim/meshes/mplL/index2_left.stl"/>
+        <mesh name="prosthesis/index3" file="../MPL_sim/meshes/mplL/index3_left.stl"/>
+        <mesh name="prosthesis/middle0" file="../MPL_sim/meshes/mplL/middle0_left.stl"/>
+        <mesh name="prosthesis/middle1" file="../MPL_sim/meshes/mplL/middle1_left.stl"/>
+        <mesh name="prosthesis/middle2" file="../MPL_sim/meshes/mplL/middle2_left.stl"/>
+        <mesh name="prosthesis/middle3" file="../MPL_sim/meshes/mplL/middle3_left.stl"/>
+        <mesh name="prosthesis/palm" file="../MPL_sim/meshes/mplL/palm_left.stl"/>
+        <mesh name="prosthesis/pinky0" file="../MPL_sim/meshes/mplL/pinky0_left.stl"/>
+        <mesh name="prosthesis/pinky1" file="../MPL_sim/meshes/mplL/pinky1_left.stl"/>
+        <mesh name="prosthesis/pinky2" file="../MPL_sim/meshes/mplL/pinky2_left.stl"/>
+        <mesh name="prosthesis/pinky3" file="../MPL_sim/meshes/mplL/pinky3_left.stl"/>
+        <mesh name="prosthesis/ring0" file="../MPL_sim/meshes/mplL/ring0_left.stl"/>
+        <mesh name="prosthesis/ring1" file="../MPL_sim/meshes/mplL/ring1_left.stl"/>
+        <mesh name="prosthesis/ring2" file="../MPL_sim/meshes/mplL/ring2_left.stl"/>
+        <mesh name="prosthesis/ring3" file="../MPL_sim/meshes/mplL/ring3_left.stl"/>
+        <mesh name="prosthesis/thumb0" file="../MPL_sim/meshes/mplL/thumb0_left.stl"/>
+        <mesh name="prosthesis/thumb1" file="../MPL_sim/meshes/mplL/thumb1_left.stl"/>
+        <mesh name="prosthesis/thumb2" file="../MPL_sim/meshes/mplL/thumb2_left.stl"/>
+        <mesh name="prosthesis/thumb3" file="../MPL_sim/meshes/mplL/thumb3_left.stl"/>
+        <mesh name="prosthesis/wristx" file="../MPL_sim/meshes/mplL/wristx_left.stl"/>
+        <mesh name="prosthesis/wristy" file="../MPL_sim/meshes/mplL/wristy_left.stl"/>
+        <mesh name="prosthesis/wristz" file="../MPL_sim/meshes/mplL/wristz_left.stl"/>
+        <material name="prosthesis/MatTouch" rgba=".3 .9 .3 .3"/>
+        <material name="prosthesis/MatIMU" rgba=".1 .1 .9 1"/>
+        <material name="prosthesis/MatMesh"/>
+    </asset>
+
+    <contact>
+        <exclude body1="prosthesis/wristz" body2="prosthesis/wristy"/>
+        <exclude body1="prosthesis/wristx" body2="prosthesis/thumb0"/>
+        <exclude body1="prosthesis/palm" body2="prosthesis/thumb1"/>
+        <exclude body1="prosthesis/palm" body2="prosthesis/index1"/>
+        <exclude body1="prosthesis/palm" body2="prosthesis/middle1"/>
+        <exclude body1="prosthesis/palm" body2="prosthesis/ring1"/>
+        <exclude body1="prosthesis/palm" body2="prosthesis/pinky1"/>
+    </contact>
+
+    <tendon>
+        <!--Index coupler tendons-->
+        <fixed name="prosthesis/T_index32_cpl" range="0 1" group="4">
+            <joint joint="prosthesis/index_DIP" coef="0.00705"/>
+            <joint joint="prosthesis/index_PIP" coef="-0.00805"/>
+        </fixed>
+        <fixed name="prosthesis/T_index21_cpl" range="0 1" group="4">
+            <joint joint="prosthesis/index_PIP" coef="0.010"/>
+            <joint joint="prosthesis/index_MCP" coef="-0.010"/>
+        </fixed>
+
+        <!--Middle coupler tendons-->
+        <fixed name="prosthesis/T_middle32_cpl" group="4">
+            <joint joint="prosthesis/middle_DIP" coef="0.00705"/>
+            <joint joint="prosthesis/middle_PIP" coef="-0.00805"/>
+        </fixed>
+        <fixed name="prosthesis/T_middle21_cpl" group="4">
+            <joint joint="prosthesis/middle_PIP" coef="0.010"/>
+            <joint joint="prosthesis/middle_MCP" coef="-0.010"/>
+        </fixed>
+
+        <!--Ring coupler tendons-->
+        <fixed name="prosthesis/T_ring32_cpl" group="4">
+            <joint joint="prosthesis/ring_DIP" coef="0.00705"/>
+            <joint joint="prosthesis/ring_PIP" coef="-0.00805"/>
+        </fixed>
+        <fixed name="prosthesis/T_ring21_cpl" group="4">
+            <joint joint="prosthesis/ring_PIP" coef="0.010"/>
+            <joint joint="prosthesis/ring_MCP" coef="-0.010"/>
+        </fixed>
+
+        <!--Little coupler tendons-->
+        <fixed name="prosthesis/T_pinky32_cpl" group="4">
+            <joint joint="prosthesis/pinky_DIP" coef="0.00705"/>
+            <joint joint="prosthesis/pinky_PIP" coef="-0.00805"/>
+        </fixed>
+        <fixed name="prosthesis/T_pinky21_cpl" group="4">
+            <joint joint="prosthesis/pinky_PIP" coef="0.010"/>
+            <joint joint="prosthesis/pinky_MCP" coef="-0.010"/>
+        </fixed>
+
+    </tendon>
+
+
+    <equality>
+        <!-- DIP-PIP-MCP Couplings -->
+        <tendon name="prosthesis/E_index32_cpl" tendon1="prosthesis/T_index32_cpl"/>
+        <tendon name="prosthesis/E_index21_cpl" tendon1="prosthesis/T_index21_cpl"/>
+        <tendon name="prosthesis/E_middle32_cpl" tendon1="prosthesis/T_middle32_cpl"/>
+        <tendon name="prosthesis/E_middle21_cpl" tendon1="prosthesis/T_middle21_cpl"/>
+        <tendon name="prosthesis/E_ring32_cpl" tendon1="prosthesis/T_ring32_cpl"/>
+        <tendon name="prosthesis/E_ring21_cpl" tendon1="prosthesis/T_ring21_cpl"/>
+        <tendon name="prosthesis/E_pinky32_cpl" tendon1="prosthesis/T_pinky32_cpl"/>
+        <tendon name="prosthesis/E_pinky21_cpl" tendon1="prosthesis/T_pinky21_cpl"/>
+
+        <!-- AD-AB Coupling -->
+        <joint name="prosthesis/ring_pinky_cpl" joint1="prosthesis/ring_ABD" joint2="prosthesis/pinky_ABD"
+               polycoef="0 0.5 0 0 0"/>
+    </equality>
+
+
+    <actuator>
+        <!-- Wrist -->
+        <position name="prosthesis/A_wrist_PRO" class="MPL" joint="prosthesis/wrist_PRO" ctrlrange="-1.57 1.57"/>
+        <position name="prosthesis/A_wrist_UDEV" class="MPL" joint="prosthesis/wrist_UDEV" ctrlrange="-0.26 0.79"/>
+        <position name="prosthesis/A_wrist_FLEX" class="MPL" joint="prosthesis/wrist_FLEX" ctrlrange="-1 1"/>
+
+        <!-- Thumb -->
+        <position name="prosthesis/A_thumb_ABD" class="MPL" joint="prosthesis/thumb_ABD" ctrlrange="0 2.1"/>
+        <position name="prosthesis/A_thumb_MCP" class="MPL" joint="prosthesis/thumb_MCP" ctrlrange="0 1.0"/>
+        <position name="prosthesis/A_thumb_PIP" class="MPL" joint="prosthesis/thumb_PIP" ctrlrange="0 1.0"/>
+        <position name="prosthesis/A_thumb_DIP" class="MPL" joint="prosthesis/thumb_DIP" ctrlrange="-0.82 1.3"/>
+
+        <!-- Fingers -->
+        <position name="prosthesis/A_index_ABD" class="MPL" joint="prosthesis/index_ABD" ctrlrange="0 0.34"/>
+        <position name="prosthesis/A_index_MCP" class="MPL" joint="prosthesis/index_MCP" ctrlrange="0 1.6"/>
+        <position name="prosthesis/A_middle_MCP" class="MPL" joint="prosthesis/middle_MCP" ctrlrange="0 1.6"/>
+        <position name="prosthesis/A_ring_MCP" class="MPL" joint="prosthesis/ring_MCP" ctrlrange="0 1.6"/>
+        <position name="prosthesis/A_pinky_ABD" class="MPL" joint="prosthesis/pinky_ABD" ctrlrange="0 0.34"/>
+        <position name="prosthesis/A_pinky_MCP" class="MPL" joint="prosthesis/pinky_MCP" ctrlrange="0 1.6"/>
+    </actuator>
+
+</mujocoinclude>
\ No newline at end of file
diff --git a/assets/handL_chain.xml b/assets/handL_chain.xml
new file mode 100644
index 0000000..b5b4cad
--- /dev/null
+++ b/assets/handL_chain.xml
@@ -0,0 +1,257 @@
+<!-- =========== Copyright | Vikash Kumar | vikashplus@gmail.com ==========================
+    Model       :: MPL
+    Mujoco      :: Advanced physics simulation engine
+        Source      : www.roboti.us
+        Version     : 2.00
+        Released    : 1Oct"18
+    Author      :: Vikash Kumar
+        Contacts    : vikashplus@gmail.com
+        Last edits  : 25Dec"19
+    
+Copyright 2018 Vikash Kumar: Licensed under Apache License, Version 2.0 (the "License")
+
+You may not use this file except in compliance with the License. You may obtain a copy of 
+the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law
+or agreed to in writing, software distributed under the License is distributed on an "AS IS"
+BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License
+for the specific language governing permissions and limitations under the License.
