diff --git a/tactile/README.md b/tactile/README.md
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--- a/tactile/README.md
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-# 基于 Mujoco 的可变形物体实时触摸建模和仿真系统
-
-1. 生成至少3组可变性物体；
-2. 完成触觉的建模和物体的控制
\ No newline at end of file
diff --git a/tactile/undergraduat/code/.gitignore b/tactile/undergraduat/code/.gitignore
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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/latest/usage/project/#working-with-version-control
+.pdm.toml
+.pdm-python
+.pdm-build/
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# VSCode
+.vscode
+
+# Specific
+/hand_script/output*
+benchmark.csv
+MUJOCO_LOG.TXT
+# symlink for real-time dev of weart sdk
+weartsdk
\ No newline at end of file
diff --git a/tactile/undergraduat/code/README.md b/tactile/undergraduat/code/README.md
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+![](assets/cover.png)
+
+# Introduction
+The goal of this project is to link a haptic device (the WEART TouchDIVER), a VR headset (the Oculus Rift S) and a physics simulation software (CoppeliaSim with the MuJoCo engine, or directly MuJoCo) to simulate real-time touch of a deformable object.
+
+This project is conducted at the DIAG Robotics Laboratory of Sapienza University of Rome, under the supervision of Marilena Vendittelli. It is the subject of one of my internship at INSA Rennes, a French engineering school.
+
+The simulator integrates code to retarget the motion of the fingers (usinig the closure and abduction values fromm WEART) to the virtual hand in MuJoCo. This has been done by a group of Sapienza students.
+
+# MuJoCoXR
+During the project, a way to display MuJoCo in a VR headset has been developed.
+
+You will find the attempts in [mjxr_tests](mjxr_tests). The final, working one is [mujoco_openxr.py](mjxr_tests/mujoco_openxr.py) and is also available on [GitHub Gists](https://gist.github.com/SkytAsul/b1a48a31c4f86b65d72bc8edcb122d3f).
+
+To better understand how everything work, see [the paper I wrote](mujocoxr-paper/MuJoCoXR.pdf).
+
+# Deformable mesh tutorial
+I made a tutorial on how to convert a 3D model to a deformable material in MuJoCo. It is available [here](deformable-mesh-tuto/deformable-mesh-tuto.pdf).
+
+# Simulator
+## Dependencies
+Before installing dependencies, remember to create a Python virtual environment!
+
+- [WEART Python SDK](https://github.com/WEARTHaptics/WEART-SDK-Python)
+    - for the TouchDIVER
+    - `pip install weartsdk-sky`
+- [CoppeliaSim](https://coppeliarobotics.com/) ZMQ API
+    - for the simulation
+    - `pip install coppeliasim_zmqremoteapi_client`
+    - see [the manual](https://manual.coppeliarobotics.com/en/zmqRemoteApiOverview.htm)
+- [MuJoCo](https://mujoco.readthedocs.io/en/stable/overview.html)
+    - for the simulation
+    - `pip install mujoco`
+    - see [the manual](https://mujoco.readthedocs.io/en/stable/python.html)
+- [pyopenxr](https://github.com/cmbruns/pyopenxr/)
+    - for the VR headset and the controllers
+    - `pip install pyopenxr`
+- [pynput](https://pypi.org/project/pynput/)
+    - to listen to keyboard press
+    - `pip install pynput`
+- [colorama](https://pypi.org/project/colorama/)
+    - for pretty-printing
+    - `pip install colorama`
+- [matplotlib](https://pypi.org/project/matplotlib/)
+    - for real-time performance plots
+    - `pip install matplotlib`
+- [numpy](https://pypi.org/project/numpy/)
+    - for fingers motion retargeting
+    - `pip install numpy`
+
+You can install all of these dependencies at once by executing this command while being in the repository directory:
+```sh
+$ pip install -r requirements.txt
+```
+
+## How to use
+### CoppeliaSim simulation
+1. Open the [scene](<assets/CoppeliaSim scene.ttt>) in CoppeliaSim.
+1. Open the WEART Middleware and connect your TouchDIVER.
+1. Change the options in [`simulator.py`](simulator.py) so they match your setup.
+1. Launch the [`simulator.py`](simulator.py) python file.
+
+### MuJoCo simulation
+1. Open the WEART Middleware and connect your TouchDIVERs.
+1. Wear your TouchDIVERs in the same way as in the following picture:  
+    ![](assets/weart-wear.jpg)
+    > [!IMPORTANT]
+    > Make sure to wear the Oculus Touch Controllers in the same position as in the picture  (facing the exterior of the hands).
+1. Connect your VR device and launch the runtime program (Meta Quest Link for instance).
+1. Change the options in [`simulator.py`](simulator.py) so they match your setup.
+1. Launch the [`simulator.py`](simulator.py) python file.
+
+## Platforms
+The project is currently written in pure Python code and depends on cross-platform libraries. It is therefore also cross-platform.  
+However, to use a TouchDIVER, the *WEART Middleware* must be opened and this software is Windows-only. There is fortunately a workaround in the following section.
+
+### Use on non-Windows platforms
+If you have a secondary computer with Windows installed, it is possible to run the simulation on a primary (Linux for example) computer:
+1. Launch CoppeliaSim on the primary computer
+1. Launch WEART Middleware on the Windows computer
+1. Link the primary and the secondary computers and allow the primary one to interact with the loopback-bound 13031 TCP port
+    - Either by putting them in the same network and using a tool like *socat* to redirect the TCP port
+    - Either by using [ZeroTierOne](https://github.com/zerotier/ZeroTierOne) as an easy solution (untested, and you will still need to setup the TCP redirection)
+    - Either by setting up tunnels if there is no way to do the above
+        - This depends on your network configuration.
+        - If both computers are "hidden" from each other, for instance between two NATs, you can use a third publicly accessible machine (for instance a cloud VPS) as a relay. Setup a reverse SSH tunnel between the Windows and the relay which exposes the port 13031 to a public one, and make the Linux client connect to the relay's port.
+        - `ssh -N -4 -R <relay-port>:localhost:13031 <user>@<relay address>` (the `-4` switch is necessary on Windows, see [this issue](https://github.com/PowerShell/Win32-OpenSSH/issues/1265))
+
+Use-case: CoppeliaSim runs *much* faster on Linux.
+
+## MuJoCo simulation scene
+You can plug any simulation scene you want. The only requirements are:
+- the hands mocap bodies must follow the names `{side}_hand_mocap`, where `{side}` is _left_ or _right_.
+- the hands "real" bodies must follow the names `{side}_hand` and their rotations must be expressed with the `euler` parameter.
+- the fingertip sensors must be of type `contact` and follow the names `{side}_fingertip_{finger}`, where `{finger}` is _thumb_, _index_ or _middle_.
+
+# Cite this project
+A conference paper has been submitted here: https://inria.hal.science/hal-04733238v1. You can cite it like this:
+```bibtex
+@inproceedings{desantis:hal-04733238,
+  TITLE = {{Haptic interaction with virtual deformable objects}},
+  AUTHOR = {de Santis, Emanuele and Le Jeune, Youenn and Marchal, Maud and Pacchierotti, Claudio and Vendittelli, Marilena},
+  URL = {https://inria.hal.science/hal-04733238},
+  BOOKTITLE = {{I-RIM 3D 2024 -Conference on  Italian Institute of Robotics and Intelligent Machines}},
+  ADDRESS = {Rome, Italy},
+  PAGES = {1-3},
+  YEAR = {2024},
+  MONTH = Oct,
+  KEYWORDS = {Simulation ; Soft material ; Virtual Reality ; Haptic rendering ; Motion retargeting},
+  PDF = {https://inria.hal.science/hal-04733238v1/file/Extended_Abstract_I_RIM_3D_2024.pdf},
+  HAL_ID = {hal-04733238},
+  HAL_VERSION = {v1},
+}
+```
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diff --git a/tactile/undergraduat/code/assets/Index_bones/Thumb_J3.stl b/tactile/undergraduat/code/assets/Index_bones/Thumb_J3.stl
new file mode 100644
index 0000000..ba81d98
Binary files /dev/null and b/tactile/undergraduat/code/assets/Index_bones/Thumb_J3.stl differ
diff --git a/tactile/undergraduat/code/assets/MuJoCo hands and phantom.xml b/tactile/undergraduat/code/assets/MuJoCo hands and phantom.xml
new file mode 100644
index 0000000..3071d57
--- /dev/null
+++ b/tactile/undergraduat/code/assets/MuJoCo hands and phantom.xml	
@@ -0,0 +1,832 @@
+<mujoco model="hand">
+  <size memory="1G" />
+
+  <compiler angle="radian" />
+
+  <option solver="Newton" tolerance="1e-6" timestep=".001" integrator="implicitfast">
+    <!-- <flag gravity="disable" /> -->
+  </option>
+
+  <option cone="elliptic" impratio="100" />
+  <!-- <option>
+    <flag multiccd="enable" />
+  </option> -->
+
+  <visual>
+    <global offwidth="1920" offheight="1080" />
+    <map znear="0.001" />
+    <scale jointlength="8" jointwidth="0.5" framelength="2" framewidth="0.3" />
+  </visual>
+
+  <statistic meansize="0.01" extent="1" />
+
+  <default>
+    <joint limited="true" range="0 1.8" solreflimit="0.01 1" solimplimit="0.9 0.99 0.01 "
+      stiffness="0.1"
+      armature="0.0001" damping="0.01" />
+    <geom friction="0.9" solref="0.01 1" solimp="0.95 0.99 0.001" />
+    <tendon rgba="0.5 0 0 1" />
+    <general actlimited="true" actrange="0 1.7" />
+    <default class="collision_primitive">
+      <geom type="capsule" contype="1" conaffinity="3" condim="1" group="3" rgba="0 0.5 0.5 1"
+        density="300" friction="1 1 0.0001" />
+    </default>
+    <default class="bone">
+      <geom type="mesh" contype="0" conaffinity="0" group="5" rgba="0.5 0.5 0.5 1" density="1100" />
+      <default class="light_bone">
+        <geom density="300" />
+      </default>
+    </default>
+    <default class="finger">
+      <joint group="1" pos="0.012 0 0.01" armature="0.01" damping="3" />
+      <default class="f">
+        <joint range="-17.5 61.25" />
+        <!-- <general gainprm="20" /> -->
+      </default>
+    </default>
+    <default class="phantom">
+      <mesh scale="3 3 3" />
+      <default class="visual">
+        <geom group="2" type="mesh" contype="0" conaffinity="0" />
+      </default>
+      <default class="collision">
+        <geom group="2" type="mesh" />
+      </default>
+    </default>
+  </default>
+
+  <contact>
+    <exclude body1="right_hand_palm" body2="right_hand_palm_5" />
+    <exclude body1="Right_Index_4.stl" body2="Right_Thumb_2.stl" />
+
+    <exclude body1="Left_Index_4.stl" body2="Left_Thumb_3.stl" />
+    <exclude body1="Left_Index_4.stl" body2="Left_Thumb_2.stl" />
+  </contact>
+
+  <extension>
+  </extension>
+
+  <asset>
+    <texture name="//unnamed_texture_0" type="skybox" builtin="gradient" rgb1="0.6 0.8 0.9"
+      rgb2="0 0 0" width="64" height="64" />
+    <texture name="grid" type="2d" builtin="checker" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4"
+      mark="edge" markrgb="0.2 0.3 0.4" width="300" height="300" />
+    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance="0.2" />
+    <mesh name="Annular_1.stl" file="Index_bones/Annular_1.stl" />
+    <mesh name="Annular_2.stl" file="Index_bones/Annular_2.stl" />
+    <mesh name="Annular_3.stl" file="Index_bones/Annular_3.stl" />
+    <mesh name="Annular_4.stl" file="Index_bones/Annular_4.stl" />
+    <mesh name="Annular_J1.stl" file="Index_bones/Annular_J1.stl" />
+    <mesh name="Annular_J2.stl" file="Index_bones/Annular_J2.stl" />
+    <mesh name="Annular_J3.stl" file="Index_bones/Annular_J3.stl" />
+    <mesh name="Index_1.stl" file="Index_bones/Index_1.stl" />
+    <mesh name="Index_2.stl" file="Index_bones/Index_2.stl" />
+    <mesh name="Index_3.stl" file="Index_bones/Index_3.stl" />
+    <mesh name="Index_4.stl" file="Index_bones/Index_4.stl" />
+    <mesh name="Index_J1.stl" file="Index_bones/Index_J1.stl" />
+    <mesh name="Index_J2.stl" file="Index_bones/Index_J2.stl" />
+    <mesh name="Index_J3.stl" file="Index_bones/Index_J3.stl" />
+    <mesh name="J1.stl" file="Index_bones/J1.stl" />
+    <mesh name="J2.stl" file="Index_bones/J2.stl" />
+    <mesh name="J3.stl" file="Index_bones/J3.stl" />
+    <mesh name="Middle_1.stl" file="Index_bones/Middle_1.stl" />
+    <mesh name="Middle_2.stl" file="Index_bones/Middle_2.stl" />
+    <mesh name="Middle_3.stl" file="Index_bones/Middle_3.stl" />
+    <mesh name="Middle_4.stl" file="Index_bones/Middle_4.stl" />
+    <mesh name="Middle_J1.stl" file="Index_bones/Middle_J1.stl" />
+    <mesh name="Middle_J2.stl" file="Index_bones/Middle_J2.stl" />
+    <mesh name="Middle_J3.stl" file="Index_bones/Middle_J3.stl" />
+    <mesh name="Palm.stl" file="Index_bones/Palm.stl" />
+    <mesh name="Pinky_1.stl" file="Index_bones/Pinky_1.stl" />
+    <mesh name="Pinky_2.stl" file="Index_bones/Pinky_2.stl" />
+    <mesh name="Pinky_3.stl" file="Index_bones/Pinky_3.stl" />
+    <mesh name="Pinky_4.stl" file="Index_bones/Pinky_4.stl" />
+    <mesh name="Pinky_J1.stl" file="Index_bones/Pinky_J1.stl" />
+    <mesh name="Pinky_J2.stl" file="Index_bones/Pinky_J2.stl" />
+    <mesh name="Pinky_J3.stl" file="Index_bones/Pinky_J3.stl" />
+    <mesh name="Thumb_1.stl" file="Index_bones/Thumb_1.stl" />
+    <mesh name="Thumb_2.stl" file="Index_bones/Thumb_2.stl" />
+    <mesh name="Thumb_3.stl" file="Index_bones/Thumb_3.stl" />
+    <mesh name="Thumb_J1.stl" file="Index_bones/Thumb_J1.stl" />
+    <mesh name="Thumb_J2.stl" file="Index_bones/Thumb_J2.stl" />
+    <mesh name="Thumb_J3.stl" file="Index_bones/Thumb_J3.stl" />
+
+    <!-- Abdomen phantom -->
+    <material name="aorta"
+      rgba="1.000000 0.750000 0.750000 1.000000" />
+    <material name="cava"
+      rgba="0.500000 0.500000 1.000000 1.000000" />
+    <material name="fat" specular="0.25" shininess="0.1"
+      rgba="1.000000 1.000000 0.650000 1.000000" />
+    <material name="inner_spine"
+      rgba="1.000000 1.000000 1.000000 1.000000" />
+    <material name="liver"
+      rgba="0.500000 0.250000 0.250000 1.000000" />
+    <material name="liver lesion"
+      rgba="0.800000 0.250000 0.250000 1.000000" />
+    <material name="muscle"
+      rgba="1.000000 0.500000 0.500000 1.000000" />
+    <material name="outer_spine"
+      rgba="1.000000 1.000000 0.850000 1.000000" />
+    <material name="portal_vein"
+      rgba="0.750000 0.250000 0.250000 1.000000" />
+    <material name="ribs"
+      rgba="1.000000 1.000000 0.850000 1.000000" />
+    <material name="right_kidney"
+      rgba="0.800000 0.400000 0.400000 1.000000" />
+    <mesh class="phantom" file="phantom-assets/right_kidney.obj" />
+    <mesh class="phantom" file="phantom-assets/ribs.obj" />
+    <mesh class="phantom" file="phantom-assets/portal_vein.obj" />
+    <mesh class="phantom" file="phantom-assets/outer_spine.obj" />
+    <mesh class="phantom" file="phantom-assets/muscle.obj" />
+    <mesh class="phantom" file="phantom-assets/liver.obj" />
+    <mesh class="phantom" file="phantom-assets/inner_spine.obj" />
+    <mesh class="phantom" file="phantom-assets/fat.obj" />
+    <mesh class="phantom" file="phantom-assets/cava.obj" />
+    <mesh class="phantom" file="phantom-assets/aorta.obj" />
+  </asset>
+
+  <equality>
+    <weld body1="right_hand_mocap" body2="right_hand" />
+    <weld body1="left_hand_mocap" body2="left_hand" />
+  </equality>
+
+  <worldbody>
+    <light name="//unnamed_light_0" directional="true" castshadow="false" pos="0 0 5"
+      diffuse="0.4 0.4 0.4" specular="0.1 0.1 0.1" />
+    <light name="//unnamed_light_1" pos="0 0 4" diffuse="0.6 0.6 0.6" specular="0.2 0.2 0.2" />
+    <geom name="floor" type="plane" conaffinity="1" size="10 10 0.1" material="grid" />
+
+    <flexcomp name="demo_jelly_cube" type="grid" count="6 6 6" spacing=".02 .02 .02" pos="0.15 0 1.08"
+      dim="3" radius=".004" rgba="0.1 0.8 0.8 1" mass="1">
+      <pin gridrange="0 0 0 5 5 0" />
+      <contact internal="false" condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"
+        contype="2" conaffinity="1" />
+      <edge equality="true" damping="1" />
+      <elasticity poisson="0.25" young="5e4" damping="0.01" />
+    </flexcomp>
+
+    <flexcomp name="demo_jelly_ball" type="ellipsoid" count="6 6 6" spacing=".018 .018 .018"
+      pos="0.15 0.16 1.08" radius=".002" dim="3" mass="1" rgba="0.8 0.3 0.3 1">
+      <contact internal="false" condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"
+        contype="2" conaffinity="1" />
+      <edge equality="true" damping="1" />
+      <elasticity poisson="0.15" young="3e4" damping="0.02" />
+    </flexcomp>
+
+    <flexcomp name="demo_cloth_pad" type="grid" count="10 10 2" spacing=".015 .015 .008"
+      pos="0.15 -0.16 1.08" dim="3" radius=".0035" rgba="0.2 0.6 0.2 1" mass="0.7">
+      <pin gridrange="0 0 0 9 9 0" />
+      <contact internal="false" condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"
+        contype="2" conaffinity="1" />
+      <edge equality="true" damping="2" />
+      <elasticity poisson="0.3" young="8e4" damping="0.03" />
+    </flexcomp>
+
+    <body name="right_hand_mocap" mocap="true" pos="0 0 1.02">
+      <!-- <geom type="box" size=".02 .03 .03" contype="0" conaffinity="0" /> -->
+    </body>
+    <body name="right_hand" pos="0 0 1">
+      <freejoint name="Right_Freejoint" />
+      <geom type="sphere" size=".02" contype="0" conaffinity="0" />
+      <body name="Right_Palm" pos="0 0 0">
+        <body name="Right_Palm_Right" pos="0 0 0" euler="0 -1.57 -1.57">
+          <geom name="Right_Palm2" type="mesh" contype="0" conaffinity="0" rgba="1 0.5 0.5 0.4"
+            mesh="Palm.stl" />
+          <!-- <geom name="Right_Thumb_J3.stl_collision" class="collision_primitive" type="box"
+            size="0.04521 0.01533 0.01799" pos="0.001582 0.001007 -0.003056" euler="0 0 0" /> -->
+          <geom name="Right_Palm_collision" class="collision_primitive" type="box"
+            size="0.006 0.033 0.026" pos="-0.005 -0.03 0.003" euler="1.4 0 1.6" group="5" />
+          <body name="right_hand_palm" pos="0 0 0">
+            <site name="right_root" rgba="0 1 0 1" size="0.01" />
+            <!-- <light name="light" mode="trackcom" pos="0 0 3" /> -->
+            <body name="Right_Index_1.stl" pos="0.02226 -0.03852 0.004734">
+              <geom name="Right_Index_1.stl" class="bone" group="1" pos="-0.02226 0.03852 -0.004734"
+                mesh="Index_1.stl" />
+              <!-- <geom name="Right_Index_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.006548 0.01119" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Index_J1.stl" pos="0.00227 -0.01802 0.004302">
+                <geom name="Right_Index_J1.stl" class="bone" group="1"
+                  pos="-0.02453 0.05654 -0.009037"
+                  mesh="Index_J1.stl" />
+                <body name="Right_Index_2.stl" pos="0.001246 -0.0129 0.002785">
+                  <geom name="Right_Index_2.stl" class="bone" group="1"
+                    pos="-0.02578 0.06944 -0.01182"
+                    mesh="Index_2.stl" />
+                  <geom name="Right_Index_2.stl_collision" class="collision_primitive"
+                    size="0.005752 0.008655" pos="0 0 0" euler="1.3 0.12 1.6" />
+                  <body name="Right_Index_J2.stl" pos="0.001513 -0.01288 0.003559">
+                    <geom name="Right_Index_J2.stl" class="bone" group="1"
+                      pos="-0.02729 0.08233 -0.01538"
+                      mesh="Index_J2.stl" />
+                    <body name="Right_Index_3.stl" pos="0.0009469 -0.008548 0.002118">
+                      <geom name="Right_Index_3.stl" class="bone" group="1"
+                        pos="-0.02824 0.09087 -0.0175"
+                        mesh="Index_3.stl" />