+============================================================================================= -->
+
+<mujocoinclude>
+    <body childclass="MPL" name="prosthesis/forearm" pos="0 -0.15 0" euler="0 3.14 0">
+        <geom type="cylinder" size="0.02 0.01" zaxis="0 1 0"/>
+        <body name="prosthesis/wristy" pos="0 0 0">
+            <inertial pos="7.08369e-005 -0.0217787 -0.000286168" quat="0.707488 0.00581744 -0.0107421 0.70662"
+                      mass="0.0272932" diaginertia="2.46813e-005 1.77029e-005 1.71079e-005"/>
+            <geom type="mesh" mesh="prosthesis/wristy"/>
+            <joint name="prosthesis/wrist_PRO" type="hinge" damping="0.4" pos="0 0 0" axis="0 1 0" range="-1.57 1.57"/>
+            <body name="prosthesis/wristx" pos="3.36826e-005 -0.0476452 0.00203763">
+                <inertial pos="-0.00139174 -0.00975189 -0.00252668" quat="-0.0729226 0.705959 0.0352732 0.703605"
+                          mass="0.010691" diaginertia="5.04455e-006 4.25035e-006 3.25677e-006"/>
+                <joint name="prosthesis/wrist_UDEV" damping="0.4" type="hinge" pos="0 0 0" axis="0 0 -1"
+                       range="-0.261 0.785"/>
+                <geom type="mesh" mesh="prosthesis/wristx"/>
+                <body name="prosthesis/wristz" pos="-0.0001872 -0.03 -0.002094">
+                    <inertial pos="-0.000579016 -0.00125952 0.000455968" quat="0.527723 0.475346 0.521597 0.472749"
+                              mass="0.00602247" diaginertia="1.58133e-006 1.43102e-006 1.26861e-006"/>
+                    <joint name="prosthesis/wrist_FLEX" damping="0.4" type="hinge" pos="0 0 0" axis="1 0 0"
+                           range="-1.04 1.04"/>
+                    <geom type="mesh" mesh="prosthesis/wristz"/>
+
+                    <!-- ======= PALM  ======= -->
+                    <body name="prosthesis/palm" pos="-0.025625 0 0">
+                        <inertial pos="0.0217876 -0.0376147 0.00276997" quat="0.36373 1.523094 -.3585561 1.66783"
+                                  mass="0.119867" diaginertia="0.000123088 0.000100082 6.89467e-005"/>
+                        <geom type="mesh" mesh="prosthesis/palm"/>
+                        <site name="prosthesis/palm_thumb" pos="0.0052 -0.0438 -0.0182" size=".017 .03 .01"/>
+                        <site name="prosthesis/palm_pinky" pos="0.0358 -0.0401 -0.0183" size=".017 .03 .01"/>
+                        <site name="prosthesis/palm_side" pos="0.0604 -0.0329 -0.0048" size=".01 .03 .015"/>
+                        <site name="prosthesis/palm_back" pos="0.0246 -0.0446 0.018" size=".03 .035 .015"/>
+
+                        <!-- ======= THUMB ======= -->
+                        <body name="prosthesis/thumb0" pos="-0.00835752 -0.0206978 -0.010093"
+                              quat="0.990237 -0.0412644 0.0209178 0.13149">
+                            <inertial pos="-0.00863339 -0.000156884 -0.000945846"
+                                      quat="0.408795 0.551643 0.541079 0.485602" mass="0.00336696"
+                                      diaginertia="4.50769e-007 4.48758e-007 2.35017e-007"/>
+                            <joint name="prosthesis/thumb_ABD" type="hinge" pos="0 0 0" axis="0 -1 0" range="0 2.07"/>
+                            <geom type="mesh" mesh="prosthesis/thumb0"/>
+                            <body name="prosthesis/thumb1" pos="-0.0209172 -0.00084 0.0014476">
+                                <inertial pos="-0.019024 0.000361131 -0.000186763"
+                                          quat="0.5208 0.469572 0.484571 0.522934" mass="0.00596213"
+                                          diaginertia="9.88001e-007 9.45125e-007 5.32989e-007"/>
+                                <joint name="prosthesis/thumb_MCP" type="hinge" pos="0 0 0" axis="0 0 1"
+                                       range="0 1.03"/>
+                                <geom type="mesh" mesh="prosthesis/thumb1"/>
+                                <site name="prosthesis/thumb_proximal" pos="-0.0173 -0.008 0.0009"
+                                      size=".015 .0075 .01"/>
+                                <body name="prosthesis/thumb2" pos="-0.0335 0 -0.0007426">
+                                    <inertial pos="-0.0188965 0.000375725 0.00065381"
+                                              quat="0.502274 0.484638 0.475673 0.535333" mass="0.00599792"
+                                              diaginertia="9.96692e-007 9.64948e-007 5.14416e-007"/>
+                                    <joint name="prosthesis/thumb_PIP" type="hinge" pos="0 0 0" axis="0 0 1"
+                                           range="0 1.03"/>
+                                    <geom type="mesh" mesh="prosthesis/thumb2"/>
+                                    <site name="prosthesis/thumb_medial" pos="-0.0182 -0.008 0.0015"
+                                          size=".015 .0075 .01"/>
+                                    <body name="prosthesis/thumb3" pos="-0.0335 0 0.0010854">
+                                        <inertial pos="-0.0188965 0.000375725 0.00065381"
+                                                  quat="0.502274 0.484638 0.475673 0.535333" mass="0.00599792"
+                                                  diaginertia="9.96692e-007 9.64948e-007 5.14416e-007"/>
+                                        <joint name="prosthesis/thumb_DIP" type="hinge" pos="0 0 0" axis="0 0 1"
+                                               range="-0.819 1.28"/>
+                                        <geom type="mesh" mesh="prosthesis/thumb3"/>
+                                        <site name="prosthesis/thumb_distal" pos="-0.0156 -0.007 0.0003"
+                                              size=".015 .0075 .01" axisangle="0 0 1 -0.2"/>
+                                        <site class="IMU" name="prosthesis/thumb_IMU" pos="-0.0099 -0.00052 0"
+                                              quat=".5 .5 .5 .5" size=".003 .003 .003"/>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+
+                        <!-- ======= INDEX ======= -->
+                        <body name="prosthesis/index0" pos="-0.00986485 -0.0658 0.00101221"
+                              quat="0.996195 0 -0.0871557 0">
+                            <inertial pos="0.000142572 -0.00548494 0.000206145"
+                                      quat="0.699132 0.714861 -0.000723869 0.013694" mass="0.00295579"
+                                      diaginertia="4.22462e-007 4.02281e-007 1.93868e-007"/>
+                            <joint name="prosthesis/index_ABD" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 0.345"/>
+                            <geom type="mesh" mesh="prosthesis/index0"/>
+                            <body name="prosthesis/index1" pos="-6.26e-005 -0.018 0">
+                                <inertial pos="-0.000406487 -0.0213125 0.000655609"
+                                          quat="0.698452 0.715642 -0.00415384 0.0023049" mass="0.00478235"
+                                          diaginertia="8.18599e-007 7.95693e-007 3.06254e-007"/>
+                                <joint name="prosthesis/index_MCP" type="hinge" pos="0 0 0" axis="1 0 0"
+                                       range="-0.785 1.57"/>
+                                <geom type="mesh" mesh="prosthesis/index1"/>
+                                <site name="prosthesis/index_proximal" pos="0 -0.0235 -0.007" size=".009 .015 .0075"/>
+                                <body name="prosthesis/index2" pos="-0.001086 -0.0435 0.0005">
+                                    <inertial pos="0.000841462 -0.012689 0.000572665"
+                                              quat="0.734882 0.677481 -0.028511 0.0124827" mass="0.00344764"
+                                              diaginertia="3.63962e-007 3.59059e-007 1.05304e-007"/>
+                                    <joint name="prosthesis/index_PIP" type="hinge" pos="0 0 0" axis="1 0 0"
+                                           range="0 1.72"/>
+                                    <geom type="mesh" mesh="prosthesis/index2"/>
+                                    <site name="prosthesis/index_medial" pos="0 -0.009 -0.0047" size=".0075 .01 .006"/>
+                                    <body name="prosthesis/index3" pos="0.000635 -0.0245 0">
+                                        <inertial pos="-4.32004e-005 -0.0125318 0.000903476"
+                                                  quat="0.516251 0.4829 -0.483241 0.516498" mass="0.00274415"
+                                                  diaginertia="1.19635e-007 1.09202e-007 7.77873e-008"/>
+                                        <joint name="prosthesis/index_DIP" type="hinge" pos="0 0 0" axis="1 0 0"
+                                               range="0 1.38"/>
+                                        <geom type="mesh" mesh="prosthesis/index3"/>
+                                        <site name="prosthesis/index_distal" pos="0 -0.0132 -0.0038"
+                                              size=".0075 .01 .006"/>
+                                        <site class="IMU" name="prosthesis/index_IMU" pos="0 -0.0093 0.00063"
+                                              quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+
+                        <!-- ======= MIDDLE ======= -->
+                        <body name="prosthesis/middle0" pos="0.012814 -0.0779014 0.00544608" quat="3.14 -0.0436194 0 0">
+                            <inertial pos="0.000142567 -0.00548493 0.000206162"
+                                      quat="0.699131 0.714862 -0.000723874 0.013694" mass="0.00295579"
+                                      diaginertia="4.22461e-007 4.02281e-007 1.93868e-007"/>
+                            <!--<joint name="prosthesis/middle0" type="hinge" pos="0 0 0" range="-0.345 0" axis="0 0 -1" />-->
+                            <geom type="mesh" mesh="prosthesis/middle0"/>
+                            <body name="prosthesis/middle1" pos="-6.26e-005 -0.018 0">
+                                <inertial pos="-0.000406411 -0.0213125 0.00065565"