+                      <geom name="Right_Index_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.006655" pos="0 0 0" euler="1.3 0.12 1.6" />
+                      <body name="Right_Index_J3.stl" pos="0.001143 -0.009198 0.002695">
+                        <geom name="Right_Index_J3.stl" class="bone" group="1"
+                          pos="-0.02938 0.1001 -0.02019" mesh="Index_J3.stl" />
+                        <body name="Right_Index_4.stl" pos="0.0002737 -0.003719 0.0008389">
+                          <site name="RightforSensor" type="capsule" group="3" size="0.004 0.004014"
+                            pos="0 -0.001 -0.002" euler="1.3 0.12 1.6" />
+                          <geom name="Right_Index_4.stl" class="bone" group="1"
+                            pos="-0.02966 0.1038 -0.02103" mesh="Index_4.stl" />
+                          <geom name="Right_Index_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004014" pos="0 0 0" euler="1.3 0.12 1.6" />
+                        </body>
+                        <joint name="Right_Index_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Index_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Index_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_2" pos="0 0 0">
+            <body name="Right_Middle_1.stl" pos="0.00489 -0.0447 0.004943">
+              <geom name="Right_Middle_1.stl" class="bone" group="1" pos="-0.00489 0.0447 -0.004943"
+                mesh="Middle_1.stl" />
+              <!-- <geom name="Right_Middle_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.00603 0.01342" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Middle_J1.stl" pos="-0.001068 -0.02163 0.005161">
+                <geom name="Right_Middle_J1.stl" class="bone" group="1"
+                  pos="-0.003822 0.06633 -0.0101"
+                  mesh="Middle_J1.stl" />
+                <body name="Right_Middle_2.stl" pos="0.000714 -0.0154 0.003356">
+                  <geom name="Right_Middle_2.stl" class="bone" group="1"
+                    pos="-0.004536 0.08173 -0.01346"
+                    mesh="Middle_2.stl" />
+                  <geom name="Right_Middle_2.stl_collision" class="collision_primitive"
+                    size="0.006232 0.01032" pos="0 0 0" euler="1.3 0 1.6" />
+                  <body name="Right_Middle_J2.stl" pos="-7.813e-05 -0.01543 0.00427">
+                    <geom name="Right_Middle_J2.stl" class="bone" group="1"
+                      pos="-0.004457 0.09716 -0.01773"
+                      mesh="Middle_J2.stl" />
+                    <body name="Right_Middle_3.stl" pos="-0.0001241 -0.01023 0.002545">
+                      <geom name="Right_Middle_3.stl" class="bone" group="1"
+                        pos="-0.004333 0.1074 -0.02027"
+                        mesh="Middle_3.stl" />
+                      <geom name="Right_Middle_3.stl_collision" class="collision_primitive"
+                        size="0.0055 0.00792" pos="0 0 0" euler="1.3 0 1.6" />
+                      <body name="Right_Middle_J3.stl" pos="2.234e-05 -0.01103 0.00323">
+                        <geom name="Right_Middle_J3.stl" class="bone" group="1"
+                          pos="-0.004356 0.1184 -0.0235" mesh="Middle_J3.stl" />
+                        <body name="Right_Middle_4.stl" pos="-0.000219 -0.004432 0.001011">
+                          <site name="RightforSensorMiddle_4.stl" type="capsule" group="3"
+                            size="0.0045 0.004789"
+                            pos="0 -0.001 -0.002" euler="1.3 0 1.6" />
+                          <geom name="Right_Middle_4.stl" class="bone" group="1"
+                            pos="-0.004137 0.1229 -0.02452" mesh="Middle_4.stl" />
+                          <geom name="Right_Middle_4.stl_collision" class="collision_primitive"
+                            size="0.0045 0.004789" pos="0 0 0" euler="1.3 0 1.6" />
+                        </body>
+                        <joint name="Right_Middle_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Middle_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Middle_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_3" pos="0 0 0">
+            <body name="Right_Annular_1.stl" pos="-0.01433 -0.0433 0.00541">
+              <geom name="Right_Annular_1.stl" class="bone" group="1" pos="0.01433 0.0433 -0.00541"
+                mesh="Annular_1.stl" />
+              <!-- <geom name="Right_Annular_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.006171 0.01286" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Annular_J1.stl" pos="-0.001102 -0.01956 0.00523">
+                <geom name="Right_Annular_J1.stl" class="bone" group="1"
+                  pos="0.01544 0.06286 -0.01064"
+                  mesh="Annular_J1.stl" />
+                <body name="Right_Annular_2.stl" pos="-0.001203 -0.01394 0.003432">
+                  <geom name="Right_Annular_2.stl" class="bone" group="1"
+                    pos="0.01664 0.0768 -0.01407"
+                    mesh="Annular_2.stl" />
+                  <geom name="Right_Annular_2.stl_collision" class="collision_primitive"
+                    size="0.005781 0.009836" pos="0 0 0" euler="1.3 -0.05 1.6" />
+                  <body name="Right_Annular_J2.stl" pos="-0.00107 -0.01442 0.004259">
+                    <geom name="Right_Annular_J2.stl" class="bone" group="1"
+                      pos="0.01771 0.09122 -0.01833"
+                      mesh="Annular_J2.stl" />
+                    <body name="Right_Annular_3.stl" pos="-0.000481 -0.00878 0.002575">
+                      <geom name="Right_Annular_3.stl" class="bone" group="1"
+                        pos="0.01819 0.1 -0.02091"
+                        mesh="Annular_3.stl" />
+                      <geom name="Right_Annular_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.007487" pos="0 0 0" euler="1.3 -0.05 1.6" />
+                      <body name="Right_Annular_J3.stl" pos="-0.0005647 -0.009967 0.003212">
+                        <geom name="Right_Annular_J3.stl" class="bone" group="1"
+                          pos="0.01875 0.11 -0.02412"
+                          mesh="Annular_J3.stl" />
+                        <body name="Right_Annular_4.stl" pos="-0.0004367 -0.003999 0.00103">
+                          <site name="RightforSensorAnnular_4.stl" type="capsule" group="3"
+                            size="0.004 0.004495"
+                            pos="0 -0.001 -0.002" euler="1.3 -0.05 1.6" />
+                          <geom name="Right_Annular_4.stl" class="bone" group="1"
+                            pos="0.01919 0.114 -0.02515" mesh="Annular_4.stl" />
+                          <geom name="Right_Annular_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004495" pos="0 0 0" euler="1.3 -0.05 1.6" />
+                        </body>
+                        <joint name="Right_Annular_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Annular_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Annular_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_4" pos="0 0 0">
+            <body name="Right_Pinky_1.stl" pos="-0.02988 -0.03668 0.001252">
+              <geom name="Right_Pinky_1.stl" class="bone" group="1" pos="0.02988 0.03668 -0.001252"
+                mesh="Pinky_1.stl" />
+              <!-- <geom name="Right_Pinky_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.005328 0.007868" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Pinky_J1.stl" pos="-0.002258 -0.01362 0.002654">
+                <geom name="Right_Pinky_J1.stl" class="bone" group="1"
+                  pos="0.03214 0.0503 -0.003906"
+                  mesh="Pinky_J1.stl" />
+                <body name="Right_Pinky_2.stl" pos="-0.001899 -0.009659 0.001693">
+                  <geom name="Right_Pinky_2.stl" class="bone" group="1"
+                    pos="0.03404 0.05996 -0.005599"
+                    mesh="Pinky_2.stl" />
+                  <geom name="Right_Pinky_2.stl_collision" class="collision_primitive"
+                    size="0.004725 0.006113" pos="0 0 0" euler="1.3 -0.12 1.6" />
+                  <body name="Right_Pinky_J2.stl" pos="-0.001679 -0.009733 0.002265">
+                    <geom name="Right_Pinky_J2.stl" class="bone" group="1"
+                      pos="0.03572 0.06969 -0.007864"
+                      mesh="Pinky_J2.stl" />
+                    <body name="Right_Pinky_3.stl" pos="-0.001162 -0.006436 0.001322">
+                      <geom name="Right_Pinky_3.stl" class="bone" group="1"
+                        pos="0.03688 0.07612 -0.009186"
+                        mesh="Pinky_3.stl" />
+                      <geom name="Right_Pinky_3.stl_collision" class="collision_primitive"
+                        size="0.004 0.004" pos="0 0 0" euler="1.3 -0.12 1.6" />
+                      <body name="Right_Pinky_J3.stl" pos="-0.001148 -0.006969 0.00173">
+                        <geom name="Right_Pinky_J3.stl" class="bone" group="1"
+                          pos="0.03803 0.08309 -0.01092" mesh="Pinky_J3.stl" />
+                        <body name="Right_Pinky_4.stl" pos="-0.0006076 -0.002766 0.0005188">
+                          <site name="RightforSensorPinky_4.stl" type="capsule" group="3"
+                            size="0.0035 0.002884"
+                            pos="0 -0.001 -0.0015" euler="1.3 -0.12 1.6" />
+                          <geom name="Right_Pinky_4.stl" class="bone" group="1"
+                            pos="0.03864 0.08586 -0.01144" mesh="Pinky_4.stl" />
+                          <geom name="Right_Pinky_4.stl_collision" class="collision_primitive"
+                            size="0.0035 0.002884" pos="0 0 0" euler="1.3 -0.12 1.6" />
+                        </body>
+                        <joint name="Right_Pinky_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Pinky_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Pinky_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_5" pos="0 0 0">
+            <body name="Right_Thumb_J1.stl" pos="0.03785 -0.01644 -0.01504">
+              <geom name="Right_Thumb_J1.stl" class="bone" group="1" pos="-0.03785 0.01644 0.01504"
+                mesh="Thumb_J1.stl" />
+              <body name="Right_Thumb_1.stl" pos="0.003528 -0.01538 -0.0001513">
+                <geom name="Right_Thumb_1.stl" class="bone" group="1" pos="-0.04137 0.03181 0.01519"
+                  mesh="Thumb_1.stl" />
+                <geom name="Right_Thumb_1.stl_collision" class="collision_primitive"
+                  size="0.006 0.01" pos="0 0 0" euler="1.6 0.3 1" />
+
+                <body name="Right_Thumb_J2.stl" pos="0.005477 -0.01727 -0.0001513">
+                  <geom name="Right_Thumb_J2.stl" class="bone" group="1"
+                    pos="-0.04685 0.04908 0.01535"
+                    mesh="Thumb_J2.stl" />
+                  <body name="Right_Thumb_2.stl" pos="0.00245 -0.01045 -7.773e-05">
+                    <geom name="Right_Thumb_2.stl" class="bone" group="1"
+                      pos="-0.0493 0.05954 0.01542"
+                      mesh="Thumb_2.stl" />
+                    <geom name="Right_Thumb_2.stl_collision" class="collision_primitive"
+                      size="0.005 0.006" pos="0 0 0" euler="1.6 0.3 1" />
+
+                    <body name="Right_Thumb_J3.stl" pos="0.003281 -0.01252 -6.956e-05">
+                      <geom name="Right_Thumb_J3.stl" class="bone" group="1"
+                        pos="-0.05258 0.07206 0.01549"
+                        mesh="Thumb_J3.stl" />
+                      <body name="Right_Thumb_3.stl" pos="0.001609 -0.004174 3.497e-05">
+                        <site name="RightforSensorThumb_3.stl" type="capsule" group="3"
+                          size="0.0042 0.005762" pos="0.0 -0.003 0" euler="1.6 0.3 1" />
+                        <geom name="Right_Thumb_3.stl" class="bone" group="1"
+                          pos="-0.05419 0.07623 0.01546"
+                          mesh="Thumb_3.stl" />
+                        <geom name="Right_Thumb_3.stl_collision" class="collision_primitive"
+                          type="capsule"
+                          size="0.004 0.005" pos="0.001 -0.002 0" euler="1.6 0.3 1" />
+                      </body>
+                      <joint name="Right_Thumb_J3.stl" class="f" pos="0 0 0" axis="0 0 -1" />
+                    </body>
+                  </body>
+                  <joint name="Right_Thumb_J2.stl" class="f" pos="0 0 0" axis="0 0 -1" />
+                </body>
+              </body>
+              <joint name="Right_Thumb_J1.stl" class="f" pos="0.01 0.01 0.01" axis="1 0 -0.1" />
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <body name="left_hand_mocap" mocap="true" pos="0 0 1.02">
+      <!-- <geom type="box" size=".02 .03 .03" contype="0" conaffinity="0" /> -->
+    </body>
+    <body name="left_hand" pos="0 0 1">
+      <freejoint name="Left_Freejoint" />
+      <geom type="sphere" size=".02" contype="0" conaffinity="0" />
+      <body name="Left_Palm" pos="0 0 0">
+        <body name="Left_Palm_Left" pos="0 0 0" euler="0 1.57 1.27">
+          <geom name="Left_Palm2" type="mesh" contype="0" conaffinity="0" rgba="1 0.5 0.5 0.4"
+            mesh="Palm.stl" euler="0 3.14 0" />
+          <!-- <geom name="Left_Thumb_J3.stl_collision" class="collision_primitive" type="box"
+            size="0.04521 0.01533 0.01799" pos="0.001582 0.001007 -0.003056" euler="0 0 0" /> -->
+          <geom name="Left_Palm_collision" class="collision_primitive" type="box"
+            size="0.006 0.033 0.026" pos="0.005 -0.025 0.005" euler="-1.4 0 1.6" group="5" />
+          <body name="left_hand_palm" pos="0 0 0">
+            <site name="left_root" rgba="0 1 0 1" size="0.01" />
+            <light name="light" mode="trackcom" pos="0 0 3" />
+
+            <body name="Left_Index_1.stl" pos="-0.02226 -0.03852 0.004734">
+              <geom name="Left_Index_1.stl" class="bone" group="1" pos="0.02226 0.03852 0.004734"
+                mesh="Index_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Index_J1.stl" pos="-0.00227 -0.01802 -0.004302">
+                <geom name="Left_Index_J1.stl" class="bone" group="1"
+                  pos="-0.02453 0.05654 -0.009037"
+                  mesh="Index_J1.stl" />
+                <body name="Left_Index_2.stl" pos="-0.001246 -0.0129 -0.002785">
+                  <geom name="Left_Index_2.stl" class="bone" group="1" pos="0.02578 0.06944 0.01182"
+                    mesh="Index_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Index_2.stl_collision" class="collision_primitive"
+                    size="0.005752 0.008655" pos="0 0 0" euler="1.84 -0.12 1.6" />
+
+                  <body name="Left_Index_J2.stl" pos="-0.001513 -0.01288 -0.003559">
+                    <geom name="Left_Index_J2.stl" class="bone" group="1"
+                      pos="-0.02729 0.08233 -0.01538"
+                      mesh="Index_J2.stl" />
+                    <body name="Left_Index_3.stl" pos="-0.0009469 -0.008548 -0.002118">
+                      <geom name="Left_Index_3.stl" class="bone" group="1"
+                        pos="0.02824 0.09087 0.0175"
+                        mesh="Index_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Index_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.006655" pos="0 0 0" euler="1.84 -0.12 1.6" />
+
+                      <body name="Left_Index_J3.stl" pos="-0.001143 -0.009198 -0.002695">
+                        <geom name="Left_Index_J3.stl" class="bone" group="1"
+                          pos="-0.02938 0.1001 -0.02019" mesh="Index_J3.stl" />
+                        <body name="Left_Index_4.stl" pos="-0.0002737 -0.003719 -0.0008389">
+                          <site name="LeftforSensor" type="capsule" group="3" size="0.004 0.004014"
+                            pos="0 -0.001 -0.002" euler="1.84 -0.12 1.6" />
+                          <geom name="Left_Index_4.stl" class="bone" group="1"
+                            pos="0.02966 0.1038 0.02103" mesh="Index_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Index_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004014" pos="0 0 0" euler="1.84 -0.12 1.6" />
+
+                        </body>
+                        <joint name="Left_Index_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Index_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Index_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_2" pos="0 0 0">
+            <body name="Left_Middle_1.stl" pos="-0.00489 -0.0447 0.004943">
+              <geom name="Left_Middle_1.stl" class="bone" group="1" pos="0.00489 0.0447 0.004943"
+                mesh="Middle_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Middle_J1.stl" pos="0.001068 -0.02163 -0.005161">
+                <geom name="Left_Middle_J1.stl" class="bone" group="1"
+                  pos="-0.003822 0.06633 -0.0101"
+                  mesh="Middle_J1.stl" />
+                <body name="Left_Middle_2.stl" pos="-0.000714 -0.0154 -0.003356">
+                  <geom name="Left_Middle_2.stl" class="bone" group="1"
+                    pos="0.004536 0.08173 0.01346"
+                    mesh="Middle_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Middle_2.stl_collision" class="collision_primitive"
+                    size="0.006232 0.01032" pos="0 0 0" euler="1.84 0 1.6" />
+
+                  <body name="Left_Middle_J2.stl" pos="7.813e-05 -0.01543 -0.00427">
+                    <geom name="Left_Middle_J2.stl" class="bone" group="1"
+                      pos="-0.004457 0.09716 -0.01773"
+                      mesh="Middle_J2.stl" />
+                    <body name="Left_Middle_3.stl" pos="0.0001241 -0.01023 -0.002545">
+                      <geom name="Left_Middle_3.stl" class="bone" group="1"
+                        pos="0.004333 0.1074 0.02027"
+                        mesh="Middle_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Middle_3.stl_collision" class="collision_primitive"
+                        size="0.0055 0.00792" pos="0 0 0" euler="1.84 0 1.6" />
+
+                      <body name="Left_Middle_J3.stl" pos="-2.234e-05 -0.01103 -0.00323">
+                        <geom name="Left_Middle_J3.stl" class="bone" group="1"
+                          pos="-0.004356 0.1184 -0.0235" mesh="Middle_J3.stl" />
+                        <body name="Left_Middle_4.stl" pos="0.000219 -0.004432 -0.001011">
+                          <site name="LeftforSensorMiddle_4.stl" type="capsule" group="3"
+                            size="0.0045 0.004789"
+                            pos="0 -0.001 -0.002" euler="1.84 0 1.6" />
+                          <geom name="Left_Middle_4.stl" class="bone" group="1"
+                            pos="0.004137 0.1229 0.02452" mesh="Middle_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Middle_4.stl_collision" class="collision_primitive"
+                            size="0.0045 0.004789" pos="0 0 0" euler="1.84 0 1.6" />
+                        </body>
+                        <joint name="Left_Middle_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Middle_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Middle_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_3" pos="0 0 0">
+            <body name="Left_Annular_1.stl" pos="0.01433 -0.0433 0.00541">
+              <geom name="Left_Annular_1.stl" class="bone" group="1" pos="-0.01433 0.0433 0.00541"