+                                          quat="0.698451 0.715642 -0.00415503 0.00230486" mass="0.00478229"
+                                          diaginertia="8.18595e-007 7.9569e-007 3.06253e-007"/>
+                                <joint name="prosthesis/middle_MCP" type="hinge" pos="0 0 0" axis="1 0 0"
+                                       range="-0.785 1.57"/>
+                                <geom type="mesh" mesh="prosthesis/middle1"/>
+                                <site name="prosthesis/middle_proximal" pos="0 -0.025 -0.007" size=".009 .015 .0075"/>
+                                <body name="prosthesis/middle2" pos="-0.001086 -0.0435 0.0005">
+                                    <inertial pos="0.000841444 -0.012689 0.00057266"
+                                              quat="0.734883 0.677482 -0.0284727 0.0124412" mass="0.00344765"
+                                              diaginertia="3.63962e-007 3.5906e-007 1.05304e-007"/>
+                                    <joint name="prosthesis/middle_PIP" type="hinge" pos="0 0 0" axis="1 0 0"
+                                           range="0 1.73"/>
+                                    <geom type="mesh" mesh="prosthesis/middle2"/>
+                                    <site name="prosthesis/middle_medial" pos="0 -0.0146 -0.0047"
+                                          size=".0075 .01 .006"/>
+                                    <body name="prosthesis/middle3" pos="0.000635 -0.0245 0">
+                                        <inertial pos="-4.31236e-005 -0.0125318 0.000903446"
+                                                  quat="0.516263 0.482913 -0.483228 0.516487" mass="0.00274417"
+                                                  diaginertia="1.19635e-007 1.09202e-007 7.77884e-008"/>
+                                        <joint name="prosthesis/middle_DIP" type="hinge" pos="0 0 0" axis="1 0 0"
+                                               range="0 1.38"/>
+                                        <geom type="mesh" mesh="prosthesis/middle3"/>
+                                        <site name="prosthesis/middle_distal" pos="0 -0.0129 -0.0038"
+                                              size=".0075 .01 .006"/>
+                                        <site class="IMU" name="prosthesis/middle_IMU" pos="0 -0.0093 0.00063"
+                                              quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+
+                        <!-- ======= RING ======= -->
+                        <body name="prosthesis/ring0" pos="0.0354928 -0.0666999 0.00151221"
+                              quat="0.996195 0 0.0871557 0">
+                            <inertial pos="0.000142559 -0.00548494 0.000206147"
+                                      quat="0.699132 0.714861 -0.000720946 0.013691" mass="0.00295579"
+                                      diaginertia="4.22462e-007 4.02281e-007 1.93868e-007"/>
+                            <joint name="prosthesis/ring_ABD" type="hinge" pos="0 0 0" axis="0 0 1" range="0 0.345"/>
+                            <geom type="mesh" mesh="prosthesis/ring0"/>
+                            <body name="prosthesis/ring1" pos="-6.26e-005 -0.018 0">
+                                <inertial pos="-0.000406447 -0.0213125 0.00065563"
+                                          quat="0.698451 0.715642 -0.00415675 0.00230715" mass="0.00478232"
+                                          diaginertia="8.18597e-007 7.95692e-007 3.06254e-007"/>
+                                <joint name="prosthesis/ring_MCP" type="hinge" pos="0 0 0" axis="1 0 0"
+                                       range="-0.785 1.57"/>
+                                <geom type="mesh" mesh="prosthesis/ring1"/>
+                                <site name="prosthesis/ring_proximal" pos="0 -0.0259 -0.007" size=".009 .015 .0075"/>
+                                <body name="prosthesis/ring2" pos="-0.001086 -0.0435 0.0005">
+                                    <inertial pos="0.000841518 -0.012689 0.000572674"
+                                              quat="0.73488 0.677478 -0.0285773 0.0125557" mass="0.00344767"
+                                              diaginertia="3.63963e-007 3.59061e-007 1.05305e-007"/>
+                                    <joint name="prosthesis/ring_PIP" type="hinge" pos="0 0 0" axis="1 0 0"
+                                           range="0 1.72"/>
+                                    <geom type="mesh" mesh="prosthesis/ring2"/>
+                                    <site name="prosthesis/ring_medial" pos="0 -0.0137 -0.0047" size=".0075 .01 .006"/>
+                                    <body name="prosthesis/ring3" pos="0.000635 -0.0245 0">
+                                        <inertial pos="-4.31973e-005 -0.0125318 0.000903457"
+                                                  quat="0.516255 0.482902 -0.483238 0.516495" mass="0.00274416"
+                                                  diaginertia="1.19635e-007 1.09202e-007 7.77877e-008"/>
+                                        <joint name="prosthesis/ring_DIP" type="hinge" pos="0 0 0" axis="1 0 0"
+                                               range="0 1.38"/>
+                                        <geom type="mesh" mesh="prosthesis/ring3"/>
+                                        <site name="prosthesis/ring_distal" pos="0 -0.0117 -0.0038"
+                                              size=".0075 .01 .006"/>
+                                        <site class="IMU" name="prosthesis/ring_IMU" pos="0 -0.0093 0.00063"
+                                              quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+
+                        <!-- ======= LITTLE ======= -->
+                        <body name="prosthesis/pinky0" pos="0.0562459 -0.0554001 -0.00563858"
+                              quat="0.996195 0 0.0871557 0">
+                            <inertial pos="0.000142559 -0.00538484 0.000206147"
+                                      quat="0.699132 0.714861 -0.000721037 0.0136911" mass="0.00295579"
+                                      diaginertia="4.22462e-007 4.02281e-007 1.93868e-007"/>
+                            <joint name="prosthesis/pinky_ABD" type="hinge" pos="0 0 0" axis="0 0 1" range="0 0.345"/>
+                            <geom type="mesh" mesh="prosthesis/pinky0"/>
+                            <body name="prosthesis/pinky1" pos="-6.26e-005 -0.0178999 0">
+                                <inertial pos="-0.000458624 -0.0160478 0.000924735"
+                                          quat="0.685529 0.72723 0.021252 -0.0270914" mass="0.0034099"
+                                          diaginertia="4.03391e-007 3.84061e-007 2.19866e-007"/>
+                                <joint name="prosthesis/pinky_MCP" type="hinge" pos="0 0 0" axis="1 0 0"
+                                       range="-0.785 1.57"/>
+                                <geom type="mesh" mesh="prosthesis/pinky1"/>
+                                <site name="prosthesis/pinky_proximal" pos="0 -0.021 -0.0066" size=".009 .013 .0075"/>
+                                <body name="prosthesis/pinky2" pos="-0.000578 -0.033 0.0005">
+                                    <inertial pos="0.000270832 -0.00914628 0.000738493"
+                                              quat="0.746786 0.664476 -4.11065e-005 -0.0279675" mass="0.00250622"
+                                              diaginertia="1.79089e-007 1.75934e-007 7.44543e-008"/>
+                                    <joint name="prosthesis/pinky_PIP" type="hinge" pos="0 0 0" axis="1 0 0"
+                                           range="0 1.72"/>
+                                    <geom type="mesh" mesh="prosthesis/pinky2"/>
+                                    <site name="prosthesis/pinky_medial" pos="0 -0.0117 -0.0047" size=".0075 .01 .006"/>
+                                    <body name="prosthesis/pinky3" pos="4.78e-005 -0.0175 0">
+                                        <inertial pos="-3.85026e-005 -0.0125047 0.000912295"
+                                                  quat="0.516037 0.484447 -0.483043 0.515448" mass="0.00273265"
+                                                  diaginertia="1.19141e-007 1.08629e-007 7.77271e-008"/>
+                                        <joint name="prosthesis/pinky_DIP" type="hinge" pos="0 0 0" axis="1 0 0"
+                                               range="0 1.38"/>
+                                        <geom type="mesh" mesh="prosthesis/pinky3"/>
+                                        <site name="prosthesis/pinky_distal" pos="0 -0.0121 -0.0038"
+                                              size=".0075 .01 .006"/>
+                                        <site class="IMU" name="prosthesis/pinky_IMU" pos="0 -0.0093 0.00063"
+                                              quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujocoinclude>
\ No newline at end of file
diff --git a/assets/handR_assets.xml b/assets/handR_assets.xml
new file mode 100644
index 0000000..5652bba
--- /dev/null
+++ b/assets/handR_assets.xml
@@ -0,0 +1,181 @@
+<!-- =========== Copyright | Vikash Kumar | vikashplus@gmail.com ==========================
+    Model       :: MPL
+    Mujoco      :: Advanced physics simulation engine
+        Source      : www.roboti.us
+        Version     : 2.00
+        Released    : 1Oct"18
+    Author      :: Vikash Kumar
+        Contacts    : vikashplus@gmail.com
+        Last edits  : 25Dec"19
+    
+Copyright 2018 Vikash Kumar: Licensed under Apache License, Version 2.0 (the "License")
+
+You may not use this file except in compliance with the License. You may obtain a copy of 
+the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law
+or agreed to in writing, software distributed under the License is distributed on an "AS IS"
+BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License
+for the specific language governing permissions and limitations under the License.