+                mesh="Annular_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Annular_J1.stl" pos="0.001102 -0.01956 -0.00523">
+                <geom name="Left_Annular_J1.stl" class="bone" group="1"
+                  pos="0.01544 0.06286 -0.01064"
+                  mesh="Annular_J1.stl" />
+                <body name="Left_Annular_2.stl" pos="0.001203 -0.01394 -0.003432">
+                  <geom name="Left_Annular_2.stl" class="bone" group="1"
+                    pos="-0.01664 0.0768 0.01407"
+                    mesh="Annular_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Annular_2.stl_collision" class="collision_primitive"
+                    size="0.005781 0.009836" pos="0 0 0" euler="1.84 0.05 1.6" />
+
+                  <body name="Left_Annular_J2.stl" pos="0.00107 -0.01442 -0.004259">
+                    <geom name="Left_Annular_J2.stl" class="bone" group="1"
+                      pos="0.01771 0.09122 -0.01833"
+                      mesh="Annular_J2.stl" />
+                    <body name="Left_Annular_3.stl" pos="0.000481 -0.00878 -0.002575">
+                      <geom name="Left_Annular_3.stl" class="bone" group="1"
+                        pos="-0.01819 0.1 0.02091"
+                        mesh="Annular_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Annular_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.007487" pos="0 0 0" euler="1.84 0.05 1.6" />
+
+                      <body name="Left_Annular_J3.stl" pos="0.0005647 -0.009967 -0.003212">
+                        <geom name="Left_Annular_J3.stl" class="bone" group="1"
+                          pos="0.01875 0.11 -0.02412"
+                          mesh="Annular_J3.stl" />
+                        <body name="Left_Annular_4.stl" pos="0.0004367 -0.003999 -0.00103">
+                          <site name="LeftforSensorAnnular_4.stl" type="capsule" group="3"
+                            size="0.004 0.004495"
+                            pos="0 -0.001 -0.002" euler="1.84 0.05 1.6" />
+                          <geom name="Left_Annular_4.stl" class="bone" group="1"
+                            pos="-0.01919 0.114 0.02515" mesh="Annular_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Annular_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004495" pos="0 0 0" euler="1.84 0.05 1.6" />
+                        </body>
+                        <joint name="Left_Annular_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Annular_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Annular_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_4" pos="0 0 0">
+            <body name="Left_Pinky_1.stl" pos="0.02988 -0.03668 0.001252">
+              <geom name="Left_Pinky_1.stl" class="bone" group="1" pos="-0.02988 0.03668 0.001252"
+                mesh="Pinky_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Pinky_J1.stl" pos="0.002258 -0.01362 -0.002654">
+                <geom name="Left_Pinky_J1.stl" class="bone" group="1" pos="0.03214 0.0503 -0.003906"
+                  mesh="Pinky_J1.stl" />
+                <body name="Left_Pinky_2.stl" pos="0.001899 -0.009659 -0.001693">
+                  <geom name="Left_Pinky_2.stl" class="bone" group="1"
+                    pos="-0.03404 0.05996 0.005599"
+                    mesh="Pinky_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Pinky_2.stl_collision" class="collision_primitive"
+                    size="0.004725 0.006113" pos="0 0 0" euler="1.84 0.12 1.6" />
+
+                  <body name="Left_Pinky_J2.stl" pos="0.001679 -0.009733 -0.002265">
+                    <geom name="Left_Pinky_J2.stl" class="bone" group="1"
+                      pos="0.03572 0.06969 -0.007864"
+                      mesh="Pinky_J2.stl" />
+                    <body name="Left_Pinky_3.stl" pos="0.001162 -0.006436 -0.001322">
+                      <geom name="Left_Pinky_3.stl" class="bone" group="1"
+                        pos="-0.03688 0.07612 0.009186"
+                        mesh="Pinky_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Pinky_3.stl_collision" class="collision_primitive"
+                        size="0.004 0.004" pos="0 0 0" euler="1.84 0.12 1.6" />
+
+                      <body name="Left_Pinky_J3.stl" pos="0.001148 -0.006969 -0.00173">
+                        <geom name="Left_Pinky_J3.stl" class="bone" group="1"
+                          pos="0.03803 0.08309 -0.01092" mesh="Pinky_J3.stl" />
+                        <body name="Left_Pinky_4.stl" pos="0.0006076 -0.002766 -0.0005188">
+                          <site name="LeftforSensorPinky_4.stl" type="capsule" group="3"
+                            size="0.0035 0.002884"
+                            pos="0 -0.001 -0.0015" euler="1.84 0.12 1.6" />
+                          <geom name="Left_Pinky_4.stl" class="bone" group="1"
+                            pos="-0.03864 0.08586 0.01144" mesh="Pinky_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Pinky_4.stl_collision" class="collision_primitive"
+                            size="0.0035 0.002884" pos="0 0 0" euler="1.84 0.12 1.6" />
+                        </body>
+                        <joint name="Left_Pinky_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Pinky_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Pinky_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_5" pos="0 0 0">
+            <body name="Left_Thumb_J1.stl" pos="-0.03785 -0.01644 -0.01504">
+              <geom name="Left_Thumb_J1.stl" class="bone" group="1" pos="-0.03785 0.01644 0.01504"
+                mesh="Thumb_J1.stl" />
+              <body name="Left_Thumb_1.stl" pos="-0.003528 -0.01538 0.0001513">
+                <geom name="Left_Thumb_1.stl" class="bone" group="1" pos="0.04137 0.03181 -0.01519"
+                  mesh="Thumb_1.stl" euler="0 3.14 0" />
+                <geom name="Left_Thumb_1.stl_collision" class="collision_primitive"
+                  size="0.006 0.01" euler="-1.54 0.3 1" />
+
+                <body name="Left_Thumb_J2.stl" pos="-0.005477 -0.01727 0.0001513">
+                  <geom name="Left_Thumb_J2.stl" class="bone" group="1"
+                    pos="-0.04685 0.04908 0.01535"
+                    mesh="Thumb_J2.stl" />
+                  <body name="Left_Thumb_2.stl" pos="-0.00245 -0.01045 7.773e-05">
+                    <geom name="Left_Thumb_2.stl" class="bone" group="1"
+                      pos="0.0493 0.05954 -0.01542"
+                      mesh="Thumb_2.stl" euler="0 3.14 0" />
+                    <geom name="Left_Thumb_2.stl_collision" class="collision_primitive"
+                      size="0.005 0.006" euler="-1.54 0.3 1" />
+
+                    <body name="Left_Thumb_J3.stl" pos="-0.003281 -0.01252 6.956e-05">
+                      <geom name="Left_Thumb_J3.stl" class="bone" group="1"
+                        pos="-0.05258 0.07206 0.01549"
+                        mesh="Thumb_J3.stl" />
+                      <body name="Left_Thumb_3.stl" pos="-0.001609 -0.004174 -3.497e-05">
+                        <site name="LeftforSensorThumb_3.stl" type="capsule" group="3"
+                          size="0.0042 0.005762" pos="0.002 0 0" euler="-1.54 0.3 1" />
+                        <geom name="Left_Thumb_3.stl" class="bone" group="1"
+                          pos="0.05419 0.07623 -0.01546"
+                          mesh="Thumb_3.stl" euler="0 3.14 0" />
+                        <geom name="Left_Thumb_3.stl_collision" class="collision_primitive"
+                          type="capsule"
+                          size="0.004 0.005" euler="-1.54 0.3 1" />
+                      </body>
+                      <joint name="Left_Thumb_J3.stl" class="f" pos="0 0 0" axis="0 0 1" />
+                    </body>
+                  </body>
+                  <joint name="Left_Thumb_J2.stl" class="f" pos="0 0 0" axis="0 0 1" />
+                </body>
+              </body>
+              <joint name="Left_Thumb_J1.stl" class="f" pos="0.01 0.01 0.01" axis="1 0 -0.1" />
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <frame pos=".1 0 1.3" euler="0 0 3.14">
+      <body name="abdomen phantom" childclass="phantom">
+        <!-- Only visual for now until convex hull -->
+        <geom mesh="right_kidney" material="right_kidney" class="visual" />
+        <geom mesh="ribs" material="ribs" class="visual" />
+        <geom mesh="portal_vein" material="portal_vein" class="visual" />
+        <geom mesh="outer_spine" material="outer_spine" class="visual" />
+        <geom mesh="muscle" material="muscle" class="visual" />
+        <!-- <geom mesh="liver" material="liver" class="visual" /> -->
+        <geom mesh="inner_spine" material="inner_spine" class="visual" />
+        <geom mesh="fat" material="fat" class="visual" />
+        <geom mesh="cava" material="cava" class="visual" />
+        <geom mesh="aorta" material="aorta" class="visual" />
+      </body>
+
+      <!-- For some reason, the position and orientation from the parent frame is not
+       accumulated in the flexcomp. The "real" position should be pos="0 .09 .15" -->
+      <flexcomp name="left kidney normal" type="gmsh" dim="3" pos=".1 -.09 1.45" euler="0 0 3.14"
+        file="phantom-assets/left kidney_converted_vol.msh" scale="3 3 3" material="right_kidney">
+        <edge equality="true" />
+        <pin id="47 38 58" />
+        <contact internal="false" condim="3" solref="0.005 1" solimp=".95 .99 .0001"
+          selfcollide="none" contype="2" conaffinity="1" />
+        <elasticity poisson="0.1" young="5e4" damping="0.005" />
+    </flexcomp>
+
+      <flexcomp name="liver cibrosis" pos=".1 0 1.3" euler="1.57 0 3.14" type="gmsh" dim="3"
+        file="phantom-assets/liver_converted_vol.msh" scale="3 3 3" material="liver">
+        <edge equality="true" damping="1" />
+        <pin id="126 79 66 98 80 101" />
+        <contact internal="false" condim="3" solref="0.005 1" solimp=".95 .99 .0001"
+          selfcollide="none"
+          contype="2" conaffinity="1" />
+        <elasticity poisson="0" young="5e4" />
+      </flexcomp>
+
+      <flexcomp name="liver lesion" type="ellipsoid" count="4 4 4" spacing=".012 .012 .012"
+        pos=".15 0 1.4"
+        radius=".001" dim="3" mass="5" material="liver lesion">
+        <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"
+          contype="2" conaffinity="1" />
+        <edge equality="true" damping="1" />
+        <elasticity poisson="0" young="5e4" />
+      </flexcomp>
+    </frame>
+
+  </worldbody>
+
+  <actuator>
+    <intvelocity name="Right_Index_J1.stl" class="f" joint="Right_Index_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Index_J2.stl" class="f" joint="Right_Index_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Index_J3.stl" class="f" joint="Right_Index_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Middle_J1.stl" class="f" joint="Right_Middle_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Middle_J2.stl" class="f" joint="Right_Middle_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Middle_J3.stl" class="f" joint="Right_Middle_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Annular_J1.stl" class="f" joint="Right_Annular_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Annular_J2.stl" class="f" joint="Right_Annular_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Annular_J3.stl" class="f" joint="Right_Annular_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Pinky_J1.stl" class="f" joint="Right_Pinky_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Pinky_J2.stl" class="f" joint="Right_Pinky_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Pinky_J3.stl" class="f" joint="Right_Pinky_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Thumb_J1.stl" class="f" joint="Right_Thumb_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Thumb_J2.stl" class="f" joint="Right_Thumb_J2.stl"
+      kp="10000" kv="10" actrange="0 2" />
+    <intvelocity name="Right_Thumb_J3.stl" class="f" joint="Right_Thumb_J3.stl"
+      kp="10000" kv="10" actrange="0 2" />
+
+    <intvelocity name="Left_Index_J1.stl" class="f" joint="Left_Index_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Index_J2.stl" class="f" joint="Left_Index_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Index_J3.stl" class="f" joint="Left_Index_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Middle_J1.stl" class="f" joint="Left_Middle_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Middle_J2.stl" class="f" joint="Left_Middle_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Middle_J3.stl" class="f" joint="Left_Middle_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Annular_J1.stl" class="f" joint="Left_Annular_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Annular_J2.stl" class="f" joint="Left_Annular_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Annular_J3.stl" class="f" joint="Left_Annular_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Pinky_J1.stl" class="f" joint="Left_Pinky_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Pinky_J2.stl" class="f" joint="Left_Pinky_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Pinky_J3.stl" class="f" joint="Left_Pinky_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Thumb_J1.stl" class="f" joint="Left_Thumb_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Thumb_J2.stl" class="f" joint="Left_Thumb_J2.stl"
+      kp="10000" kv="10" actrange="0 2" />
+    <intvelocity name="Left_Thumb_J3.stl" class="f" joint="Left_Thumb_J3.stl"
+      kp="10000" kv="10" actrange="0 2" />
+  </actuator>
+
+  <sensor>
+    <touch name="right_fingertip_index" site="RightforSensor" />
+    <touch name="right_fingertip_middle" site="RightforSensorMiddle_4.stl" />
+    <touch name="right_fingertip_annular" site="RightforSensorAnnular_4.stl" />
+    <touch name="right_fingertip_pinky" site="RightforSensorPinky_4.stl" />
+    <touch name="right_fingertip_thumb" site="RightforSensorThumb_3.stl" />
+
+    <touch name="left_fingertip_index" site="LeftforSensor" />
+    <touch name="left_fingertip_middle" site="LeftforSensorMiddle_4.stl" />
+    <touch name="left_fingertip_annular" site="LeftforSensorAnnular_4.stl" />
+    <touch name="left_fingertip_pinky" site="LeftforSensorPinky_4.stl" />
+    <touch name="left_fingertip_thumb" site="LeftforSensorThumb_3.stl" />
+  </sensor>
+
+</mujoco>
diff --git a/tactile/undergraduat/code/assets/MuJoCo hands.xml b/tactile/undergraduat/code/assets/MuJoCo hands.xml
new file mode 100644
index 0000000..81429c5
--- /dev/null
+++ b/tactile/undergraduat/code/assets/MuJoCo hands.xml	
@@ -0,0 +1,790 @@
+<mujoco model="hand">
+  <size memory="1G" />
+
+  <compiler angle="radian" />
+
+  <option solver="CG" tolerance="1e-6" timestep=".0014" integrator="implicitfast" jacobian="sparse"
+    noslip_iterations="4">
+    <!-- <flag gravity="disable" /> -->
+  </option>
+
+  <option cone="elliptic" impratio="100" />
+  <!-- <option>
+    <flag multiccd="enable" />
+  </option> -->
+
+  <visual>
+    <global offwidth="1920" offheight="1080" />
+    <map znear="0.001" />
+    <scale jointlength="8" jointwidth="0.5" framelength="2" framewidth="0.3" />
+  </visual>
+
+  <statistic meansize="0.01" extent="1" />
+
+  <default>
+    <joint limited="true" range="0 1.8" solreflimit="0.01 1" solimplimit="0.9 0.99 0.01 "
+      stiffness="0.1"
+      armature="0.0001" damping="0.01" />
+    <geom friction="0.9" solref="0.01 1" solimp="0.95 0.99 0.001" />
+    <tendon rgba="0.5 0 0 1" />
+    <general actlimited="true" actrange="0 1.7" />
+    <default class="collision_primitive">
+      <geom type="capsule" contype="1" conaffinity="1" condim="1" group="3" rgba="0 0.5 0.5 1"
+        density="300" friction="1 1 0.0001" />
+    </default>
+    <default class="bone">
+      <geom type="mesh" contype="0" conaffinity="0" group="5" rgba="0.5 0.5 0.5 1" density="1100" />
+      <default class="light_bone">
+        <geom density="300" />
+      </default>
+    </default>
+    <default class="finger">
+      <joint group="1" pos="0.012 0 0.01" armature="0.01" damping="3" />
+      <default class="f">
+        <joint range="-17.5 61.25" />
+        <!-- <general gainprm="20" /> -->
+      </default>
+    </default>
+    <default class="phantom">
+      <mesh scale="3 3 3" />
+      <default class="visual">
+        <geom group="2" type="mesh" contype="0" conaffinity="0" />
+      </default>
+      <default class="collision">
+        <geom group="2" type="mesh" />
+      </default>
+    </default>
+  </default>
+
+  <contact>
+    <exclude body1="right_hand_palm" body2="right_hand_palm_5" />
+    <exclude body1="Right_Index_4.stl" body2="Right_Thumb_2.stl" />
+
+    <exclude body1="Left_Index_4.stl" body2="Left_Thumb_3.stl" />
+    <exclude body1="Left_Index_4.stl" body2="Left_Thumb_2.stl" />
+  </contact>
+
+  <extension>
+  </extension>
+
+  <asset>
+    <texture name="//unnamed_texture_0" type="skybox" builtin="gradient" rgb1="0.6 0.8 0.9"
+      rgb2="0 0 0" width="64" height="64" />
+    <texture name="grid" type="2d" builtin="checker" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4"
+      mark="edge" markrgb="0.2 0.3 0.4" width="300" height="300" />
+    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance="0.2" />
+    <mesh name="Annular_1.stl" file="Index_bones/Annular_1.stl" />
+    <mesh name="Annular_2.stl" file="Index_bones/Annular_2.stl" />
+    <mesh name="Annular_3.stl" file="Index_bones/Annular_3.stl" />
+    <mesh name="Annular_4.stl" file="Index_bones/Annular_4.stl" />
+    <mesh name="Annular_J1.stl" file="Index_bones/Annular_J1.stl" />
+    <mesh name="Annular_J2.stl" file="Index_bones/Annular_J2.stl" />
+    <mesh name="Annular_J3.stl" file="Index_bones/Annular_J3.stl" />
+    <mesh name="Index_1.stl" file="Index_bones/Index_1.stl" />
+    <mesh name="Index_2.stl" file="Index_bones/Index_2.stl" />
+    <mesh name="Index_3.stl" file="Index_bones/Index_3.stl" />
+    <mesh name="Index_4.stl" file="Index_bones/Index_4.stl" />
+    <mesh name="Index_J1.stl" file="Index_bones/Index_J1.stl" />
+    <mesh name="Index_J2.stl" file="Index_bones/Index_J2.stl" />
+    <mesh name="Index_J3.stl" file="Index_bones/Index_J3.stl" />
+    <mesh name="J1.stl" file="Index_bones/J1.stl" />
+    <mesh name="J2.stl" file="Index_bones/J2.stl" />
+    <mesh name="J3.stl" file="Index_bones/J3.stl" />
+    <mesh name="Middle_1.stl" file="Index_bones/Middle_1.stl" />
+    <mesh name="Middle_2.stl" file="Index_bones/Middle_2.stl" />
+    <mesh name="Middle_3.stl" file="Index_bones/Middle_3.stl" />
+    <mesh name="Middle_4.stl" file="Index_bones/Middle_4.stl" />
+    <mesh name="Middle_J1.stl" file="Index_bones/Middle_J1.stl" />
+    <mesh name="Middle_J2.stl" file="Index_bones/Middle_J2.stl" />
+    <mesh name="Middle_J3.stl" file="Index_bones/Middle_J3.stl" />
+    <mesh name="Palm.stl" file="Index_bones/Palm.stl" />
+    <mesh name="Pinky_1.stl" file="Index_bones/Pinky_1.stl" />
+    <mesh name="Pinky_2.stl" file="Index_bones/Pinky_2.stl" />
+    <mesh name="Pinky_3.stl" file="Index_bones/Pinky_3.stl" />
+    <mesh name="Pinky_4.stl" file="Index_bones/Pinky_4.stl" />
+    <mesh name="Pinky_J1.stl" file="Index_bones/Pinky_J1.stl" />
+    <mesh name="Pinky_J2.stl" file="Index_bones/Pinky_J2.stl" />
+    <mesh name="Pinky_J3.stl" file="Index_bones/Pinky_J3.stl" />
+    <mesh name="Thumb_1.stl" file="Index_bones/Thumb_1.stl" />
+    <mesh name="Thumb_2.stl" file="Index_bones/Thumb_2.stl" />
+    <mesh name="Thumb_3.stl" file="Index_bones/Thumb_3.stl" />
+    <mesh name="Thumb_J1.stl" file="Index_bones/Thumb_J1.stl" />