+============================================================================================= -->
+
+<mujocoinclude>
+    <compiler angle="radian" meshdir=".." texturedir="texture/"/>
+    <default>
+        <default class="MPL">
+            <geom material="MatMesh" contype="1" conaffinity="1" condim="4" margin="0.001"/>
+            <joint limited="true" damping="0.2" armature=".01"/>
+            <site material="MatTouch" type="ellipsoid" group="3"/>
+            <position ctrllimited="true" kp="10"/>
+        </default>
+
+        <default class="IMU">
+            <site material="MatIMU" type="box" group="4"/>
+        </default>
+
+        <default class="free">
+            <joint type="free" damping="0" armature="0" limited="false"/>
+        </default>
+    </default>
+
+    <statistic extent="1" center="0 -0.2 0.2"/>
+
+    <visual>
+        <quality shadowsize="2048"/>
+        <map fogstart="6" fogend="10"/>
+        <headlight diffuse=".6 .6 .6" specular="0 0 0"/>
+    </visual>
+
+    <asset>
+        <mesh name="prosthesis/index0" file="../MPL_sim/index0.stl"/>
+        <mesh name="prosthesis/index1" file="../MPL_sim/index1.stl"/>
+        <mesh name="prosthesis/index2" file="../MPL_sim/index2.stl"/>
+        <mesh name="prosthesis/index3" file="../MPL_sim/index3.stl"/>
+        <mesh name="prosthesis/middle0" file="../MPL_sim/middle0.stl"/>
+        <mesh name="prosthesis/middle1" file="../MPL_sim/middle1.stl"/>
+        <mesh name="prosthesis/middle2" file="../MPL_sim/middle2.stl"/>
+        <mesh name="prosthesis/middle3" file="../MPL_sim/middle3.stl"/>
+        <mesh name="prosthesis/palm" file="../MPL_sim/palm.stl"/>
+        <mesh name="prosthesis/pinky0" file="../MPL_sim/pinky0.stl"/>
+        <mesh name="prosthesis/pinky1" file="../MPL_sim/pinky1.stl"/>
+        <mesh name="prosthesis/pinky2" file="../MPL_sim/pinky2.stl"/>
+        <mesh name="prosthesis/pinky3" file="../MPL_sim/pinky3.stl"/>
+        <mesh name="prosthesis/ring0" file="../MPL_sim/ring0.stl"/>
+        <mesh name="prosthesis/ring1" file="../MPL_sim/ring1.stl"/>
+        <mesh name="prosthesis/ring2" file="../MPL_sim/ring2.stl"/>
+        <mesh name="prosthesis/ring3" file="../MPL_sim/ring3.stl"/>
+        <mesh name="prosthesis/thumb0" file="../MPL_sim/thumb0.stl"/>
+        <mesh name="prosthesis/thumb1" file="../MPL_sim/thumb1.stl"/>
+        <mesh name="prosthesis/thumb2" file="../MPL_sim/thumb2.stl"/>
+        <mesh name="prosthesis/thumb3" file="../MPL_sim/thumb3.stl"/>
+        <mesh name="prosthesis/wristx" file="../MPL_sim/wristx.stl"/>
+        <mesh name="prosthesis/wristy" file="../MPL_sim/wristy.stl"/>
+        <mesh name="prosthesis/wristz" file="../MPL_sim/wristz.stl"/>
+
+        <texture type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0"
+                 width="100" height="100"/>
+        <texture name="prosthesis/groundplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 .2 .3"
+                 width="100" height="100"/>
+        <texture name="prosthesis/skin" type="cube" file="../MPL_sim/skin.png"/>
+        <texture name="prosthesis/marble2d" type="2d" file="../MPL_sim/marble.png"/>
+        <texture name="prosthesis/marblecube" type="cube" file="../MPL_sim/marble.png"/>
+
+        <material name="prosthesis/groundplane" texture="groundplane" texrepeat="10 10"/>
+        <material name="prosthesis/table2d" texture="marble2d" reflectance="0.3" rgba=".8 .8 .8 1"/>
+        <material name="prosthesis/tablecube" texture="marblecube" rgba=".8 .8 .8 1"/>
+        <material name="prosthesis/MatTouch" rgba=".3 .9 .3 .3"/>
+        <material name="prosthesis/MatIMU" rgba=".1 .1 .9 1"/>
+        <material name="prosthesis/MatMesh" texture="skin"/>
+    </asset>
+
+    <contact>
+        <exclude body1="wristz" body2="wristy"/>
+        <exclude body1="wristx" body2="thumb0"/>
+        <exclude body1="palm" body2="thumb1"/>
+        <exclude body1="palm" body2="index1"/>
+        <exclude body1="palm" body2="middle1"/>
+        <exclude body1="palm" body2="ring1"/>
+        <exclude body1="palm" body2="pinky1"/>
+    </contact>
+
+    <tendon>
+        <!--Index coupler tendons-->
+        <fixed name="prosthesis/T_index32_cpl" range="0 1">
+            <joint joint="prosthesis/index_DIP" coef="0.00705"/>
+            <joint joint="prosthesis/index_PIP" coef="-0.00805"/>
+        </fixed>
+        <fixed name="prosthesis/T_index21_cpl" range="0 1">
+            <joint joint="prosthesis/index_PIP" coef="0.010"/>
+            <joint joint="prosthesis/index_MCP" coef="-0.010"/>
+        </fixed>
+
+        <!--Middle coupler tendons-->
+        <fixed name="prosthesis/T_middle32_cpl">
+            <joint joint="prosthesis/middle_DIP" coef="0.00705"/>
+            <joint joint="prosthesis/middle_PIP" coef="-0.00805"/>
+        </fixed>
+        <fixed name="prosthesis/T_middle21_cpl">
+            <joint joint="prosthesis/middle_PIP" coef="0.010"/>
+            <joint joint="prosthesis/middle_MCP" coef="-0.010"/>
+        </fixed>
+
+        <!--Ring coupler tendons-->
+        <fixed name="prosthesis/T_ring32_cpl">
+            <joint joint="prosthesis/ring_DIP" coef="0.00705"/>
+            <joint joint="prosthesis/ring_PIP" coef="-0.00805"/>
+        </fixed>
+        <fixed name="prosthesis/T_ring21_cpl">
+            <joint joint="prosthesis/ring_PIP" coef="0.010"/>
+            <joint joint="prosthesis/ring_MCP" coef="-0.010"/>
+        </fixed>
+
+        <!--Little coupler tendons-->
+        <fixed name="prosthesis/T_pinky32_cpl">
+            <joint joint="prosthesis/pinky_DIP" coef="0.00705"/>
+            <joint joint="prosthesis/pinky_PIP" coef="-0.00805"/>
+        </fixed>
+        <fixed name="prosthesis/T_pinky21_cpl">
+            <joint joint="prosthesis/pinky_PIP" coef="0.010"/>
+            <joint joint="prosthesis/pinky_MCP" coef="-0.010"/>
+        </fixed>
+
+    </tendon>
+
+
+    <equality>
+        <weld body1="mocap" body2="forearm" solref="0.01 1" solimp=".9 .9 0.01"/>
+
+        <!-- DIP-PIP-MCP Couplings -->
+        <tendon name="prosthesis/E_index32_cpl" tendon1="prosthesis/T_index32_cpl"/>
+        <tendon name="prosthesis/E_index21_cpl" tendon1="prosthesis/T_index21_cpl"/>
+        <tendon name="prosthesis/E_middle32_cpl" tendon1="prosthesis/T_middle32_cpl"/>
+        <tendon name="prosthesis/E_middle21_cpl" tendon1="prosthesis/T_middle21_cpl"/>
+        <tendon name="prosthesis/E_ring32_cpl" tendon1="prosthesis/T_ring32_cpl"/>
+        <tendon name="prosthesis/E_ring21_cpl" tendon1="prosthesis/T_ring21_cpl"/>
+        <tendon name="prosthesis/E_pinky32_cpl" tendon1="prosthesis/T_pinky32_cpl"/>
+        <tendon name="prosthesis/E_pinky21_cpl" tendon1="prosthesis/T_pinky21_cpl"/>
+
+        <!-- AD-AB Coupling -->
+        <joint name="prosthesis/ring_pinky_cpl" joint1="prosthesis/ring_ABD" joint2="prosthesis/pinky_ABD" polycoef="0 0.5 0 0 0"/>
+    </equality>
+
+
+    <actuator>
+        <!-- Wrist -->
+        <position name="prosthesis/A_wrist_PRO" class="MPL" joint="prosthesis/wrist_PRO" ctrlrange="-1.57 1.57"/>
+        <position name="prosthesis/A_wrist_UDEV" class="MPL" joint="prosthesis/wrist_UDEV" ctrlrange="-0.26 0.79"/>
+        <position name="prosthesis/A_wrist_FLEX" class="MPL" joint="prosthesis/wrist_FLEX" ctrlrange="-1 1"/>
+
+        <!-- Thumb -->
+        <position name="prosthesis/A_thumb_ABD" class="MPL" joint="prosthesis/thumb_ABD" ctrlrange="0 2.1"/>
+        <position name="prosthesis/A_thumb_MCP" class="MPL" joint="prosthesis/thumb_MCP" ctrlrange="0 1.0"/>
+        <position name="prosthesis/A_thumb_PIP" class="MPL" joint="prosthesis/thumb_PIP" ctrlrange="0 1.0"/>
+        <position name="prosthesis/A_thumb_DIP" class="MPL" joint="prosthesis/thumb_DIP" ctrlrange="-0.82 1.3"/>
+
+        <!-- Fingers -->
+        <position name="prosthesis/A_index_ABD" class="MPL" joint="prosthesis/index_ABD" ctrlrange="0 0.34"/>