+    <mesh name="Thumb_J2.stl" file="Index_bones/Thumb_J2.stl" />
+    <mesh name="Thumb_J3.stl" file="Index_bones/Thumb_J3.stl" />
+
+    <!-- Abdomen phantom -->
+    <material name="aorta"
+      rgba="1.000000 0.750000 0.750000 1.000000" />
+    <material name="cava"
+      rgba="0.500000 0.500000 1.000000 1.000000" />
+    <material name="fat" specular="0.25" shininess="0.1"
+      rgba="1.000000 1.000000 0.650000 1.000000" />
+    <material name="inner_spine"
+      rgba="1.000000 1.000000 1.000000 1.000000" />
+    <material name="liver"
+      rgba="0.500000 0.250000 0.250000 1.000000" />
+    <material name="muscle"
+      rgba="1.000000 0.500000 0.500000 1.000000" />
+    <material name="outer_spine"
+      rgba="1.000000 1.000000 0.850000 1.000000" />
+    <material name="portal_vein"
+      rgba="0.750000 0.250000 0.250000 1.000000" />
+    <material name="ribs"
+      rgba="1.000000 1.000000 0.850000 1.000000" />
+    <material name="right_kidney"
+      rgba="0.800000 0.400000 0.400000 1.000000" />
+    <mesh class="phantom" file="phantom-assets/right_kidney.obj" />
+    <mesh class="phantom" file="phantom-assets/ribs.obj" />
+    <mesh class="phantom" file="phantom-assets/portal_vein.obj" />
+    <mesh class="phantom" file="phantom-assets/outer_spine.obj" />
+    <mesh class="phantom" file="phantom-assets/muscle.obj" />
+    <mesh class="phantom" file="phantom-assets/liver.obj" />
+    <mesh class="phantom" file="phantom-assets/inner_spine.obj" />
+    <mesh class="phantom" file="phantom-assets/fat.obj" />
+    <mesh class="phantom" file="phantom-assets/cava.obj" />
+    <mesh class="phantom" file="phantom-assets/aorta.obj" />
+  </asset>
+
+  <equality>
+    <weld body1="right_hand_mocap" body2="right_hand" />
+    <weld body1="left_hand_mocap" body2="left_hand" />
+  </equality>
+
+  <worldbody>
+    <light name="//unnamed_light_0" directional="true" castshadow="false" pos="0 0 5"
+      diffuse="0.4 0.4 0.4" specular="0.1 0.1 0.1" />
+    <light name="//unnamed_light_1" pos="0 0 4" diffuse="0.6 0.6 0.6" specular="0.2 0.2 0.2" />
+    <geom name="floor" type="plane" conaffinity="1" size="10 10 0.1" material="grid" />
+
+    <body name="right_hand_mocap" mocap="true" pos="0 0 1.02">
+      <!-- <geom type="box" size=".02 .03 .03" contype="0" conaffinity="0" /> -->
+    </body>
+    <body name="right_hand" pos="0 0 1">
+      <freejoint name="Right_Freejoint" />
+      <geom type="sphere" size=".02" contype="0" conaffinity="0" />
+      <body name="Right_Palm" pos="0 0 0">
+        <body name="Right_Palm_Right" pos="0 0 0" euler="0 -1.57 -1.57">
+          <geom name="Right_Palm2" type="mesh" contype="0" conaffinity="0" rgba="1 0.5 0.5 0.4"
+            mesh="Palm.stl" />
+          <!-- <geom name="Right_Thumb_J3.stl_collision" class="collision_primitive" type="box"
+            size="0.04521 0.01533 0.01799" pos="0.001582 0.001007 -0.003056" euler="0 0 0" /> -->
+          <geom name="Right_Palm_collision" class="collision_primitive" type="box"
+            size="0.006 0.033 0.026" pos="-0.005 -0.03 0.003" euler="1.4 0 1.6" group="5" />
+          <body name="right_hand_palm" pos="0 0 0">
+            <site name="right_root" rgba="0 1 0 1" size="0.01" />
+            <!-- <light name="light" mode="trackcom" pos="0 0 3" /> -->
+            <body name="Right_Index_1.stl" pos="0.02226 -0.03852 0.004734">
+              <geom name="Right_Index_1.stl" class="bone" group="1" pos="-0.02226 0.03852 -0.004734"
+                mesh="Index_1.stl" />
+              <!-- <geom name="Right_Index_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.006548 0.01119" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Index_J1.stl" pos="0.00227 -0.01802 0.004302">
+                <geom name="Right_Index_J1.stl" class="bone" group="1"
+                  pos="-0.02453 0.05654 -0.009037"
+                  mesh="Index_J1.stl" />
+                <body name="Right_Index_2.stl" pos="0.001246 -0.0129 0.002785">
+                  <geom name="Right_Index_2.stl" class="bone" group="1"
+                    pos="-0.02578 0.06944 -0.01182"
+                    mesh="Index_2.stl" />
+                  <geom name="Right_Index_2.stl_collision" class="collision_primitive"
+                    size="0.005752 0.008655" pos="0 0 0" euler="1.3 0.12 1.6" />
+                  <body name="Right_Index_J2.stl" pos="0.001513 -0.01288 0.003559">
+                    <geom name="Right_Index_J2.stl" class="bone" group="1"
+                      pos="-0.02729 0.08233 -0.01538"
+                      mesh="Index_J2.stl" />
+                    <body name="Right_Index_3.stl" pos="0.0009469 -0.008548 0.002118">
+                      <geom name="Right_Index_3.stl" class="bone" group="1"
+                        pos="-0.02824 0.09087 -0.0175"
+                        mesh="Index_3.stl" />
+                      <geom name="Right_Index_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.006655" pos="0 0 0" euler="1.3 0.12 1.6" />
+                      <body name="Right_Index_J3.stl" pos="0.001143 -0.009198 0.002695">
+                        <geom name="Right_Index_J3.stl" class="bone" group="1"
+                          pos="-0.02938 0.1001 -0.02019" mesh="Index_J3.stl" />
+                        <body name="Right_Index_4.stl" pos="0.0002737 -0.003719 0.0008389">
+                          <site name="RightforSensor" type="capsule" group="3" size="0.004 0.004014"
+                            pos="0 -0.001 -0.002" euler="1.3 0.12 1.6" />
+                          <geom name="Right_Index_4.stl" class="bone" group="1"
+                            pos="-0.02966 0.1038 -0.02103" mesh="Index_4.stl" />
+                          <geom name="Right_Index_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004014" pos="0 0 0" euler="1.3 0.12 1.6" />
+                        </body>
+                        <joint name="Right_Index_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Index_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Index_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_2" pos="0 0 0">
+            <body name="Right_Middle_1.stl" pos="0.00489 -0.0447 0.004943">
+              <geom name="Right_Middle_1.stl" class="bone" group="1" pos="-0.00489 0.0447 -0.004943"
+                mesh="Middle_1.stl" />
+              <!-- <geom name="Right_Middle_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.00603 0.01342" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Middle_J1.stl" pos="-0.001068 -0.02163 0.005161">
+                <geom name="Right_Middle_J1.stl" class="bone" group="1"
+                  pos="-0.003822 0.06633 -0.0101"
+                  mesh="Middle_J1.stl" />
+                <body name="Right_Middle_2.stl" pos="0.000714 -0.0154 0.003356">
+                  <geom name="Right_Middle_2.stl" class="bone" group="1"
+                    pos="-0.004536 0.08173 -0.01346"
+                    mesh="Middle_2.stl" />
+                  <geom name="Right_Middle_2.stl_collision" class="collision_primitive"
+                    size="0.006232 0.01032" pos="0 0 0" euler="1.3 0 1.6" />
+                  <body name="Right_Middle_J2.stl" pos="-7.813e-05 -0.01543 0.00427">
+                    <geom name="Right_Middle_J2.stl" class="bone" group="1"
+                      pos="-0.004457 0.09716 -0.01773"
+                      mesh="Middle_J2.stl" />
+                    <body name="Right_Middle_3.stl" pos="-0.0001241 -0.01023 0.002545">
+                      <geom name="Right_Middle_3.stl" class="bone" group="1"
+                        pos="-0.004333 0.1074 -0.02027"
+                        mesh="Middle_3.stl" />
+                      <geom name="Right_Middle_3.stl_collision" class="collision_primitive"
+                        size="0.0055 0.00792" pos="0 0 0" euler="1.3 0 1.6" />
+                      <body name="Right_Middle_J3.stl" pos="2.234e-05 -0.01103 0.00323">
+                        <geom name="Right_Middle_J3.stl" class="bone" group="1"
+                          pos="-0.004356 0.1184 -0.0235" mesh="Middle_J3.stl" />
+                        <body name="Right_Middle_4.stl" pos="-0.000219 -0.004432 0.001011">
+                          <site name="RightforSensorMiddle_4.stl" type="capsule" group="3"
+                            size="0.0045 0.004789"
+                            pos="0 -0.001 -0.002" euler="1.3 0 1.6" />
+                          <geom name="Right_Middle_4.stl" class="bone" group="1"
+                            pos="-0.004137 0.1229 -0.02452" mesh="Middle_4.stl" />
+                          <geom name="Right_Middle_4.stl_collision" class="collision_primitive"
+                            size="0.0045 0.004789" pos="0 0 0" euler="1.3 0 1.6" />
+                        </body>
+                        <joint name="Right_Middle_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Middle_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Middle_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_3" pos="0 0 0">
+            <body name="Right_Annular_1.stl" pos="-0.01433 -0.0433 0.00541">
+              <geom name="Right_Annular_1.stl" class="bone" group="1" pos="0.01433 0.0433 -0.00541"
+                mesh="Annular_1.stl" />
+              <!-- <geom name="Right_Annular_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.006171 0.01286" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Annular_J1.stl" pos="-0.001102 -0.01956 0.00523">
+                <geom name="Right_Annular_J1.stl" class="bone" group="1"
+                  pos="0.01544 0.06286 -0.01064"
+                  mesh="Annular_J1.stl" />
+                <body name="Right_Annular_2.stl" pos="-0.001203 -0.01394 0.003432">
+                  <geom name="Right_Annular_2.stl" class="bone" group="1"
+                    pos="0.01664 0.0768 -0.01407"
+                    mesh="Annular_2.stl" />
+                  <geom name="Right_Annular_2.stl_collision" class="collision_primitive"
+                    size="0.005781 0.009836" pos="0 0 0" euler="1.3 -0.05 1.6" />
+                  <body name="Right_Annular_J2.stl" pos="-0.00107 -0.01442 0.004259">
+                    <geom name="Right_Annular_J2.stl" class="bone" group="1"
+                      pos="0.01771 0.09122 -0.01833"
+                      mesh="Annular_J2.stl" />
+                    <body name="Right_Annular_3.stl" pos="-0.000481 -0.00878 0.002575">
+                      <geom name="Right_Annular_3.stl" class="bone" group="1"
+                        pos="0.01819 0.1 -0.02091"
+                        mesh="Annular_3.stl" />
+                      <geom name="Right_Annular_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.007487" pos="0 0 0" euler="1.3 -0.05 1.6" />
+                      <body name="Right_Annular_J3.stl" pos="-0.0005647 -0.009967 0.003212">
+                        <geom name="Right_Annular_J3.stl" class="bone" group="1"
+                          pos="0.01875 0.11 -0.02412"
+                          mesh="Annular_J3.stl" />
+                        <body name="Right_Annular_4.stl" pos="-0.0004367 -0.003999 0.00103">
+                          <site name="RightforSensorAnnular_4.stl" type="capsule" group="3"
+                            size="0.004 0.004495"
+                            pos="0 -0.001 -0.002" euler="1.3 -0.05 1.6" />
+                          <geom name="Right_Annular_4.stl" class="bone" group="1"
+                            pos="0.01919 0.114 -0.02515" mesh="Annular_4.stl" />
+                          <geom name="Right_Annular_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004495" pos="0 0 0" euler="1.3 -0.05 1.6" />
+                        </body>
+                        <joint name="Right_Annular_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Annular_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Annular_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_4" pos="0 0 0">
+            <body name="Right_Pinky_1.stl" pos="-0.02988 -0.03668 0.001252">
+              <geom name="Right_Pinky_1.stl" class="bone" group="1" pos="0.02988 0.03668 -0.001252"
+                mesh="Pinky_1.stl" />
+              <!-- <geom name="Right_Pinky_1.stl_collision" class="collision_primitive"
+              type="cylinder"
+              size="0.005328 0.007868" pos="0 0 0" euler="1.3 0 1.6" /> -->
+              <body name="Right_Pinky_J1.stl" pos="-0.002258 -0.01362 0.002654">
+                <geom name="Right_Pinky_J1.stl" class="bone" group="1"
+                  pos="0.03214 0.0503 -0.003906"
+                  mesh="Pinky_J1.stl" />
+                <body name="Right_Pinky_2.stl" pos="-0.001899 -0.009659 0.001693">
+                  <geom name="Right_Pinky_2.stl" class="bone" group="1"
+                    pos="0.03404 0.05996 -0.005599"
+                    mesh="Pinky_2.stl" />
+                  <geom name="Right_Pinky_2.stl_collision" class="collision_primitive"
+                    size="0.004725 0.006113" pos="0 0 0" euler="1.3 -0.12 1.6" />
+                  <body name="Right_Pinky_J2.stl" pos="-0.001679 -0.009733 0.002265">
+                    <geom name="Right_Pinky_J2.stl" class="bone" group="1"
+                      pos="0.03572 0.06969 -0.007864"
+                      mesh="Pinky_J2.stl" />
+                    <body name="Right_Pinky_3.stl" pos="-0.001162 -0.006436 0.001322">
+                      <geom name="Right_Pinky_3.stl" class="bone" group="1"
+                        pos="0.03688 0.07612 -0.009186"
+                        mesh="Pinky_3.stl" />
+                      <geom name="Right_Pinky_3.stl_collision" class="collision_primitive"
+                        size="0.004 0.004" pos="0 0 0" euler="1.3 -0.12 1.6" />
+                      <body name="Right_Pinky_J3.stl" pos="-0.001148 -0.006969 0.00173">
+                        <geom name="Right_Pinky_J3.stl" class="bone" group="1"
+                          pos="0.03803 0.08309 -0.01092" mesh="Pinky_J3.stl" />
+                        <body name="Right_Pinky_4.stl" pos="-0.0006076 -0.002766 0.0005188">
+                          <site name="RightforSensorPinky_4.stl" type="capsule" group="3"
+                            size="0.0035 0.002884"
+                            pos="0 -0.001 -0.0015" euler="1.3 -0.12 1.6" />
+                          <geom name="Right_Pinky_4.stl" class="bone" group="1"
+                            pos="0.03864 0.08586 -0.01144" mesh="Pinky_4.stl" />
+                          <geom name="Right_Pinky_4.stl_collision" class="collision_primitive"
+                            size="0.0035 0.002884" pos="0 0 0" euler="1.3 -0.12 1.6" />
+                        </body>
+                        <joint name="Right_Pinky_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Right_Pinky_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Right_Pinky_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="right_hand_palm_5" pos="0 0 0">
+            <body name="Right_Thumb_J1.stl" pos="0.03785 -0.01644 -0.01504">
+              <geom name="Right_Thumb_J1.stl" class="bone" group="1" pos="-0.03785 0.01644 0.01504"
+                mesh="Thumb_J1.stl" />
+              <body name="Right_Thumb_1.stl" pos="0.003528 -0.01538 -0.0001513">
+                <geom name="Right_Thumb_1.stl" class="bone" group="1" pos="-0.04137 0.03181 0.01519"
+                  mesh="Thumb_1.stl" />
+                <geom name="Right_Thumb_1.stl_collision" class="collision_primitive"
+                  size="0.006 0.01" pos="0 0 0" euler="1.6 0.3 1" />
+
+                <body name="Right_Thumb_J2.stl" pos="0.005477 -0.01727 -0.0001513">
+                  <geom name="Right_Thumb_J2.stl" class="bone" group="1"
+                    pos="-0.04685 0.04908 0.01535"
+                    mesh="Thumb_J2.stl" />
+                  <body name="Right_Thumb_2.stl" pos="0.00245 -0.01045 -7.773e-05">
+                    <geom name="Right_Thumb_2.stl" class="bone" group="1"
+                      pos="-0.0493 0.05954 0.01542"
+                      mesh="Thumb_2.stl" />
+                    <geom name="Right_Thumb_2.stl_collision" class="collision_primitive"
+                      size="0.005 0.006" pos="0 0 0" euler="1.6 0.3 1" />
+
+                    <body name="Right_Thumb_J3.stl" pos="0.003281 -0.01252 -6.956e-05">
+                      <geom name="Right_Thumb_J3.stl" class="bone" group="1"
+                        pos="-0.05258 0.07206 0.01549"
+                        mesh="Thumb_J3.stl" />
+                      <body name="Right_Thumb_3.stl" pos="0.001609 -0.004174 3.497e-05">
+                        <site name="RightforSensorThumb_3.stl" type="capsule" group="3"
+                          size="0.0042 0.005762" pos="0.0 -0.003 0" euler="1.6 0.3 1" />
+                        <geom name="Right_Thumb_3.stl" class="bone" group="1"
+                          pos="-0.05419 0.07623 0.01546"
+                          mesh="Thumb_3.stl" />
+                        <geom name="Right_Thumb_3.stl_collision" class="collision_primitive"
+                          type="capsule"
+                          size="0.004 0.005" pos="0.001 -0.002 0" euler="1.6 0.3 1" />
+                      </body>
+                      <joint name="Right_Thumb_J3.stl" class="f" pos="0 0 0" axis="0 0 -1" />
+                    </body>
+                  </body>
+                  <joint name="Right_Thumb_J2.stl" class="f" pos="0 0 0" axis="0 0 -1" />
+                </body>
+              </body>
+              <joint name="Right_Thumb_J1.stl" class="f" pos="0.01 0.01 0.01" axis="1 0 -0.1" />
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <body name="left_hand_mocap" mocap="true" pos="0 0 1.02">
+      <!-- <geom type="box" size=".02 .03 .03" contype="0" conaffinity="0" /> -->
+    </body>
+    <body name="left_hand" pos="0 0 1">
+      <freejoint name="Left_Freejoint" />
+      <geom type="sphere" size=".02" contype="0" conaffinity="0" />
+      <body name="Left_Palm" pos="0 0 0">
+        <body name="Left_Palm_Left" pos="0 0 0" euler="0 1.57 1.27">
+          <geom name="Left_Palm2" type="mesh" contype="0" conaffinity="0" rgba="1 0.5 0.5 0.4"
+            mesh="Palm.stl" euler="0 3.14 0" />
+          <!-- <geom name="Left_Thumb_J3.stl_collision" class="collision_primitive" type="box"
+            size="0.04521 0.01533 0.01799" pos="0.001582 0.001007 -0.003056" euler="0 0 0" /> -->
+          <geom name="Left_Palm_collision" class="collision_primitive" type="box"
+            size="0.006 0.033 0.026" pos="0.005 -0.025 0.005" euler="-1.4 0 1.6" group="5" />
+          <body name="left_hand_palm" pos="0 0 0">
+            <site name="left_root" rgba="0 1 0 1" size="0.01" />
+            <light name="light" mode="trackcom" pos="0 0 3" />
+
+            <body name="Left_Index_1.stl" pos="-0.02226 -0.03852 0.004734">
+              <geom name="Left_Index_1.stl" class="bone" group="1" pos="0.02226 0.03852 0.004734"
+                mesh="Index_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Index_J1.stl" pos="-0.00227 -0.01802 -0.004302">
+                <geom name="Left_Index_J1.stl" class="bone" group="1"
+                  pos="-0.02453 0.05654 -0.009037"
+                  mesh="Index_J1.stl" />
+                <body name="Left_Index_2.stl" pos="-0.001246 -0.0129 -0.002785">
+                  <geom name="Left_Index_2.stl" class="bone" group="1" pos="0.02578 0.06944 0.01182"