+        <position name="prosthesis/A_index_MCP" class="MPL" joint="prosthesis/index_MCP" ctrlrange="0 1.6"/>
+        <position name="prosthesis/A_middle_MCP" class="MPL" joint="prosthesis/middle_MCP" ctrlrange="0 1.6"/>
+        <position name="prosthesis/A_ring_MCP" class="MPL" joint="prosthesis/ring_MCP" ctrlrange="0 1.6"/>
+        <position name="prosthesis/A_pinky_ABD" class="MPL" joint="prosthesis/pinky_ABD" ctrlrange="0 0.34"/>
+        <position name="prosthesis/A_pinky_MCP" class="MPL" joint="prosthesis/pinky_MCP" ctrlrange="0 1.6"/>
+    </actuator>
+</mujocoinclude>
\ No newline at end of file
diff --git a/assets/handR_chain.xml b/assets/handR_chain.xml
new file mode 100644
index 0000000..7761e37
--- /dev/null
+++ b/assets/handR_chain.xml
@@ -0,0 +1,232 @@
+<!-- =========== Copyright | Vikash Kumar | vikashplus@gmail.com ==========================
+    Model       :: MPL
+    Mujoco      :: Advanced physics simulation engine
+        Source      : www.roboti.us
+        Version     : 2.00
+        Released    : 1Oct"18
+    Author      :: Vikash Kumar
+        Contacts    : vikashplus@gmail.com
+        Last edits  : 25Dec"19
+    
+Copyright 2018 Vikash Kumar: Licensed under Apache License, Version 2.0 (the "License")
+
+You may not use this file except in compliance with the License. You may obtain a copy of 
+the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law
+or agreed to in writing, software distributed under the License is distributed on an "AS IS"
+BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License
+for the specific language governing permissions and limitations under the License.
+============================================================================================= -->
+
+<mujocoinclude>
+    <body childclass="MPL" name="prosthesis/forearm" pos="0 -0.35 0.2" axisangle="0 0 1 3.141592">
+        <joint class="free"/>
+        <geom type="cylinder" size="0.02 0.01" zaxis="0 1 0"/>
+        <body name="prosthesis/wristy" pos="0 0 0">
+            <inertial pos="-7.08369e-005 -0.0217787 -0.000286168" quat="0.707488 0.00581744 -0.0107421 0.70662"
+                      mass="0.0272932" diaginertia="2.46813e-005 1.77029e-005 1.71079e-005"/>
+            <geom type="mesh" mesh="wristy"/>
+            <joint name="prosthesis/wrist_PRO" type="hinge" damping="0.4" pos="0 0 0" axis="0 1 0" range="-1.57 1.57"/>
+            <body name="prosthesis/wristx" pos="-3.36826e-005 -0.0476452 0.00203763">
+                <inertial pos="0.00139174 -0.00975189 -0.00252668" quat="-0.0729226 0.705959 0.0352732 0.703605"
+                          mass="0.010691" diaginertia="5.04455e-006 4.25035e-006 3.25677e-006"/>
+                <joint name="prosthesis/wrist_UDEV" damping="0.4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-0.261 0.785"/>
+                <geom type="mesh" mesh="wristx"/>
+                <body name="prosthesis/wristz" pos="0.0001872 -0.03 -0.002094">
+                    <inertial pos="0.000579016 -0.00125952 0.000455968" quat="0.527723 0.475346 0.521597 0.472749"
+                              mass="0.00602247" diaginertia="1.58133e-006 1.43102e-006 1.26861e-006"/>
+                    <joint name="prosthesis/wrist_FLEX" damping="0.4" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.04 1.04"/>
+                    <geom type="mesh" mesh="wristz"/>
+
+                    <!-- ======= PALM  ======= -->
+                    <body name="prosthesis/palm" pos="0.025625 0 0">
+                        <inertial pos="-0.0217876 -0.0376147 0.00276997" quat="-0.146373 0.723094 0.0985561 0.66783"
+                                  mass="0.119867" diaginertia="0.000123088 0.000100082 6.89467e-005"/>
+                        <geom type="mesh" mesh="palm"/>
+                        <site name="prosthesis/palm_thumb" pos="-0.0052 -0.0438 -0.0182" size=".017 .03 .01"/>
+                        <site name="prosthesis/palm_pinky" pos="-0.0358 -0.0401 -0.0183" size=".017 .03 .01"/>
+                        <site name="prosthesis/palm_side" pos="-0.0604 -0.0329 -0.0048" size=".01 .03 .015"/>
+                        <site name="prosthesis/palm_back" pos="-0.0246 -0.0446 0.018" size=".03 .035 .015"/>
+
+                        <!-- ======= THUMB ======= -->
+                        <body name="prosthesis/thumb0" pos="0.00835752 -0.0206978 -0.010093"
+                              quat="0.990237 0.0412644 -0.0209178 -0.13149">
+                            <inertial pos="0.00863339 -0.000156884 -0.000945846"
+                                      quat="0.408795 0.551643 0.541079 0.485602" mass="0.00336696"
+                                      diaginertia="4.50769e-007 4.48758e-007 2.35017e-007"/>
+                            <joint name="prosthesis/thumb_ABD" type="hinge" pos="0 0 0" axis="0 1 0" range="0 2.07"/>
+                            <geom type="mesh" mesh="thumb0"/>
+                            <body name="prosthesis/thumb1" pos="0.0209172 -0.00084 0.0014476">
+                                <inertial pos="0.019024 0.000361131 -0.000186763"
+                                          quat="0.5208 0.469572 0.484571 0.522934" mass="0.00596213"
+                                          diaginertia="9.88001e-007 9.45125e-007 5.32989e-007"/>
+                                <joint name="prosthesis/thumb_MCP" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 1.03"/>
+                                <geom type="mesh" mesh="thumb1"/>
+                                <site name="prosthesis/thumb_proximal" pos="0.0173 -0.008 0.0009" size=".015 .0075 .01"/>
+                                <body name="prosthesis/thumb2" pos="0.0335 0 -0.0007426">
+                                    <inertial pos="0.0188965 0.000375725 0.00065381"
+                                              quat="0.502274 0.484638 0.475673 0.535333" mass="0.00599792"
+                                              diaginertia="9.96692e-007 9.64948e-007 5.14416e-007"/>
+                                    <joint name="prosthesis/thumb_PIP" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 1.03"/>
+                                    <geom type="mesh" mesh="thumb2"/>
+                                    <site name="prosthesis/thumb_medial" pos="0.0182 -0.008 0.0015" size=".015 .0075 .01"/>
+                                    <body name="prosthesis/thumb3" pos="0.0335 0 0.0010854">
+                                        <inertial pos="0.0188965 0.000375725 0.00065381"
+                                                  quat="0.502274 0.484638 0.475673 0.535333" mass="0.00599792"
+                                                  diaginertia="9.96692e-007 9.64948e-007 5.14416e-007"/>
+                                        <joint name="prosthesis/thumb_DIP" type="hinge" pos="0 0 0" axis="0 0 -1"
+                                               range="-0.819 1.28"/>
+                                        <geom type="mesh" mesh="thumb3"/>
+                                        <site name="prosthesis/thumb_distal" pos="0.0156 -0.007 0.0003" size=".015 .0075 .01"
+                                              axisangle="0 0 1 0.2"/>
+                                        <site class="IMU" name="prosthesis/thumb_IMU" pos="0.0099 -0.00052 0" quat=".5 .5 .5 .5"
+                                              size=".003 .003 .003"/>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+
+                        <!-- ======= INDEX ======= -->
+                        <body name="prosthesis/index0" pos="0.00986485 -0.0658 0.00101221" quat="0.996195 0 0.0871557 0">
+                            <inertial pos="-0.000142572 -0.00548494 0.000206145"
+                                      quat="0.699132 0.714861 -0.000723869 0.013694" mass="0.00295579"
+                                      diaginertia="4.22462e-007 4.02281e-007 1.93868e-007"/>
+                            <joint name="prosthesis/index_ABD" type="hinge" pos="0 0 0" axis="0 0 1" range="0 0.345"/>
+                            <geom type="mesh" mesh="index0"/>
+                            <body name="prosthesis/index1" pos="6.26e-005 -0.018 0">
+                                <inertial pos="0.000406487 -0.0213125 0.000655609"
+                                          quat="0.698452 0.715642 -0.00415384 0.0023049" mass="0.00478235"
+                                          diaginertia="8.18599e-007 7.95693e-007 3.06254e-007"/>
+                                <joint name="prosthesis/index_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
+                                <geom type="mesh" mesh="index1"/>
+                                <site name="prosthesis/index_proximal" pos="0 -0.0235 -0.007" size=".009 .015 .0075"/>
+                                <body name="prosthesis/index2" pos="0.001086 -0.0435 0.0005">
+                                    <inertial pos="-0.000841462 -0.012689 0.000572665"
+                                              quat="0.734882 0.677481 -0.028511 0.0124827" mass="0.00344764"
+                                              diaginertia="3.63962e-007 3.59059e-007 1.05304e-007"/>
+                                    <joint name="prosthesis/index_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
+                                    <geom type="mesh" mesh="index2"/>
+                                    <site name="prosthesis/index_medial" pos="0 -0.009 -0.0047" size=".0075 .01 .006"/>
+                                    <body name="prosthesis/index3" pos="-0.000635 -0.0245 0">
+                                        <inertial pos="4.32004e-005 -0.0125318 0.000903476"
+                                                  quat="0.516251 0.4829 -0.483241 0.516498" mass="0.00274415"
+                                                  diaginertia="1.19635e-007 1.09202e-007 7.77873e-008"/>
+                                        <joint name="prosthesis/index_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
+                                        <geom type="mesh" mesh="index3"/>
+                                        <site name="prosthesis/index_distal" pos="0 -0.0132 -0.0038" size=".0075 .01 .006"/>
+                                        <site class="IMU" name="prosthesis/index_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5"
+                                              size=".003 .003 .003"/>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+
+                        <!-- ======= MIDDLE ======= -->
+                        <body name="prosthesis/middle0" pos="-0.012814 -0.0779014 0.00544608" quat="-3.14 0.0436194 0 0">
+                            <inertial pos="-0.000142567 -0.00548493 0.000206162"
+                                      quat="0.699131 0.714862 -0.000723874 0.013694" mass="0.00295579"
+                                      diaginertia="4.22461e-007 4.02281e-007 1.93868e-007"/>
+                            <!--<joint name="prosthesis/middle0" type="hinge" pos="0 0 0" range="-0.345 0" axis="0 0 -1" />-->
+                            <geom type="mesh" mesh="middle0"/>
+                            <body name="prosthesis/middle1" pos="6.26e-005 -0.018 0">
+                                <inertial pos="0.000406411 -0.0213125 0.00065565"
+                                          quat="0.698451 0.715642 -0.00415503 0.00230486" mass="0.00478229"
+                                          diaginertia="8.18595e-007 7.9569e-007 3.06253e-007"/>
+                                <joint name="prosthesis/middle_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
+                                <geom type="mesh" mesh="middle1"/>
+                                <site name="prosthesis/middle_proximal" pos="0 -0.025 -0.007" size=".009 .015 .0075"/>
+                                <body name="prosthesis/middle2" pos="0.001086 -0.0435 0.0005">
+                                    <inertial pos="-0.000841444 -0.012689 0.00057266"
+                                              quat="0.734883 0.677482 -0.0284727 0.0124412" mass="0.00344765"
+                                              diaginertia="3.63962e-007 3.5906e-007 1.05304e-007"/>
+                                    <joint name="prosthesis/middle_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.73"/>
+                                    <geom type="mesh" mesh="middle2"/>
+                                    <site name="prosthesis/middle_medial" pos="0 -0.0146 -0.0047" size=".0075 .01 .006"/>
+                                    <body name="prosthesis/middle3" pos="-0.000635 -0.0245 0">
+                                        <inertial pos="4.31236e-005 -0.0125318 0.000903446"
+                                                  quat="0.516263 0.482913 -0.483228 0.516487" mass="0.00274417"
+                                                  diaginertia="1.19635e-007 1.09202e-007 7.77884e-008"/>
+                                        <joint name="prosthesis/middle_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
+                                        <geom type="mesh" mesh="middle3"/>
+                                        <site name="prosthesis/middle_distal" pos="0 -0.0129 -0.0038" size=".0075 .01 .006"/>
+                                        <site class="IMU" name="prosthesis/middle_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5"
+                                              size=".003 .003 .003"/>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+
+                        <!-- ======= RING ======= -->
+                        <body name="prosthesis/ring0" pos="-0.0354928 -0.0666999 0.00151221" quat="0.996195 0 -0.0871557 0">
+                            <inertial pos="-0.000142559 -0.00548494 0.000206147"
+                                      quat="0.699132 0.714861 -0.000720946 0.013691" mass="0.00295579"
+                                      diaginertia="4.22462e-007 4.02281e-007 1.93868e-007"/>
+                            <joint name="prosthesis/ring_ABD" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 0.345"/>
+                            <geom type="mesh" mesh="ring0"/>
+                            <body name="prosthesis/ring1" pos="6.26e-005 -0.018 0">
+                                <inertial pos="0.000406447 -0.0213125 0.00065563"
+                                          quat="0.698451 0.715642 -0.00415675 0.00230715" mass="0.00478232"
+                                          diaginertia="8.18597e-007 7.95692e-007 3.06254e-007"/>
+                                <joint name="prosthesis/ring_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
+                                <geom type="mesh" mesh="ring1"/>
+                                <site name="prosthesis/ring_proximal" pos="0 -0.0259 -0.007" size=".009 .015 .0075"/>
+                                <body name="prosthesis/ring2" pos="0.001086 -0.0435 0.0005">
+                                    <inertial pos="-0.000841518 -0.012689 0.000572674"
+                                              quat="0.73488 0.677478 -0.0285773 0.0125557" mass="0.00344767"
+                                              diaginertia="3.63963e-007 3.59061e-007 1.05305e-007"/>
+                                    <joint name="prosthesis/ring_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
+                                    <geom type="mesh" mesh="ring2"/>
+                                    <site name="prosthesis/ring_medial" pos="0 -0.0137 -0.0047" size=".0075 .01 .006"/>
+                                    <body name="prosthesis/ring3" pos="-0.000635 -0.0245 0">
+                                        <inertial pos="4.31973e-005 -0.0125318 0.000903457"
+                                                  quat="0.516255 0.482902 -0.483238 0.516495" mass="0.00274416"
+                                                  diaginertia="1.19635e-007 1.09202e-007 7.77877e-008"/>
+                                        <joint name="prosthesis/ring_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