+                    mesh="Index_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Index_2.stl_collision" class="collision_primitive"
+                    size="0.005752 0.008655" pos="0 0 0" euler="1.84 -0.12 1.6" />
+
+                  <body name="Left_Index_J2.stl" pos="-0.001513 -0.01288 -0.003559">
+                    <geom name="Left_Index_J2.stl" class="bone" group="1"
+                      pos="-0.02729 0.08233 -0.01538"
+                      mesh="Index_J2.stl" />
+                    <body name="Left_Index_3.stl" pos="-0.0009469 -0.008548 -0.002118">
+                      <geom name="Left_Index_3.stl" class="bone" group="1"
+                        pos="0.02824 0.09087 0.0175"
+                        mesh="Index_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Index_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.006655" pos="0 0 0" euler="1.84 -0.12 1.6" />
+
+                      <body name="Left_Index_J3.stl" pos="-0.001143 -0.009198 -0.002695">
+                        <geom name="Left_Index_J3.stl" class="bone" group="1"
+                          pos="-0.02938 0.1001 -0.02019" mesh="Index_J3.stl" />
+                        <body name="Left_Index_4.stl" pos="-0.0002737 -0.003719 -0.0008389">
+                          <site name="LeftforSensor" type="capsule" group="3" size="0.004 0.004014"
+                            pos="0 -0.001 -0.002" euler="1.84 -0.12 1.6" />
+                          <geom name="Left_Index_4.stl" class="bone" group="1"
+                            pos="0.02966 0.1038 0.02103" mesh="Index_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Index_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004014" pos="0 0 0" euler="1.84 -0.12 1.6" />
+
+                        </body>
+                        <joint name="Left_Index_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Index_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Index_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_2" pos="0 0 0">
+            <body name="Left_Middle_1.stl" pos="-0.00489 -0.0447 0.004943">
+              <geom name="Left_Middle_1.stl" class="bone" group="1" pos="0.00489 0.0447 0.004943"
+                mesh="Middle_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Middle_J1.stl" pos="0.001068 -0.02163 -0.005161">
+                <geom name="Left_Middle_J1.stl" class="bone" group="1"
+                  pos="-0.003822 0.06633 -0.0101"
+                  mesh="Middle_J1.stl" />
+                <body name="Left_Middle_2.stl" pos="-0.000714 -0.0154 -0.003356">
+                  <geom name="Left_Middle_2.stl" class="bone" group="1"
+                    pos="0.004536 0.08173 0.01346"
+                    mesh="Middle_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Middle_2.stl_collision" class="collision_primitive"
+                    size="0.006232 0.01032" pos="0 0 0" euler="1.84 0 1.6" />
+
+                  <body name="Left_Middle_J2.stl" pos="7.813e-05 -0.01543 -0.00427">
+                    <geom name="Left_Middle_J2.stl" class="bone" group="1"
+                      pos="-0.004457 0.09716 -0.01773"
+                      mesh="Middle_J2.stl" />
+                    <body name="Left_Middle_3.stl" pos="0.0001241 -0.01023 -0.002545">
+                      <geom name="Left_Middle_3.stl" class="bone" group="1"
+                        pos="0.004333 0.1074 0.02027"
+                        mesh="Middle_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Middle_3.stl_collision" class="collision_primitive"
+                        size="0.0055 0.00792" pos="0 0 0" euler="1.84 0 1.6" />
+
+                      <body name="Left_Middle_J3.stl" pos="-2.234e-05 -0.01103 -0.00323">
+                        <geom name="Left_Middle_J3.stl" class="bone" group="1"
+                          pos="-0.004356 0.1184 -0.0235" mesh="Middle_J3.stl" />
+                        <body name="Left_Middle_4.stl" pos="0.000219 -0.004432 -0.001011">
+                          <site name="LeftforSensorMiddle_4.stl" type="capsule" group="3"
+                            size="0.0045 0.004789"
+                            pos="0 -0.001 -0.002" euler="1.84 0 1.6" />
+                          <geom name="Left_Middle_4.stl" class="bone" group="1"
+                            pos="0.004137 0.1229 0.02452" mesh="Middle_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Middle_4.stl_collision" class="collision_primitive"
+                            size="0.0045 0.004789" pos="0 0 0" euler="1.84 0 1.6" />
+                        </body>
+                        <joint name="Left_Middle_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Middle_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Middle_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_3" pos="0 0 0">
+            <body name="Left_Annular_1.stl" pos="0.01433 -0.0433 0.00541">
+              <geom name="Left_Annular_1.stl" class="bone" group="1" pos="-0.01433 0.0433 0.00541"
+                mesh="Annular_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Annular_J1.stl" pos="0.001102 -0.01956 -0.00523">
+                <geom name="Left_Annular_J1.stl" class="bone" group="1"
+                  pos="0.01544 0.06286 -0.01064"
+                  mesh="Annular_J1.stl" />
+                <body name="Left_Annular_2.stl" pos="0.001203 -0.01394 -0.003432">
+                  <geom name="Left_Annular_2.stl" class="bone" group="1"
+                    pos="-0.01664 0.0768 0.01407"
+                    mesh="Annular_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Annular_2.stl_collision" class="collision_primitive"
+                    size="0.005781 0.009836" pos="0 0 0" euler="1.84 0.05 1.6" />
+
+                  <body name="Left_Annular_J2.stl" pos="0.00107 -0.01442 -0.004259">
+                    <geom name="Left_Annular_J2.stl" class="bone" group="1"
+                      pos="0.01771 0.09122 -0.01833"
+                      mesh="Annular_J2.stl" />
+                    <body name="Left_Annular_3.stl" pos="0.000481 -0.00878 -0.002575">
+                      <geom name="Left_Annular_3.stl" class="bone" group="1"
+                        pos="-0.01819 0.1 0.02091"
+                        mesh="Annular_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Annular_3.stl_collision" class="collision_primitive"
+                        size="0.005 0.007487" pos="0 0 0" euler="1.84 0.05 1.6" />
+
+                      <body name="Left_Annular_J3.stl" pos="0.0005647 -0.009967 -0.003212">
+                        <geom name="Left_Annular_J3.stl" class="bone" group="1"
+                          pos="0.01875 0.11 -0.02412"
+                          mesh="Annular_J3.stl" />
+                        <body name="Left_Annular_4.stl" pos="0.0004367 -0.003999 -0.00103">
+                          <site name="LeftforSensorAnnular_4.stl" type="capsule" group="3"
+                            size="0.004 0.004495"
+                            pos="0 -0.001 -0.002" euler="1.84 0.05 1.6" />
+                          <geom name="Left_Annular_4.stl" class="bone" group="1"
+                            pos="-0.01919 0.114 0.02515" mesh="Annular_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Annular_4.stl_collision" class="collision_primitive"
+                            size="0.004 0.004495" pos="0 0 0" euler="1.84 0.05 1.6" />
+                        </body>
+                        <joint name="Left_Annular_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Annular_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Annular_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_4" pos="0 0 0">
+            <body name="Left_Pinky_1.stl" pos="0.02988 -0.03668 0.001252">
+              <geom name="Left_Pinky_1.stl" class="bone" group="1" pos="-0.02988 0.03668 0.001252"
+                mesh="Pinky_1.stl" euler="0 3.14 0" />
+
+              <body name="Left_Pinky_J1.stl" pos="0.002258 -0.01362 -0.002654">
+                <geom name="Left_Pinky_J1.stl" class="bone" group="1" pos="0.03214 0.0503 -0.003906"
+                  mesh="Pinky_J1.stl" />
+                <body name="Left_Pinky_2.stl" pos="0.001899 -0.009659 -0.001693">
+                  <geom name="Left_Pinky_2.stl" class="bone" group="1"
+                    pos="-0.03404 0.05996 0.005599"
+                    mesh="Pinky_2.stl" euler="0 3.14 0" />
+                  <geom name="Left_Pinky_2.stl_collision" class="collision_primitive"
+                    size="0.004725 0.006113" pos="0 0 0" euler="1.84 0.12 1.6" />
+
+                  <body name="Left_Pinky_J2.stl" pos="0.001679 -0.009733 -0.002265">
+                    <geom name="Left_Pinky_J2.stl" class="bone" group="1"
+                      pos="0.03572 0.06969 -0.007864"
+                      mesh="Pinky_J2.stl" />
+                    <body name="Left_Pinky_3.stl" pos="0.001162 -0.006436 -0.001322">
+                      <geom name="Left_Pinky_3.stl" class="bone" group="1"
+                        pos="-0.03688 0.07612 0.009186"
+                        mesh="Pinky_3.stl" euler="0 3.14 0" />
+                      <geom name="Left_Pinky_3.stl_collision" class="collision_primitive"
+                        size="0.004 0.004" pos="0 0 0" euler="1.84 0.12 1.6" />
+
+                      <body name="Left_Pinky_J3.stl" pos="0.001148 -0.006969 -0.00173">
+                        <geom name="Left_Pinky_J3.stl" class="bone" group="1"
+                          pos="0.03803 0.08309 -0.01092" mesh="Pinky_J3.stl" />
+                        <body name="Left_Pinky_4.stl" pos="0.0006076 -0.002766 -0.0005188">
+                          <site name="LeftforSensorPinky_4.stl" type="capsule" group="3"
+                            size="0.0035 0.002884"
+                            pos="0 -0.001 -0.0015" euler="1.84 0.12 1.6" />
+                          <geom name="Left_Pinky_4.stl" class="bone" group="1"
+                            pos="-0.03864 0.08586 0.01144" mesh="Pinky_4.stl" euler="0 3.14 0" />
+                          <geom name="Left_Pinky_4.stl_collision" class="collision_primitive"
+                            size="0.0035 0.002884" pos="0 0 0" euler="1.84 0.12 1.6" />
+                        </body>
+                        <joint name="Left_Pinky_J3.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                      </body>
+                    </body>
+                    <joint name="Left_Pinky_J2.stl" class="f" pos="0 0 0" axis="1 0 0" />
+                  </body>
+                </body>
+                <joint name="Left_Pinky_J1.stl" class="f" pos="0 0 0" axis="1 0 0" />
+              </body>
+            </body>
+          </body>
+          <body name="left_hand_palm_5" pos="0 0 0">
+            <body name="Left_Thumb_J1.stl" pos="-0.03785 -0.01644 -0.01504">
+              <geom name="Left_Thumb_J1.stl" class="bone" group="1" pos="-0.03785 0.01644 0.01504"
+                mesh="Thumb_J1.stl" />
+              <body name="Left_Thumb_1.stl" pos="-0.003528 -0.01538 0.0001513">
+                <geom name="Left_Thumb_1.stl" class="bone" group="1" pos="0.04137 0.03181 -0.01519"
+                  mesh="Thumb_1.stl" euler="0 3.14 0" />
+                <geom name="Left_Thumb_1.stl_collision" class="collision_primitive"
+                  size="0.006 0.01" euler="-1.54 0.3 1" />
+
+                <body name="Left_Thumb_J2.stl" pos="-0.005477 -0.01727 0.0001513">
+                  <geom name="Left_Thumb_J2.stl" class="bone" group="1"
+                    pos="-0.04685 0.04908 0.01535"
+                    mesh="Thumb_J2.stl" />
+                  <body name="Left_Thumb_2.stl" pos="-0.00245 -0.01045 7.773e-05">
+                    <geom name="Left_Thumb_2.stl" class="bone" group="1"
+                      pos="0.0493 0.05954 -0.01542"
+                      mesh="Thumb_2.stl" euler="0 3.14 0" />
+                    <geom name="Left_Thumb_2.stl_collision" class="collision_primitive"
+                      size="0.005 0.006" euler="-1.54 0.3 1" />
+
+                    <body name="Left_Thumb_J3.stl" pos="-0.003281 -0.01252 6.956e-05">
+                      <geom name="Left_Thumb_J3.stl" class="bone" group="1"
+                        pos="-0.05258 0.07206 0.01549"
+                        mesh="Thumb_J3.stl" />
+                      <body name="Left_Thumb_3.stl" pos="-0.001609 -0.004174 -3.497e-05">
+                        <site name="LeftforSensorThumb_3.stl" type="capsule" group="3"
+                          size="0.0042 0.005762" pos="0.002 0 0" euler="-1.54 0.3 1" />
+                        <geom name="Left_Thumb_3.stl" class="bone" group="1"
+                          pos="0.05419 0.07623 -0.01546"
+                          mesh="Thumb_3.stl" euler="0 3.14 0" />
+                        <geom name="Left_Thumb_3.stl_collision" class="collision_primitive"
+                          type="capsule"
+                          size="0.004 0.005" euler="-1.54 0.3 1" />
+                      </body>
+                      <joint name="Left_Thumb_J3.stl" class="f" pos="0 0 0" axis="0 0 1" />
+                    </body>
+                  </body>
+                  <joint name="Left_Thumb_J2.stl" class="f" pos="0 0 0" axis="0 0 1" />
+                </body>
+              </body>
+              <joint name="Left_Thumb_J1.stl" class="f" pos="0.01 0.01 0.01" axis="1 0 -0.1" />
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <!-- <frame pos=".1 0 1.3" euler="0 0 3.14">
+      <body name="Right_abdomen phantom" childclass="phantom">
+          <geom mesh="right_kidney" material="right_kidney" class="visual" />
+          <geom mesh="ribs" material="ribs" class="visual" />
+          <geom mesh="portal_vein" material="portal_vein" class="visual" />
+          <geom mesh="outer_spine" material="outer_spine" class="visual" />
+          <geom mesh="muscle" material="muscle" class="visual" />
+          <geom mesh="liver" material="liver" class="visual" />
+          <geom mesh="inner_spine" material="inner_spine" class="visual" />
+          <geom mesh="fat" material="fat" class="visual" />
+          <geom mesh="cava" material="cava" class="visual" />
+          <geom mesh="aorta" material="aorta" class="visual" />
+      </body>
+
+      <flexcomp name="left kidney" type="gmsh" dim="3" pos=".1 -.09 1.45" euler="0 0 3.14"
+          file="phantom-assets/left kidney_converted_vol.msh" scale="3 3 3" material="right_kidney" >
+          <edge equality="true" />
+          <pin id="47 38 58" />
+          <contact internal="false" condim="3" solref="0.005 1" solimp=".95 .99 .0001"
+              selfcollide="none" />
+          <elasticity poisson="0.1" young="5e4" damping="0.005" />
+      </flexcomp>
+  </frame> -->
+
+    <body name="ball" pos="0 0 0.03">
+      <freejoint />
+      <geom type="box" size=".03 .03 .03" density="4000" />
+      <geom name="sphere_collision" class="collision_primitive" type="box" size=".03 .03 .03"
+        density="4000"
+        pos="0 0 0" euler="0 0 0" />
+    </body>
+  </worldbody>
+
+  <actuator>
+    <intvelocity name="Right_Index_J1.stl" class="f" joint="Right_Index_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Index_J2.stl" class="f" joint="Right_Index_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Index_J3.stl" class="f" joint="Right_Index_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Middle_J1.stl" class="f" joint="Right_Middle_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Middle_J2.stl" class="f" joint="Right_Middle_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Middle_J3.stl" class="f" joint="Right_Middle_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Annular_J1.stl" class="f" joint="Right_Annular_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Annular_J2.stl" class="f" joint="Right_Annular_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Annular_J3.stl" class="f" joint="Right_Annular_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Pinky_J1.stl" class="f" joint="Right_Pinky_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Pinky_J2.stl" class="f" joint="Right_Pinky_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Pinky_J3.stl" class="f" joint="Right_Pinky_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Thumb_J1.stl" class="f" joint="Right_Thumb_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Right_Thumb_J2.stl" class="f" joint="Right_Thumb_J2.stl"
+      kp="10000" kv="10" actrange="0 2" />
+    <intvelocity name="Right_Thumb_J3.stl" class="f" joint="Right_Thumb_J3.stl"
+      kp="10000" kv="10" actrange="0 2" />
+
+    <intvelocity name="Left_Index_J1.stl" class="f" joint="Left_Index_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Index_J2.stl" class="f" joint="Left_Index_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Index_J3.stl" class="f" joint="Left_Index_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Middle_J1.stl" class="f" joint="Left_Middle_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Middle_J2.stl" class="f" joint="Left_Middle_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Middle_J3.stl" class="f" joint="Left_Middle_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Annular_J1.stl" class="f" joint="Left_Annular_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Annular_J2.stl" class="f" joint="Left_Annular_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Annular_J3.stl" class="f" joint="Left_Annular_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Pinky_J1.stl" class="f" joint="Left_Pinky_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Pinky_J2.stl" class="f" joint="Left_Pinky_J2.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Pinky_J3.stl" class="f" joint="Left_Pinky_J3.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Thumb_J1.stl" class="f" joint="Left_Thumb_J1.stl"
+      kp="10000" kv="10" actrange="0 1.7" />
+    <intvelocity name="Left_Thumb_J2.stl" class="f" joint="Left_Thumb_J2.stl"
+      kp="10000" kv="10" actrange="0 2" />
+    <intvelocity name="Left_Thumb_J3.stl" class="f" joint="Left_Thumb_J3.stl"
+      kp="10000" kv="10" actrange="0 2" />
+  </actuator>
+
+  <sensor>
+    <touch name="right_fingertip_index" site="RightforSensor" />
+    <touch name="right_fingertip_middle" site="RightforSensorMiddle_4.stl" />
+    <touch name="right_fingertip_annular" site="RightforSensorAnnular_4.stl" />
+    <touch name="right_fingertip_pinky" site="RightforSensorPinky_4.stl" />
+    <touch name="right_fingertip_thumb" site="RightforSensorThumb_3.stl" />
+
+    <touch name="left_fingertip_index" site="LeftforSensor" />
+    <touch name="left_fingertip_middle" site="LeftforSensorMiddle_4.stl" />
+    <touch name="left_fingertip_annular" site="LeftforSensorAnnular_4.stl" />
+    <touch name="left_fingertip_pinky" site="LeftforSensorPinky_4.stl" />
+    <touch name="left_fingertip_thumb" site="LeftforSensorThumb_3.stl" />
+  </sensor>
+
+</mujoco>
diff --git a/tactile/undergraduat/code/assets/MuJoCo phantom.xml b/tactile/undergraduat/code/assets/MuJoCo phantom.xml
new file mode 100644
index 0000000..781e1f3
--- /dev/null
+++ b/tactile/undergraduat/code/assets/MuJoCo phantom.xml	
@@ -0,0 +1,274 @@
+<mujoco model="Abdomen - Deformable left kidney">
+    <size memory="1G" />
+    <statistic extent="1.5" meansize=".05" />
+
+    <compiler angle="degree"/>
+
+    <option solver="CG" tolerance="1e-6" timestep=".0014" integrator="implicitfast" jacobian="sparse">
+        <!-- The timestep is adjusted so the flexcomp does not explode as soon as the simulation start.