+                                        <geom type="mesh" mesh="ring3"/>
+                                        <site name="prosthesis/ring_distal" pos="0 -0.0117 -0.0038" size=".0075 .01 .006"/>
+                                        <site class="IMU" name="prosthesis/ring_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5"
+                                              size=".003 .003 .003"/>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+
+                        <!-- ======= LITTLE ======= -->
+                        <body name="prosthesis/pinky0" pos="-0.0562459 -0.0554001 -0.00563858" quat="0.996195 0 -0.0871557 0">
+                            <inertial pos="-0.000142559 -0.00538484 0.000206147"
+                                      quat="0.699132 0.714861 -0.000721037 0.0136911" mass="0.00295579"
+                                      diaginertia="4.22462e-007 4.02281e-007 1.93868e-007"/>
+                            <joint name="prosthesis/pinky_ABD" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 0.345"/>
+                            <geom type="mesh" mesh="pinky0"/>
+                            <body name="prosthesis/pinky1" pos="6.26e-005 -0.0178999 0">
+                                <inertial pos="0.000458624 -0.0160478 0.000924735"
+                                          quat="0.685529 0.72723 0.021252 -0.0270914" mass="0.0034099"
+                                          diaginertia="4.03391e-007 3.84061e-007 2.19866e-007"/>
+                                <joint name="prosthesis/pinky_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
+                                <geom type="mesh" mesh="pinky1"/>
+                                <site name="prosthesis/pinky_proximal" pos="0 -0.021 -0.0066" size=".009 .013 .0075"/>
+                                <body name="prosthesis/pinky2" pos="0.000578 -0.033 0.0005">
+                                    <inertial pos="-0.000270832 -0.00914628 0.000738493"
+                                              quat="0.746786 0.664476 -4.11065e-005 -0.0279675" mass="0.00250622"
+                                              diaginertia="1.79089e-007 1.75934e-007 7.44543e-008"/>
+                                    <joint name="prosthesis/pinky_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
+                                    <geom type="mesh" mesh="pinky2"/>
+                                    <site name="prosthesis/pinky_medial" pos="0 -0.0117 -0.0047" size=".0075 .01 .006"/>
+                                    <body name="prosthesis/pinky3" pos="-4.78e-005 -0.0175 0">
+                                        <inertial pos="3.85026e-005 -0.0125047 0.000912295"
+                                                  quat="0.516037 0.484447 -0.483043 0.515448" mass="0.00273265"
+                                                  diaginertia="1.19141e-007 1.08629e-007 7.77271e-008"/>
+                                        <joint name="prosthesis/pinky_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
+                                        <geom type="mesh" mesh="pinky3"/>
+                                        <site name="prosthesis/pinky_distal" pos="0 -0.0121 -0.0038" size=".0075 .01 .006"/>
+                                        <site class="IMU" name="prosthesis/pinky_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5"
+                                              size=".003 .003 .003"/>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujocoinclude>
\ No newline at end of file
diff --git a/assets/left_arm_assets.xml b/assets/left_arm_assets.xml
new file mode 100644
index 0000000..cdbee16
--- /dev/null
+++ b/assets/left_arm_assets.xml
@@ -0,0 +1,39 @@
+<mujocoinclude>
+    <compiler angle="radian" meshdir="../" texturedir='../scenes/' />
+    <size nconmax="1000" njmax="5000"/>
+    <option timestep="0.002"/>
+
+    <default>
+        <default class="MPL_arm">
+            <geom condim="3" contype="2" conaffinity="1" type="mesh" rgba=".9 .9 2 1" />
+            <joint limited="true" damping="10"/>
+            <position kp="100" ctrllimited="true"/>
+            <default class="MPL_arm_dark">
+                <geom rgba=".1 .13 .13 1"/>
+            </default>
+        </default>
+    </default>
+
+    <asset>
+        <mesh file="../MPL_sim/meshes/mplL/base_link-cvx.stl" name="prosthesis/base_linkL"/>
+        <mesh file="../MPL_sim/meshes/mplL/shoulder_link-cvx.stl" name="prosthesis/shoulder_linkL"/>
+        <mesh file="../MPL_sim/meshes/mplL/humerus_upper_link-cvx.stl" name="prosthesis/humerus_upper_linkL"/>
+        <mesh file="../MPL_sim/meshes/mplL/humerus_lower_top_link-cvx.stl" name="prosthesis/humerus_lower_top_linkL"/>
+        <mesh file="../MPL_sim/meshes/mplL/humerus_lower_bottom_link-cvx.stl" name="prosthesis/humerus_lower_bottom_linkL"/>
+        <mesh file="../MPL_sim/meshes/mplL/forearm_link-cvx.stl" name="prosthesis/forearm_linkL"/>
+
+        <texture name="prosthesis/texmetal" type="cube" builtin="flat" rgb1=".85 .85 0.86" rgb2=".85 .85 0.86"
+                 mark="random" markrgb=".2 .2 .3" random="0.25" width="512" height="512"/>
+        <material name="prosthesis/matmetal" texture="prosthesis/texmetal" specular="0.75" shininess=".03"/>
+    </asset>
+
+    <actuator>
+        <position class="MPL_arm" kp="50" name="prosthesis/Lshoulder_fe" joint="prosthesis/Lshoulder_fe"
+                  ctrlrange="-0.611 2.792"/>
+        <position class="MPL_arm" kp="50" name="prosthesis/Lshoulder_abad" joint="prosthesis/Lshoulder_abad"
+                  ctrlrange="-2.792 0"/>
+        <position class="MPL_arm" kp="50" name="prosthesis/Lhumeral_rot" joint="prosthesis/Lhumeral_rot"
+                  ctrlrange="-0.524 1.483"/>
+        <position class="MPL_arm" kp="50" name="prosthesis/Lelbow" joint="prosthesis/Lelbow" ctrlrange="0.05 2.356"/>
+    </actuator>
+</mujocoinclude>
\ No newline at end of file
diff --git a/assets/left_arm_chain.xml b/assets/left_arm_chain.xml
new file mode 100644
index 0000000..a84c63b
--- /dev/null
+++ b/assets/left_arm_chain.xml
@@ -0,0 +1,26 @@
+<mujocoinclude>
+<!-- LEFT ARM -->
+<body name="prosthesis/Lmpl_attach" pos="0.18 0.1 1.38" euler="1.57 -1.57 0" childclass="MPL_arm">
+	<geom mesh="prosthesis/base_linkL" contype="0" conaffinity="0"/>
+	<body name="prosthesis/Lshoulder_link" pos="0 0 0">
+		<joint axis="0 0 1" name="prosthesis/Lshoulder_fe" range="-0.611 2.792"/>
+		<geom mesh="prosthesis/shoulder_linkL" contype="0" conaffinity="0"/>
+		<body name="prosthesis/Lhumerus_upper_link" pos="0.0016428 0 0">
+			<joint axis="-1 0 0" name="prosthesis/Lshoulder_abad" range="-2.792 0"/>
+			<geom mesh="prosthesis/humerus_upper_linkL" class="MPL_arm_dark" contype="0" conaffinity="0"/>
+			<body name="prosthesis/Lhumerus_lower_link" pos="-0.0016397 -0.15007 -0.013891">
+				<joint axis="0 -1 0" name="prosthesis/Lhumeral_rot" range="-0.524 1.483"/>
+				<geom mesh="prosthesis/humerus_lower_top_linkL"/>
+				<geom mesh="prosthesis/humerus_lower_bottom_linkL"/>
+				<body name="prosthesis/Lforearm_link" pos="0.01 -0.14441 -0.0006524">
+					<joint axis="0 0 1" name="prosthesis/Lelbow" range="0.05 2.356"/>
+					<geom mesh="prosthesis/forearm_linkL" class="MPL_arm_dark"/>
+					<!-- LEFT HAND -->
+					<include file="../assets/handL_chain.xml"/>
+				</body>
+			</body>
+		</body>
+	 </body>
+</body>
+
+</mujocoinclude>
\ No newline at end of file
diff --git a/assets/left_arm_chain_myochallenge.xml b/assets/left_arm_chain_myochallenge.xml
new file mode 100644
index 0000000..1262575
--- /dev/null
+++ b/assets/left_arm_chain_myochallenge.xml
@@ -0,0 +1,26 @@
+<mujocoinclude>
+<!-- LEFT ARM -->
+<body name="prosthesis/Lmpl_attach" pos="0.18 0.1 1.38" euler="1.57 -1.57 0" childclass="MPL_arm">
+	<geom mesh="prosthesis/base_linkL" contype="0" conaffinity="0"/>
+	<body name="prosthesis/Lshoulder_link" pos="0 0 0">