+         It is better to have the largest value possible to reduce the time it takes for the simulation
+         to compute while still keeping accuracy. -->
+    </option>
+
+    <visual>
+        <rgba haze="0.15 0.25 0.35 1" />
+        <quality shadowsize="4096" />
+        <map stiffness="100" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3" />
+    </visual>
+
+    <default>
+        <default class="phantom">
+            <mesh scale="3 3 3" />
+        </default>
+        <default class="visual">
+            <geom group="2" type="mesh" contype="0" conaffinity="0" />
+        </default>
+        <default class="collision-hand">
+            <geom group="2" type="mesh" contype="1" conaffinity="3"/>
+        </default>
+    </default>
+
+    <extension>
+    </extension>
+
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1="1 0.5 0.7" rgb2="0 0 0" width="512"
+            height="512" />
+        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
+            width="512" height="512" mark="cross" markrgb=".8 .8 .8" />
+
+        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1"
+            texuniform="true" />
+
+        <!-- Abdomen phantom -->
+        <material name="aorta"
+            rgba="1.000000 0.750000 0.750000 1.000000" />
+        <material name="cava"
+            rgba="0.500000 0.500000 1.000000 1.000000" />
+        <material name="fat" specular="0.25" shininess="0.1"
+            rgba="1.000000 1.000000 0.650000 1.000000" />
+        <material name="inner_spine"
+            rgba="1.000000 1.000000 1.000000 1.000000" />
+        <material name="liver"
+            rgba="0.500000 0.250000 0.250000 1.000000" />
+        <material name="liver lesion"
+            rgba="0.800000 0.250000 0.250000 1.000000" />
+        <material name="muscle"
+            rgba="1.000000 0.500000 0.500000 1.000000" />
+        <material name="outer_spine"
+            rgba="1.000000 1.000000 0.850000 1.000000" />
+        <material name="portal_vein"
+            rgba="0.750000 0.250000 0.250000 1.000000" />
+        <material name="ribs"
+            rgba="1.000000 1.000000 0.850000 1.000000" />
+        <material name="right_kidney"
+            rgba="0.800000 0.400000 0.400000 1.000000" />
+        <mesh class="phantom" file="phantom-assets/right_kidney.obj" />
+        <mesh class="phantom" file="phantom-assets/ribs.obj" />
+        <mesh class="phantom" file="phantom-assets/portal_vein.obj" />
+        <mesh class="phantom" file="phantom-assets/outer_spine.obj" />
+        <mesh class="phantom" file="phantom-assets/muscle.obj" />
+        <mesh class="phantom" file="phantom-assets/liver.obj" />
+        <mesh class="phantom" file="phantom-assets/inner_spine.obj" />
+        <mesh class="phantom" file="phantom-assets/fat.obj" />
+        <mesh class="phantom" file="phantom-assets/cava.obj" />
+        <mesh class="phantom" file="phantom-assets/aorta.obj" />
+
+        <!-- Hand -->
+        <material name="thumb_1" specular="0.5" shininess="0.25" rgba="1 0.934 0.905 1" />
+        <mesh name="thumb_1_visual" file="hand-assets/thumb_1_visual.obj" />
+        <material name="thumb_2" specular="0.5" shininess="0.25" rgba="0 0 0 1" />
+        <mesh name="thumb_2_visual" file="hand-assets/thumb_2_visual.obj" />
+        <material name="index_1" specular="0.5" shininess="0.25" rgba="0.8 0.732 0 1" />
+        <mesh name="index_1_visual" file="hand-assets/index_1_visual.obj" />
+        <material name="index_2" specular="0.5" shininess="0.25" rgba="0.54 0.8 0.0765 1" />
+        <mesh name="index_2_visual" file="hand-assets/index_2_visual.obj" />
+        <material name="index_3" specular="0.5" shininess="0.25" rgba="0.801 0.35 0.273 1" />
+        <mesh name="index_3_visual" file="hand-assets/index_3_visual.obj" />
+        <material name="middle_1" specular="0.5" shininess="0.25" rgba="0.0147 0.0206 0.8 1" />
+        <mesh name="middle_1_visual" file="hand-assets/middle_1_visual.obj" />
+        <material name="middle_2" specular="0.5" shininess="0.25" rgba="0.0125 0.777 0.8 1" />
+        <mesh name="middle_2_visual" file="hand-assets/middle_2_visual.obj" />
+        <material name="middle_3" specular="0.5" shininess="0.25" rgba="0.318 0.19 0.8 1" />
+        <mesh name="middle_3_visual" file="hand-assets/middle_3_visual.obj" />
+        <material name="annular_1" specular="0.5" shininess="0.25" rgba="0.8 0 0.0115 1" />
+        <mesh name="annular_1_visual" file="hand-assets/annular_1_visual.obj" />
+        <material name="annular_2" specular="0.5" shininess="0.25" rgba="0.8 0.209 0 1" />
+        <mesh name="annular_2_visual" file="hand-assets/annular_2_visual.obj" />
+        <material name="annular_3" specular="0.5" shininess="0.25" rgba="0.8 0.119 0.174 1" />
+        <mesh name="annular_3_visual" file="hand-assets/annular_3_visual.obj" />
+        <material name="pinky_1" specular="0.5" shininess="0.25" rgba="0.8 0.0539 0.642 1" />
+        <mesh name="pinky_1_visual" file="hand-assets/pinky_1_visual.obj" />
+        <material name="pinky_2" specular="0.5" shininess="0.25" rgba="0.248 0.00367 0.8 1" />
+        <mesh name="pinky_2_visual" file="hand-assets/pinky_2_visual.obj" />
+        <material name="pinky_3" specular="0.5" shininess="0.25" rgba="0.254 0.0034 0.437 1" />
+        <mesh name="pinky_3_visual" file="hand-assets/pinky_3_visual.obj" />
+        <material name="wrist" specular="0.5" shininess="0.16" rgba="0.701 0.196 0.151 1" />
+        <mesh name="wrist_visual" file="hand-assets/wrist_visual.obj" />
+        <material name="palm" specular="0.5" shininess="0.25" rgba="0 0.8 0.00195 1" />
+        <mesh name="palm_visual" file="hand-assets/palm_visual.obj" />
+    </asset>
+
+    <equality>
+        <weld body1="right_hand_mocap" body2="right_hand"
+            solref="0.01 1" solimp=".9 .9 0.01" />
+        <weld body1="left_hand_mocap" body2="left_hand"
+            solref="0.01 1" solimp=".9 .9 0.01" />
+    </equality>
+
+    <sensor>
+        <touch site="right_fingertip_thumb" name="right_fingertip_thumb" />
+        <touch site="right_fingertip_index" name="right_fingertip_index" />
+        <touch site="right_fingertip_middle" name="right_fingertip_middle" />
+        <touch site="left_fingertip_thumb" name="left_fingertip_thumb" />
+        <touch site="left_fingertip_index" name="left_fingertip_index" />
+        <touch site="left_fingertip_middle" name="left_fingertip_middle" />
+    </sensor>
+
+    <worldbody>
+        <body pos="0 0 0" euler="90 90 0">
+            <geom type='capsule' size=".02 .1" rgba="1 0 0 1" contype="0" conaffinity="0" />
+        </body>
+
+        <frame name="right_hand_frame" pos="-0.2 0 1">
+            <body name="right_hand_mocap" mocap="true">
+                <geom type="box" size="0.02 0.05 0.05" rgba=".5 .5 .5 .2" class="visual" />
+            </body>
+            <body name="right_hand" pos="0 -0.03 0" euler="180 0 -60">
+                <freejoint />
+                <geom name="right_thumb_1_visual" class="collision-hand" material="thumb_1"
+                mesh="thumb_1_visual" />
+                <body>
+                    <site name="right_fingertip_thumb" type="sphere" pos="-0.04 0.046 -0.003" size=".01 .01 .01" rgba="0.5 0.5 1 .2" />
+                    <geom name="right_thumb_2_visual" class="collision-hand" material="thumb_2"
+                    mesh="thumb_2_visual" />
+                </body>
+                <geom name="right_index_1_visual" class="collision-hand" material="index_1"
+                mesh="index_1_visual" />
+                <geom name="right_index_2_visual" class="collision-hand" material="index_2"
+                mesh="index_2_visual" />
+                <body>
+                    <site name="right_fingertip_index" type="sphere" pos="-0.026 0.017 0.05" size=".01 .01 .01" rgba="0.5 0.5 1 .2" />
+                    <geom name="right_index_3_visual" class="collision-hand" material="index_3"
+                    mesh="index_3_visual" />
+                </body>
+                <geom name="right_middle_1_visual" class="collision-hand" material="middle_1"
+                mesh="middle_1_visual" />
+                <geom name="right_middle_2_visual" class="collision-hand" material="middle_2"
+                mesh="middle_2_visual" />
+                <body>
+                    <site name="right_fingertip_middle" type="sphere" pos="-0.017 0.003 0.065" size=".01 .01 .01" rgba="0.5 0.5 1 .2" />
+                    <geom name="right_middle_3_visual" class="collision-hand" material="middle_3"
+                        mesh="middle_3_visual" />
+                </body>
+                <geom name="right_annular_1_visual" class="collision-hand" material="annular_1"
+                    mesh="annular_1_visual" />
+                <geom name="right_annular_2_visual" class="collision-hand" material="annular_2"
+                    mesh="annular_2_visual" />
+                <geom name="right_annular_3_visual" class="collision-hand" material="annular_3"
+                    mesh="annular_3_visual" />
+                <geom name="right_pinky_1_visual" class="collision-hand" material="pinky_1"
+                    mesh="pinky_1_visual" />
+                <geom name="right_pinky_2_visual" class="collision-hand" material="pinky_2"
+                    mesh="pinky_2_visual" />
+                <geom name="right_pinky_3_visual" class="collision-hand" material="pinky_3"
+                    mesh="pinky_3_visual" />
+                <geom name="right_wrist_visual" class="visual" material="wrist" mesh="wrist_visual" />
+                <geom name="right_palm_visual" class="collision-hand" material="palm" mesh="palm_visual" />
+            </body>
+        </frame>
+        <frame name="left_hand_frame" pos="-0.3 0 1">
+            <body name="left_hand_mocap" mocap="true">
+                <!-- <geom type="box" size="0.02 0.05 0.05" rgba=".5 .5 .5 .2" class="visual" /> -->
+            </body>
+            <body name="left_hand" pos="0 -0.03 0" euler="180 0 0">
+                <freejoint />
+                <site name="left_fingertip_thumb" type="sphere" pos="-0.04 0.046 -0.003" size=".01 .01 .01" rgba="0.5 0.5 1 .2" />
+                <site name="left_fingertip_index" type="sphere" pos="-0.026 0.017 0.05" size=".01 .01 .01" rgba="0.5 0.5 1 .2" />
+                <site name="left_fingertip_middle" type="sphere" pos="-0.017 0.003 0.065" size=".01 .01 .01" rgba="0.5 0.5 1 .2" />
+                <geom name="left_thumb_1_visual" class="collision-hand" material="thumb_1"
+                    mesh="thumb_1_visual" />
+                <geom name="left_thumb_2_visual" class="collision-hand" material="thumb_2"
+                    mesh="thumb_2_visual" />
+                <geom name="left_index_1_visual" class="collision-hand" material="index_1"
+                    mesh="index_1_visual" />
+                <geom name="left_index_2_visual" class="collision-hand" material="index_2"
+                    mesh="index_2_visual" />
+                <geom name="left_index_3_visual" class="collision-hand" material="index_3"
+                    mesh="index_3_visual" />
+                <geom name="left_middle_1_visual" class="collision-hand" material="middle_1"
+                    mesh="middle_1_visual" />
+                <geom name="left_middle_2_visual" class="collision-hand" material="middle_2"
+                    mesh="middle_2_visual" />
+                <geom name="left_middle_3_visual" class="collision-hand" material="middle_3"
+                    mesh="middle_3_visual" />
+                <geom name="left_annular_1_visual" class="collision-hand" material="annular_1"
+                    mesh="annular_1_visual" />
+                <geom name="left_annular_2_visual" class="collision-hand" material="annular_2"
+                    mesh="annular_2_visual" />
+                <geom name="left_annular_3_visual" class="collision-hand" material="annular_3"
+                    mesh="annular_3_visual" />
+                <geom name="left_pinky_1_visual" class="collision-hand" material="pinky_1"
+                    mesh="pinky_1_visual" />
+                <geom name="left_pinky_2_visual" class="collision-hand" material="pinky_2"
+                    mesh="pinky_2_visual" />
+                <geom name="left_pinky_3_visual" class="collision-hand" material="pinky_3"
+                    mesh="pinky_3_visual" />
+                <geom name="left_wrist_visual" class="visual" material="wrist" mesh="wrist_visual" />
+                <geom name="left_palm_visual" class="collision-hand" material="palm" mesh="palm_visual" />
+            </body>
+        </frame>
+
+        <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0"
+            dir="0 0 -1" castshadow="false" />
+        <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
+
+        <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane"
+            condim="1" />
+
+        <frame pos=".1 0 1.3" euler="0 0 180">
+            <body name="abdomen phantom" childclass="phantom">
+                <!-- Only visual for now until convex hull -->
+                <geom mesh="right_kidney" material="right_kidney" class="visual" />
+                <geom mesh="ribs" material="ribs" class="visual" />
+                <geom mesh="portal_vein" material="portal_vein" class="visual" />
+                <geom mesh="outer_spine" material="outer_spine" class="visual" />
+                <geom mesh="muscle" material="muscle" class="visual" />
+                <!-- <geom mesh="liver" material="liver" class="visual" /> -->
+                <geom mesh="inner_spine" material="inner_spine" class="visual" />
+                <geom mesh="fat" material="fat" class="visual" />
+                <geom mesh="cava" material="cava" class="visual" />
+                <geom mesh="aorta" material="aorta" class="visual" />
+            </body>
+
+            <!-- For some reason, the position and orientation from the parent frame is not
+             accumulated in the flexcomp. The "real" position should be pos="0 .09 .15" -->
+            <flexcomp name="left kidney normal" type="gmsh" dim="3" pos=".1 -.09 1.45" euler="0 0 180"
+                file="phantom-assets/left kidney_converted_vol.msh" scale="3 3 3" material="right_kidney" >
+                <edge equality="true" />
+                <pin id="47 38 58" />
+                <contact internal="false" condim="3" solref="0.005 1" solimp=".95 .99 .0001"
+                    selfcollide="none" contype="2" conaffinity="1" />
+                <elasticity poisson="0.1" young="5e4" damping="0.005" />
+            </flexcomp>
+
+            <flexcomp name="liver cibrosis" pos=".1 0 1.3" euler="90 0 180" type="gmsh" dim="3"
+                file="phantom-assets/liver_converted_vol.msh" scale="3 3 3" material="liver" >
+                <edge equality="true" damping="1"/>
+                <pin id="126 79 66 98 80 101"/>
+                <contact internal="false" condim="3" solref="0.005 1" solimp=".95 .99 .0001" selfcollide="none"
+                    contype="2" conaffinity="1"/>
+                <elasticity poisson="0" young="5e4" />
+            </flexcomp>
+
+            <flexcomp name="liver lesion" type="ellipsoid" count="4 4 4" spacing=".012 .012 .012" pos=".15 0 1.4"
+                radius=".001" dim="3" mass="5" material="liver lesion" >
+                <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"
+                    contype="2" conaffinity="1"/>
+                <edge equality="true" damping="1"/>
+                <elasticity poisson="0" young="5e4" />
+            </flexcomp>
+        </frame>
+
+    </worldbody>
+</mujoco>
diff --git a/tactile/undergraduat/code/assets/MuJoCo scene simple.xml b/tactile/undergraduat/code/assets/MuJoCo scene simple.xml
new file mode 100644
index 0000000..a0c1d36
--- /dev/null
+++ b/tactile/undergraduat/code/assets/MuJoCo scene simple.xml	
@@ -0,0 +1,59 @@
+<?xml-model href="../../mujoco-xml-schema-mjcf/mujoco.xsd"?>
+<mujoco>
+    <statistic extent="1.5" meansize=".05" />
+
+    <option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast" jacobian="sparse">
+        <!-- <flag gravity="disable" /> -->
+    </option>
+
+    <size memory="10M" />
+
+    <visual>
+        <rgba haze="0.15 0.25 0.35 1" />
+        <quality shadowsize="4096" />
+        <map stiffness="100" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3" />
+    </visual>
+
+    <extension>
+    </extension>
+
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1="1 0.5 0.7" rgb2="0 0 0" width="512"
+            height="512" />
+        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
+            width="512" height="512" mark="cross" markrgb=".8 .8 .8" />
+
+        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1"
+            texuniform="true" />
+    </asset>
+
+    <worldbody>
+        <body name="right_hand_mocap" mocap="true" pos="0 0 0.2" euler="0 0 0">
+            <geom type="capsule" size="0.03 0.06" />
+        </body>
+
+        <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0"
+            dir="0 0 -1" castshadow="false" />
+        <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
+
+        <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane"
+            condim="1" />
+
+        <body name="finger" mocap="true" pos="0 0 0.1" euler="90 0 0">
+            <geom type="capsule" size="0.01115 0.036" />
+            <site name="fingertip" type="sphere" pos="0.0 -0.008 -0.035" rgba="0.5 0.5 1 1" />
+        </body>
+
+        <flexcomp type="grid" count="5 5 5" spacing=".02 .02 .02" pos="0 0 0.045" dim="3"
+            radius=".005" rgba="0 .7 .7 1" mass="5" name="softbody">
+            <pin gridrange="0 0 0 4 4 0"/>
+            <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none" />
+            <elasticity poisson="0.2" young="5e4" damping="0.005" />
+        </flexcomp>
+    </worldbody>
+
+    <sensor>
+        <touch site="fingertip" name="fingertip_sensor" />
+    </sensor>
+
+</mujoco>
diff --git a/tactile/undergraduat/code/assets/balloons.xml b/tactile/undergraduat/code/assets/balloons.xml
new file mode 100644
index 0000000..df85fbf
--- /dev/null
+++ b/tactile/undergraduat/code/assets/balloons.xml
@@ -0,0 +1,157 @@
+<?xml-model href="../../mujoco-xml-schema-mjcf/mujoco.xsd"?>
+<mujoco>
+    <statistic extent="1.5" meansize=".05" />
+
+    <option density="1.204" viscosity="1.8e-5" timestep=".001" integrator="implicitfast"
+            solver="CG" tolerance="1e-6" jacobian="sparse" />
+  
+    <visual>
+      <rgba haze="0.15 0.25 0.35 1" fog="0.5 0.8 0.5 0.5"/>
+      <quality shadowsize="4096" />
+      <map stiffness="100" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3" />
+    </visual>
+
+    <size memory="10M" />
+
+    <extension>
+  </extension>
+  
+    <default>
+      <tendon limited="true" width="0.003" rgba="1 1 1 1"/>
+      <geom friction=".2"/>
+      <default class="weight">
+        <geom rgba=".8 .4 .8 1"/>
+        <site rgba=".8 .4 .8 1"/>
+      </default>
+      <default class="balloon">
+        <!--
+          0.167 is the MKS density of helium at room temperature.
+          Note this does not take into account the mass of the rubber,
+          which is likely not insignificant.
+        -->
+        <geom density="0.167" fluidshape="ellipsoid"/>
+        <default class="pink">
+          <geom rgba="1 .6 .7 1"/>
+          <site rgba="1 .6 .7 1"/>
+        </default>
+        <default class="blue">
+          <geom rgba=".3 .7 .9 1"/>
+          <site rgba=".3 .7 .9 1"/>
+        </default>
+        <default class="green">
+          <geom rgba=".4 .9 .5 1"/>
+          <site rgba=".4 .9 .5 1"/>
+        </default>
+        <default class="orange">
+          <geom rgba="1 .4 0 1"/>
+          <site rgba="1 .4 0 1"/>
+        </default>
+      </default>
+    </default>
+  
+    <asset>
+      <texture type="skybox" builtin="gradient" rgb1="0.529 0.808 0.922" rgb2="0 0 0" width="512"
+          height="512" />
+      <texture name="grid" type="2d" builtin="checker" width="512" height="512"
+        rgb2="0.127 0.731 0.141 " rgb1="0.484 0.984 0.0" mark="edge"/>
+      <material name="grid" texture="grid" texrepeat="2 2" texuniform="true"
+        reflectance="0" rgba=".5 .5 .5 1"/>
+
+       <mesh file="Hand_Decomposed.obj" scale=".2 .2 .2" />
+    </asset>
+  
+    <worldbody>
+      <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0"
+        dir="0 0 -1" castshadow="false" />
+      <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
+
+      <flexcomp type="grid" count="6 6 6" spacing=".06 .06 .06" pos="0 0.8 -.25" dim="3"
+          radius=".005" rgba="0 .7 .7 1" mass="5" name="softbody">
+          <edge damping="1"/>
+          <!-- <pin gridrange="0 0 0 4 4 0"/> -->
+          <contact selfcollide="none" />
+          <elasticity poisson="0" young="5e4" />
+      </flexcomp>
+
+      <body name="finger" mocap="true" pos="2 0 1" euler="90 0 0">
+        <geom type="capsule" size="0.01115 0.036" />
+      </body>
+      <frame name="right_hand_frame" pos="0 0 1">
+        <body name="right_hand_mocap" mocap="true">
+            <geom type="box" size="0.02 0.05 0.05" rgba=".5 .5 .5 .3" contype="0" conaffinity="0"/>
+          <site name="fingertip" type="sphere" pos="0.0 -0.03 -0.055" rgba="0.5 0.5 1 1" />
+        </body>
+        <body name="right_hand_collision">
+          <freejoint/>
+            <geom type="mesh" mesh="Hand_Decomposed" euler="180 0 0"/>
+        </body>
+      </frame>
+
+      <geom name="ground" type="plane" size="5 5 .05" pos="0 0 -.5" material="grid"/>
+      <geom name="ramp" type="box" size=".4 .2 .03" pos="0 0 -.4" euler="0 20 0" rgba="1 1 1 1"/>
+  
+      <body name="weight" childclass="weight" pos=".3 0 .2">
+        <freejoint/>
+        <!-- The mass of the weight was chosen to be slightly bigger than the total buoyancy of the balloons. -->
+        <geom name="weight" type="box" size=".015 .015 .015" mass=".0347"/>
+        <site name="weight1" pos=" .013  .013 .013" size="0.005"/>
+        <site name="weight2" pos="-.013 -.013 .013" size="0.005"/>
+      </body>
+  
+      <!-- The gravcomp value of 7.2 is the ratio of air and helium desities at room temperature. -->
+      <body name="pink" gravcomp="7.2" pos="-.2 .1 .2" childclass="pink">
+        <freejoint />
+        <geom name="pink" type="ellipsoid" size=".11 .11 .15"/>
+        <geom name="pink_knot" pos="0 0 -.15" size=".02"/>
+        <site name="pink" pos="0 0 -.17" size="0.01"/>
+      </body>
+  
+      <body name="blue" gravcomp="7.2" pos=".1 .1 .2" childclass="blue">
+        <freejoint />
+        <geom name="blue" type="ellipsoid" size=".12 .12 .15"/>
+        <geom name="blue_knot" pos="0 0 -.15" size=".02"/>
+        <site name="blue" pos="0 0 -.17" size="0.01"/>
+      </body>
+  
+      <body name="green" gravcomp="7.2" pos=".1 -.1 .2" childclass="green">
+        <freejoint />
+        <geom name="green" type="ellipsoid" size=".12 .12 .14"/>
+        <geom name="green_knot" pos="0 0 -.14" size=".02"/>
+        <site name="green" pos="0 0 -.16" size="0.01"/>
+      </body>
+  
+      <body name="orange" gravcomp="7.2" pos="-.12 -.12 .2" childclass="orange">
+        <freejoint />
+        <geom name="orange" type="ellipsoid" size=".12 .12 .13"/>
+        <geom name="orange_knot" pos="0 0 -.13" size=".02"/>
+        <site name="orange" pos="0 0 -.15" size="0.01"/>
+      </body>
+    </worldbody>
+
+    <equality>
+      <weld body1="right_hand_mocap" body2="right_hand_collision"/>
+    </equality>
+  
+    <tendon>
+      <spatial range="0 0.6">
+        <site site="pink"/>
+        <site site="weight1"/>
+      </spatial>
+      <spatial range="0 0.4">
+        <site site="blue"/>
+        <site site="weight1"/>
+      </spatial>
+      <spatial range="0 0.3">
+        <site site="green"/>
+        <site site="weight2"/>
+      </spatial>
+      <spatial range="0 0.5">
+        <site site="orange"/>
+        <site site="weight2"/>
+      </spatial>
+    </tendon>
+
+    <sensor>
+        <touch site="fingertip" name="fingertip_sensor" />
+    </sensor>
+  </mujoco>
diff --git a/tactile/undergraduat/code/assets/cover.png b/tactile/undergraduat/code/assets/cover.png
new file mode 100644
index 0000000..d47f4aa
Binary files /dev/null and b/tactile/undergraduat/code/assets/cover.png differ
diff --git a/tactile/undergraduat/code/assets/hand-assets/annular_1_visual.obj b/tactile/undergraduat/code/assets/hand-assets/annular_1_visual.obj
new file mode 100644
index 0000000..032e119
--- /dev/null
+++ b/tactile/undergraduat/code/assets/hand-assets/annular_1_visual.obj
@@ -0,0 +1,2859 @@
+mtllib material.mtl
+usemtl material_0
+v 0.01708280 -0.02086560 0.02675920
+v 0.00493080 -0.01900700 0.02707060
+v 0.01885840 -0.01083300 0.02350260
+v 0.00676340 -0.00898020 0.02325940
+v 0.02229540 -0.01869860 0.01061320
+v 0.00417240 -0.01547120 0.01142500
+v 0.01579100 -0.00876080 0.00307740
+v 0.01509380 -0.00798020 0.00991760
+v 0.02278060 -0.02002020 0.00446540
+v 0.01142460 -0.02687940 0.01253160
+v 0.02022800 -0.01607080 0.02470760
+v 0.00429500 -0.01671340 0.00475280
+v 0.00372720 -0.01345840 0.02477700
+v 0.01308040 -0.00805340 0.02264100
+v 0.01152380 -0.02840380 0.00605660
+v 0.01057980 -0.02188060 0.02842900
+v 0.02231360 -0.01304540 0.00348940
+v 0.00775400 -0.00942940 0.01055000
+v 0.00640440 -0.02512480 0.00452160
+v 0.00807900 -0.01016560 0.00379620
+v 0.02142760 -0.01181220 0.01003160
+v 0.01795600 -0.02745380 0.00438980
+v 0.00547960 -0.02286780 0.01198200
+v 0.01844960 -0.02516260 0.01137020
+v 0.02068040 -0.01646160 0.02209160
+v 0.01360520 -0.00793700 0.02068920
+v 0.00510220 -0.01971940 0.02371440
+v 0.01931740 -0.01079020 0.02115640
+v 0.01078140 -0.02316440 0.02431100
+v 0.00726000 -0.00896760 0.02108080
+v 0.00404700 -0.01381320 0.02219540
+v 0.01746120 -0.02173440 0.02349200
+v 0.02140060 -0.01736680 0.01746020
+v 0.01444180 -0.00796760 0.01633320
+v 0.00778660 -0.00919880 0.01681060
+v 0.01807200 -0.02308080 0.01850560
+v 0.00551160 -0.02093960 0.01880820
+v 0.02028880 -0.01124720 0.01665920
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+v 0.00451640 -0.01449880 0.01783240
+v 0.01481340 -0.02981360 0.00166340
+v 0.00893460 -0.02825800 0.00103940
+v 0.01152380 -0.02973400 0.00194780
+v 0.02164280 -0.01768960 0.01586780
+v 0.02189280 -0.01802940 0.01414900
+v 0.02211860 -0.01837020 0.01237400
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+v 0.00408600 -0.01612340 0.00798480
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+v 0.01460800 -0.00801740 0.01487020
+v 0.01475840 -0.00804360 0.01327920
+v 0.01491960 -0.00804080 0.01161120
+v 0.01150080 -0.02805900 0.00744200
+v 0.01147000 -0.02771300 0.00902760
+v 0.01144060 -0.02733500 0.01074600
+v 0.00676500 -0.00890380 0.02369140
+v 0.01987940 -0.01744840 0.02511680
+v 0.01923680 -0.01876040 0.02560920
+v 0.01830100 -0.01992520 0.02616380
+v 0.00355820 -0.01487180 0.02529960
+v 0.00368360 -0.01632100 0.02587600
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diff --git a/tactile/undergraduat/code/assets/hand-assets/annular_2_visual.obj b/tactile/undergraduat/code/assets/hand-assets/annular_2_visual.obj
new file mode 100644
index 0000000..c24ae0c
--- /dev/null
+++ b/tactile/undergraduat/code/assets/hand-assets/annular_2_visual.obj
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diff --git a/tactile/undergraduat/code/assets/hand-assets/annular_3_visual.obj b/tactile/undergraduat/code/assets/hand-assets/annular_3_visual.obj
new file mode 100644
index 0000000..3694ea4
--- /dev/null
+++ b/tactile/undergraduat/code/assets/hand-assets/annular_3_visual.obj
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diff --git a/tactile/undergraduat/code/assets/hand-assets/index_1_visual.obj b/tactile/undergraduat/code/assets/hand-assets/index_1_visual.obj
new file mode 100644
index 0000000..6066e22
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diff --git a/tactile/undergraduat/code/assets/hand-assets/index_2_visual.obj b/tactile/undergraduat/code/assets/hand-assets/index_2_visual.obj
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index 0000000..8dc95c4
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index 0000000..86d1cdb
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diff --git a/tactile/undergraduat/code/assets/hand-assets/middle_1_visual.obj b/tactile/undergraduat/code/assets/hand-assets/middle_1_visual.obj
new file mode 100644
index 0000000..c139136
--- /dev/null
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diff --git a/tactile/undergraduat/code/assets/hand-assets/middle_2_visual.obj b/tactile/undergraduat/code/assets/hand-assets/middle_2_visual.obj
new file mode 100644
index 0000000..93cc302
--- /dev/null
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diff --git a/tactile/undergraduat/code/assets/hand-assets/middle_3_visual.obj b/tactile/undergraduat/code/assets/hand-assets/middle_3_visual.obj
new file mode 100644
index 0000000..7c06937
--- /dev/null
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diff --git a/tactile/undergraduat/code/assets/hand-assets/palm_visual.obj b/tactile/undergraduat/code/assets/hand-assets/palm_visual.obj
new file mode 100644
index 0000000..fb1a8f3
--- /dev/null
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diff --git a/tactile/undergraduat/code/assets/hand-assets/pinky_1_visual.obj b/tactile/undergraduat/code/assets/hand-assets/pinky_1_visual.obj
new file mode 100644
index 0000000..b66386b
--- /dev/null
+++ b/tactile/undergraduat/code/assets/hand-assets/pinky_1_visual.obj
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diff --git a/tactile/undergraduat/code/assets/hand-assets/pinky_2_visual.obj b/tactile/undergraduat/code/assets/hand-assets/pinky_2_visual.obj
new file mode 100644
index 0000000..bcf459e
--- /dev/null
+++ b/tactile/undergraduat/code/assets/hand-assets/pinky_2_visual.obj
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diff --git a/tactile/undergraduat/code/assets/hand-assets/pinky_3_visual.obj b/tactile/undergraduat/code/assets/hand-assets/pinky_3_visual.obj
new file mode 100644
index 0000000..f404acf
--- /dev/null
+++ b/tactile/undergraduat/code/assets/hand-assets/pinky_3_visual.obj
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diff --git a/tactile/undergraduat/code/assets/hand-assets/thumb_1_visual.obj b/tactile/undergraduat/code/assets/hand-assets/thumb_1_visual.obj
new file mode 100644
index 0000000..6482478
--- /dev/null
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diff --git a/tactile/undergraduat/code/assets/hand-assets/thumb_2_visual.obj b/tactile/undergraduat/code/assets/hand-assets/thumb_2_visual.obj
new file mode 100644
index 0000000..af7f696
--- /dev/null
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diff --git a/tactile/undergraduat/code/assets/hand-assets/wrist_visual.obj b/tactile/undergraduat/code/assets/hand-assets/wrist_visual.obj
new file mode 100644
index 0000000..5ce63a3
--- /dev/null
+++ b/tactile/undergraduat/code/assets/hand-assets/wrist_visual.obj
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diff --git a/tactile/undergraduat/code/assets/logo-insa.png b/tactile/undergraduat/code/assets/logo-insa.png
new file mode 100644
index 0000000..9395c79
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diff --git a/tactile/undergraduat/code/assets/logo-sapienza.png b/tactile/undergraduat/code/assets/logo-sapienza.png
new file mode 100644
index 0000000..7da3242
Binary files /dev/null and b/tactile/undergraduat/code/assets/logo-sapienza.png differ
diff --git a/tactile/undergraduat/code/assets/phantom-assets/aorta.obj b/tactile/undergraduat/code/assets/phantom-assets/aorta.obj
new file mode 100644
index 0000000..4529dd7
--- /dev/null
+++ b/tactile/undergraduat/code/assets/phantom-assets/aorta.obj
@@ -0,0 +1,10303 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib aorta.mtl
+o aorta
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diff --git a/tactile/undergraduat/code/assets/phantom-assets/cava.obj b/tactile/undergraduat/code/assets/phantom-assets/cava.obj
new file mode 100644
index 0000000..21dde06
--- /dev/null
+++ b/tactile/undergraduat/code/assets/phantom-assets/cava.obj
@@ -0,0 +1,14563 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib cava.mtl
+o cava
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diff --git a/tactile/undergraduat/code/assets/phantom-assets/fat.obj b/tactile/undergraduat/code/assets/phantom-assets/fat.obj
new file mode 100644
index 0000000..40c7383
--- /dev/null
+++ b/tactile/undergraduat/code/assets/phantom-assets/fat.obj
@@ -0,0 +1,38612 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib fat.mtl
+o fat
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diff --git a/tactile/undergraduat/code/assets/phantom-assets/inner_spine.obj b/tactile/undergraduat/code/assets/phantom-assets/inner_spine.obj
new file mode 100644
index 0000000..b7ff7e8
--- /dev/null
+++ b/tactile/undergraduat/code/assets/phantom-assets/inner_spine.obj
@@ -0,0 +1,15339 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib inner_spine.mtl
+o inner_spine
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diff --git a/tactile/undergraduat/code/assets/phantom-assets/left kidney_converted_vol.msh b/tactile/undergraduat/code/assets/phantom-assets/left kidney_converted_vol.msh
new file mode 100644
index 0000000..868bb3c
--- /dev/null
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diff --git a/tactile/undergraduat/code/assets/phantom-assets/left_kidney.obj b/tactile/undergraduat/code/assets/phantom-assets/left_kidney.obj
new file mode 100644
index 0000000..2f8cfa3
--- /dev/null
+++ b/tactile/undergraduat/code/assets/phantom-assets/left_kidney.obj
@@ -0,0 +1,32531 @@
+# Blender 4.1.1
+# www.blender.org
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diff --git a/tactile/undergraduat/code/assets/phantom-assets/liver.obj b/tactile/undergraduat/code/assets/phantom-assets/liver.obj
new file mode 100644
index 0000000..02d6079
--- /dev/null
+++ b/tactile/undergraduat/code/assets/phantom-assets/liver.obj
@@ -0,0 +1,202330 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib liver.mtl
+o liver
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diff --git a/tactile/undergraduat/code/assets/phantom-assets/liver_converted_vol.msh b/tactile/undergraduat/code/assets/phantom-assets/liver_converted_vol.msh
new file mode 100644
index 0000000..d272b70
Binary files /dev/null and b/tactile/undergraduat/code/assets/phantom-assets/liver_converted_vol.msh differ
diff --git a/tactile/undergraduat/code/assets/phantom-assets/muscle.obj b/tactile/undergraduat/code/assets/phantom-assets/muscle.obj
new file mode 100644
index 0000000..32bd07b
--- /dev/null
+++ b/tactile/undergraduat/code/assets/phantom-assets/muscle.obj
@@ -0,0 +1,419232 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib muscle.mtl
+o muscle