+		<joint axis="0 0 1" name="prosthesis/Lshoulder_fe" range="-0.611 2.792"/>
+		<geom mesh="prosthesis/shoulder_linkL" contype="0" conaffinity="0"/>
+		<body name="prosthesis/Lhumerus_upper_link" pos="0.0016428 0 0">
+			<joint axis="-1 0 0" name="prosthesis/Lshoulder_abad" range="-2.792 0"/>
+			<geom mesh="prosthesis/humerus_upper_linkL" class="MPL_arm_dark" contype="0" conaffinity="0"/>
+			<body name="prosthesis/Lhumerus_lower_link" pos="-0.0016397 -0.15007 -0.013891">
+				<joint axis="0 -1 0" name="prosthesis/Lhumeral_rot" range="-0.524 1.483"/>
+				<geom mesh="prosthesis/humerus_lower_top_linkL"/>
+				<geom mesh="prosthesis/humerus_lower_bottom_linkL"/>
+				<body name="prosthesis/Lforearm_link" pos="0.01 -0.14441 -0.0006524">
+					<joint axis="0 0 1" name="prosthesis/Lelbow" range="0.05 2.356"/>
+					<geom mesh="prosthesis/forearm_linkL" class="MPL_arm_dark"/>
+					<!-- LEFT HAND -->
+					<include file="../../../../simhive/MPL_sim/assets/handL_chain.xml"/>
+				</body>
+			</body>
+		</body>
+	 </body>
+</body>
+
+</mujocoinclude>
\ No newline at end of file
diff --git a/assets/right_arm_assets.xml b/assets/right_arm_assets.xml
new file mode 100644
index 0000000..0014c35
--- /dev/null
+++ b/assets/right_arm_assets.xml
@@ -0,0 +1,38 @@
+<mujocoinclude>
+
+    <compiler angle="radian" meshdir="./../" texturedir='../scenes/' />
+    <size nconmax="1000" njmax="5000"/>
+    <option timestep="0.002"/>
+
+    <default>
+        <default class="MPL_arm">
+            <geom condim="3" contype="2" conaffinity="1" type="mesh" material="matmetal"/>
+            <joint limited="true" damping="10"/>
+            <position kp="100" ctrllimited="true"/>
+            <default class="MPL_arm_dark">
+                <geom rgba=".1 .13 .13 1"/>
+            </default>
+        </default>
+    </default>
+
+    <asset>
+        <mesh file="../MPL_sim/meshes/mplR/base_link-cvx.stl" name="base_linkR"/>
+        <mesh file="../MPL_sim/meshes/mplR/shoulder_link-cvx.stl" name="shoulder_linkR"/>
+        <mesh file="../MPL_sim/meshes/mplR/humerus_upper_link-cvx.stl" name="humerus_upper_linkR"/>
+        <mesh file="../MPL_sim/meshes/mplR/humerus_lower_top_link-cvx.stl" name="humerus_lower_top_linkR"/>
+        <mesh file="../MPL_sim/meshes/mplR/humerus_lower_bottom_link-cvx.stl" name="humerus_lower_bottom_linkR"/>
+        <mesh file="../MPL_sim/meshes/mplR/forearm_link-cvx.stl" name="forearm_linkR"/>
+
+        <texture name="texmetal" type="cube" builtin="flat" rgb1=".85 .85 0.86" rgb2=".85 .85 0.86"  mark="random" markrgb=".2 .2 .3" random="0.25" width="512" height="512"/>
+        <material name="matmetal" texture="texmetal" specular="0.75" shininess=".03"/>
+    </asset>
+
+    <actuator>
+        <position class="MPL_arm" kp="50" name="Rshoulder_fe" joint="Rshoulder_fe" ctrlrange="-0.611 2.792"/>
+        <position class="MPL_arm" kp="50" name="Rshoulder_abad" joint="Rshoulder_abad" ctrlrange="-2.792 0"/>
+        <position class="MPL_arm" kp="50" name="Rhumeral_rot" joint="Rhumeral_rot" ctrlrange="-0.524 1.483"/>
+        <position class="MPL_arm" kp="50" name="Relbow" joint="Relbow" ctrlrange="0.05 2.356"/>
+    </actuator>
+
+
+</mujocoinclude>
\ No newline at end of file
diff --git a/assets/right_arm_chain.xml b/assets/right_arm_chain.xml
new file mode 100644
index 0000000..980a9b8
--- /dev/null
+++ b/assets/right_arm_chain.xml
@@ -0,0 +1,26 @@
+<mujocoinclude>
+    <body name="Rmpl_attach" pos="0 0.19973 -0.30578" quat="0.707107 -0.707107 0 0">
+        <geom mesh="base_linkR"/>
+        <body name="Rshoulder_link" pos="0 0 0">
+            <joint axis="0 0 1" name="Rshoulder_fe" range="-0.611 2.792"/>
+            <geom mesh="shoulder_linkR"/>
+            <body name="Rhumerus_upper_link" pos="0.0016428 0 0">
+                <joint axis="1 0 0" name="Rshoulder_abad" range="-2.792 0"/>
+                <geom mesh="humerus_upper_linkR" class="MPL_arm_dark"/>
+                <body name="Rhumerus_lower_link" pos="-0.0016397 -0.15007 0.013891">
+                    <joint axis="0 1 0" name="Rhumeral_rot" range="-0.524 1.483"/>
+                    <geom mesh="humerus_lower_top_linkR"/>
+                    <geom mesh="humerus_lower_bottom_linkR"/>
+                    <body name="Rforearm_link" pos="0.01 -0.14441 0.0006524">
+                        <joint axis="0 0 1" name="Relbow" range="0.05 2.356"/>
+                        <geom mesh="forearm_linkR" class="MPL_arm_dark"/>
+
+                        <!-- RIGHT HAND -->
+                        <include file="./../../MPL_sim/assets/handR_chain.xml"/>
+
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujocoinclude>
\ No newline at end of file
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"/>
diff --git a/meshes/mplL/index0_left.stl b/meshes/mplL/index0_left.stl
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diff --git a/meshes/mplR/thumb2.STL b/meshes/mplR/thumb2.STL
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diff --git a/meshes/mplR/thumb3.STL b/meshes/mplR/thumb3.STL
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index 0000000..2e2699e
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diff --git a/meshes/mplR/wristx.STL b/meshes/mplR/wristx.STL
new file mode 100644
index 0000000..b9b81e6
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diff --git a/meshes/mplR/wristy.STL b/meshes/mplR/wristy.STL
new file mode 100644
index 0000000..cbd3fdb
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diff --git a/meshes/mplR/wristz.STL b/meshes/mplR/wristz.STL
new file mode 100644
index 0000000..a13bed8
Binary files /dev/null and b/meshes/mplR/wristz.STL differ
diff --git a/pyproject.toml b/pyproject.toml
index 6f4f0cd..ac6c12b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "mpl-sim"
-version = "0.1.0"
+version = "0.2.0"
 description = "MPL simulation XML and mesh assets for MyoSuite."
 readme = "README.md"
 requires-python = ">=3.9"
diff --git a/scenes/left_arm.xml b/scenes/left_arm.xml
new file mode 100644
index 0000000..a93945f
--- /dev/null
+++ b/scenes/left_arm.xml
@@ -0,0 +1,34 @@
+<!-- =========== Copyright | Vikash Kumar | vikashplus@gmail.com ==========================
+    Model       :: MPL
+    Mujoco      :: Advanced physics simulation engine
+        Source      : www.roboti.us
+        Version     : 2.00
+        Released    : 1Oct"18
+    Author      :: Vikash Kumar
+        Contacts    : vikashplus@gmail.com
+        Last edits  : 25Dec"19
+
+Copyright 2018 Vikash Kumar: Licensed under Apache License, Version 2.0 (the "License")
+
+You may not use this file except in compliance with the License. You may obtain a copy of
+the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law
+or agreed to in writing, software distributed under the License is distributed on an "AS IS"
+BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License
+for the specific language governing permissions and limitations under the License.
+============================================================================================= -->
+
+<mujoco model="sally">
+
+    <compiler meshdir="./../" texturedir='../scenes/'/>
+
+    <include file='../scenes/basic_scene.xml'/>
+    <include file='../assets/left_arm_assets.xml'/>
+    <include file='../assets/handL_assets.xml'/>
+
+    <worldbody>
+        <body pos="0 0 1">
+            <include file='../assets/left_arm_chain.xml'/>
+        </body>
+    </worldbody>
+
+</mujoco>
\ No newline at end of file
diff --git a/scenes/sally.xml b/scenes/sally.xml
index 283c1c0..fce69f8 100644
--- a/scenes/sally.xml
+++ b/scenes/sally.xml
@@ -27,7 +27,7 @@ for the specific language governing permissions and limitations under the Licens
     <include file='../assets/simpleHandL_assets.xml'/>
 
     <worldbody>
-        <include file='../assets/arms_chain.xml'/> <!-- hands are configures here -->
+        <include file='../assets/arms_chain.xml'/> <!-- hands are configured here -->
     </worldbody>
 
 </mujoco>
\ No newline at end of file