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diff --git a/tactile/undergraduat/code/assets/phantom-assets/outer_spine.obj b/tactile/undergraduat/code/assets/phantom-assets/outer_spine.obj
new file mode 100644
index 0000000..bdee5fe
--- /dev/null
+++ b/tactile/undergraduat/code/assets/phantom-assets/outer_spine.obj
@@ -0,0 +1,87272 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib outer_spine.mtl
+o outer_spine
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diff --git a/tactile/undergraduat/code/assets/phantom-assets/portal_vein.obj b/tactile/undergraduat/code/assets/phantom-assets/portal_vein.obj
new file mode 100644
index 0000000..ec51a54
--- /dev/null
+++ b/tactile/undergraduat/code/assets/phantom-assets/portal_vein.obj
@@ -0,0 +1,27636 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib portal_vein.mtl
+o portal_vein
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diff --git a/tactile/undergraduat/code/assets/phantom-assets/ribs.obj b/tactile/undergraduat/code/assets/phantom-assets/ribs.obj
new file mode 100644
index 0000000..edc0434
--- /dev/null
+++ b/tactile/undergraduat/code/assets/phantom-assets/ribs.obj
@@ -0,0 +1,107528 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib ribs.mtl
+o ribs
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diff --git a/tactile/undergraduat/code/assets/phantom-assets/right_kidney.obj b/tactile/undergraduat/code/assets/phantom-assets/right_kidney.obj
new file mode 100644
index 0000000..c2dd2ef
--- /dev/null
+++ b/tactile/undergraduat/code/assets/phantom-assets/right_kidney.obj
@@ -0,0 +1,29806 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib right_kidney.mtl
+o right_kidney
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diff --git a/tactile/undergraduat/code/assets/weart-wear.jpg b/tactile/undergraduat/code/assets/weart-wear.jpg
new file mode 100644
index 0000000..88a40a4
Binary files /dev/null and b/tactile/undergraduat/code/assets/weart-wear.jpg differ
diff --git a/tactile/undergraduat/code/benchmarking.py b/tactile/undergraduat/code/benchmarking.py
new file mode 100644
index 0000000..a191738
--- /dev/null
+++ b/tactile/undergraduat/code/benchmarking.py
@@ -0,0 +1,177 @@
+import time
+from datetime import datetime
+import bisect
+import csv
+from matplotlib import pyplot
+from matplotlib.animation import FuncAnimation
+
+class Plotter:
+    def __init__(self, title = "Real-time plot"):
+        self.title = title
+        self.start()
+
+    def start(self):
+        self._csv_data = []
+        self._plot_data = []
+        self._iter_time = []
+        self._labels = []
+        self._iter_i = 0
+        self._iter_j = 0
+        self._animation = None
+    
+    def new_iteration(self):
+        self._iter_data = [] if self._iter_i == 0 else [0] * len(self._labels)
+        self._iter_time.append(datetime.now())
+        self._iter_j = 0
+
+    def plot(self, value, label):
+        if self._iter_i == 0:
+            self._iter_data.append(value)
+            self._plot_data.append([value])
+            self._labels.append(label)
+        else:
+            self._iter_data[self._iter_j] = value
+            self._plot_data[self._iter_j].append(value)
+        self._iter_j += 1
+
+    def end_iteration(self):
+        if self._iter_j != 0:
+            self._csv_data.append(self._iter_data)
+            self._iter_i += 1
+    
+    def stop(self):
+        self.end_iteration()
+        if self._animation != None:
+            self._animation.pause()
+
+    def get_data(self, from_date: datetime = None, from_index: int | None = None, only_columns: list[str] | None = None) -> tuple[dict[str, list[float]], datetime]:
+        if from_date is not None and from_index is not None:
+            raise ValueError("Cannot have both from_date and from_index")
+
+        data = self._plot_data
+        time = self._iter_time[0]
+        if from_date is not None:
+            from_index = bisect.bisect(self._iter_time, from_date)
+        
+        if from_index is not None:
+            data = [col[from_index:] for col in data]
+            time = self._iter_time[from_index]
+        
+        labelled_data = {}
+        for i, label in enumerate(self._labels):
+            if not only_columns or label in only_columns:
+                labelled_data[label] = data[i]
+        return labelled_data, time
+
+    def export_csv(self, path, include_iter = False, include_time = False):
+        with open(path, 'w', newline='') as f:
+            writer = csv.writer(f)
+
+            headers = []
+            if include_iter:
+                headers.append("Iteration")
+            if include_time:
+                headers.append("Time")
+            headers += self._labels
+            writer.writerow(headers)
+
+            for i in range(self._iter_i-1):
+                row = []
+                if include_iter:
+                    row.append(i)
+                if include_time:
+                    row.append(self._iter_time[i])
+                row += self._csv_data[i]
+                writer.writerow(row)
+
+    def graph_viz(self, max_points = -1, use_time = False, y_axis = "Value"):
+        """
+        Displays a real-time line chart.
+
+        This method will only returns when the user hits closes the visualization window,
+        even if the 'stop' method is called beforehand.
+        
+        WARNING: This method must be called in the main thread.
+        """
+        figure, ax = pyplot.subplots()
+        figure.canvas.manager.set_window_title(self.title)
+        ax.set_xlabel('Time' if use_time else 'Iteration')
+        ax.set_ylabel(y_axis)
+
+        lines = []
+
+        def update(_):
+            changed_lines = False
+
+            if use_time:
+                x_data = [dt for dt in self._iter_time[0:self._iter_i]]
+            else:
+                x_data = range(self._iter_i)
+
+            for i in range(0, len(self._plot_data)):
+                if i >= len(lines):
+                    line, = pyplot.plot([datetime.now() if use_time else 0], [1], label = self._labels[i])
+                    lines.append(line)
+                    changed_lines = True
+                
+                lines[i].set_data(x_data, self._plot_data[i][0:self._iter_i])
+                
+            x_shown = x_data[-max_points:]
+            if len(x_shown) > 1:
+                ax.set_xlim(left = x_shown[0], right = x_shown[-1])
+            ax.relim()
+            ax.autoscale_view()
+            if changed_lines:
+                figure.legend()
+            
+            return lines
+
+        self._animation = FuncAnimation(figure, update, interval=300, cache_frame_data=False, blit=False)
+        # no blit because axes change, legend...
+        pyplot.show()
+        self._animation = None
+
+class Benchmarker(Plotter):
+    def __init__(self, title = "Real-time benchmarking"):
+        super().__init__(title)
+
+    def new_iteration(self):
+        super().new_iteration()
+        self.begin_mark()
+
+    def mark(self, label):
+        duration = time.perf_counter() - self._time
+        super().plot(duration, label)
+        self.begin_mark()
+
+    def begin_mark(self):
+        self._time = time.perf_counter()
+    
+    def graph_viz(self, max_points = -1, use_time = False, y_axis = "Time taken (s)"):
+        return super().graph_viz(max_points, use_time, y_axis)
+
+# demo
+if __name__ == "__main__":
+    from threading import Thread
+    import random
+    b = Benchmarker()
+
+    def d():
+        for i in range(6):
+            b.new_iteration()
+            time.sleep(random.uniform(0.4, 0.6))
+            b.mark("slept1")
+            time.sleep(random.uniform(0.1, 0.3))
+            b.mark("slept2")
+            time.sleep(random.uniform(0.6, 0.8))
+            b.mark("slept3")
+            time.sleep(3 if i == 2 else 0.5)
+            b.mark("slept4")
+            b.end_iteration()
+            print("Finished iter")
+        b.stop()
+        b.export_csv("test.csv", include_time=True)
+
+    t = Thread(target=d)
+    t.start()
+    b.graph_viz(max_points=4, use_time=True)
diff --git a/tactile/undergraduat/code/coppelia.py b/tactile/undergraduat/code/coppelia.py
new file mode 100644
index 0000000..a2e2929
--- /dev/null
+++ b/tactile/undergraduat/code/coppelia.py
@@ -0,0 +1,109 @@
+from coppeliasim_zmqremoteapi_client import RemoteAPIClient
+from enum import Enum
+from interfaces import Engine
+import math
+
+class SceneException(Exception):
+    pass
+
+class CoppeliaConnector(Engine):
+    def __init__(self):
+        self._client = RemoteAPIClient()
+        self.sim = self._client.require('sim')
+
+        self._check_correct_engine()
+        #self._mujoco = self._client.require('simMujoco')
+
+        self._fetch_finger()
+
+        self._force_calculator = SensorForceCalculator(self)
+
+    def _check_correct_engine(self):
+        engine = self.sim.getInt32Param(self.sim.intparam_dynamic_engine)
+        if engine != self.sim.physics_mujoco:
+            raise SceneException("The scene must run using the MuJoCo physics engine.")
+
+    def _fetch_finger(self):
+        self.finger_handle = self.sim.getObject("/Finger")
+        self._finger_base_pos = self.sim.getObjectPose(self.finger_handle)
+        _, _, finger_dim = self.sim.getShapeGeomInfo(self.finger_handle)
+        self._finger_length = finger_dim[2]
+
+    def move_finger(self, hand_id: int, finger: str, closure: float, abduction: float):
+        if hand_id == 1 and finger == "index":
+            angle = closure * 100 if closure < 0.4 else 40
+            new_pos = self.sim.rotateAroundAxis(self._finger_base_pos, (1, 0, 0), (self._finger_base_pos[0], self._finger_base_pos[1] + self._finger_length, self._finger_base_pos[2]), angle)
+            self.sim.setObjectPose(self.finger_handle, new_pos)
+
+    def get_contact_force(self, hand_id: int, finger: str):
+        return self._force_calculator.compute()
+    
+    def start_simulation(self):
+        self.sim.setStepping(True)
+        self.sim.startSimulation()
+    
+    def step_simulation(self, duration: float | None):
+        self.sim.step()
+    
+    def stop_simulation(self):
+        self.sim.stopSimulation()
+
+class ForceCalculator:
+    def __init__(self, copp: CoppeliaConnector):
+        self._copp = copp
+
+    def compute(self):
+        """
+        Computes the force received by the finger at any given moment.
+
+        Should return a value between 0 and 1, 0 being "no force" and 1 being "maximum force". 
+        """
+        raise NotImplementedError
+
+class ContactForceCalculation(Enum):
+    SUM = 1,
+    DOT_NORMAL = 2,
+class ContactForceCalculator(ForceCalculator):
+    def __init__(self, copp, calculation = ContactForceCalculation.DOT_NORMAL, max_iterations = 1):
+        super().__init__(copp)
+        self._calculation = calculation
+        self._max_iterations = max_iterations # defaults to 1 seems like we get a big value first and then small ones
+    
+    def compute(self):
+        total_force = 0
+        for i in range(0, self._max_iterations):
+            _, _, rForce, n = self._copp.sim.getContactInfo(self._copp.sim.handle_all, self._copp.finger_handle, i)
+            if rForce == []:
+                break # no more contacts
+
+            match self._calculation:
+                case ContactForceCalculation.SUM:
+                    # easy way: sum all components
+                    for j in range(0, 3):
+                        total_force += rForce[j]
+                case ContactForceCalculation.DOT_NORMAL:
+                    # dot product of the force with the normal
+                    for j in range(0, 3):
+                        total_force += rForce[j] * n[j]
+        
+        total_force = abs(total_force) / 3
+        # We divide by 3 because the values fetched this way seem to be between 0 and 3 so we scale down.
+        return total_force
+
+class SensorForceCalculator(ForceCalculator):
+    MAX_FORCE = 6
+
+    def __init__(self, copp):
+        super().__init__(copp)
+        self._fetch_force_sensor()
+
+    def _fetch_force_sensor(self):
+        self._force_sensor_handle = self._copp.sim.getObject("/FingertipForceSensor")
+    
+    def compute(self):
+        result, forceVector, torqueVector = self._copp.sim.readForceSensor(self._force_sensor_handle)
+        if result == 0:
+            # no data available
+            return 0
+        total_force = forceVector[2] # the z component contains the force
+        return abs(total_force) / SensorForceCalculator.MAX_FORCE
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diff --git a/tactile/undergraduat/code/deformable-mesh-tuto/deformable-mesh-tuto.pdf b/tactile/undergraduat/code/deformable-mesh-tuto/deformable-mesh-tuto.pdf
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diff --git a/tactile/undergraduat/code/deformable-mesh-tuto/deformable-mesh-tuto.typ b/tactile/undergraduat/code/deformable-mesh-tuto/deformable-mesh-tuto.typ
new file mode 100644
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--- /dev/null
+++ b/tactile/undergraduat/code/deformable-mesh-tuto/deformable-mesh-tuto.typ
@@ -0,0 +1,148 @@
+#import("@preview/bubble:0.1.0"): *
+#import "@preview/subpar:0.1.1"
+#import "@local/codelst:2.0.2": sourcecode
+
+#show: it => bubble(
+  title: "Soft object in MuJoCo",
+  subtitle: "Creation of a deformable object from a 3D mesh",
+  author: "Youenn Le Jeune",
+  affiliation: "INSA Rennes / DIAG Sapienza",
+  date: datetime.today().display(),
+  year: none,
+  class: none,
+  logo: {
+    image("../assets/logo-insa.png")
+    image("../assets/logo-sapienza.png")
+  },
+  it
+)
+#set text(lang: "en")
+
+#set heading(numbering: "Step 1.1:")
+
+#let rarr = sym.arrow
+
+
+= Prepare the 3D model #footnote[*Disclaimer:* I am not at all a profesionnal 3D modeller. What I explain here, I understood it by myself and there are probably wrong things. If a person experienced in 3D modelling encounters this paper, please do not attempt to kill me.]
+== Import the model
+To begin with, you need to have a 3D model file to use. It can be of any filetype: we will import it in Blender, which supports many 3D model filetypes.
+
+Once you have your model, open Blender. You should see something similar with the @blender-welcome.
+#figure(image("assets/blender-welcome.png", width: 85%), caption: [Blender welcome screen]) <blender-welcome>
+
+Press _escape_ to leave the welcome screen. Select the "Cube" from the right panel and press _delete_. Now you can import the model: go to "File", "Import", choose the right format and then import your file.
+
+== Remove impurities
+Some models may not be directly suitable to convert to MuJoCo. For instance, if they contain holes in their surface (@imp-liver) or voids inside their volume (@imp-kidney), they must be fixed.
+
+#subpar.grid(
+  figure(image("assets/impure-kidney.png"), caption: "Kidney") ,<imp-kidney>,
+  figure(image("assets/impure-liver.png"), caption: "Liver"), <imp-liver>,
+  columns: (1fr, 1fr),
+  caption: [Impure models]
+)
+
+== Simplify mesh
+Most 3D models are way too detailed to be imported in MuJoCo: it would cause the simulation to be extremely slow and require a gigantic amount of memory to run. Therefore, we must make our models "low-poly" by reducing the amount of vertices.
+
+To do that, in Object Mode, select your mesh in the right panel. Go in the "Modifiers" menu at the bottom right and add a "Decimate" modifier (in the "Generate" submenu). See @modifier-add.
+
+#subpar.grid(
+  figure(image("assets/decimate-modifier-add.png", width: 95%), caption: "Creation of the modifier"), <modifier-add>,
+  figure(image("assets/decimate-modifier-params.png", width: 85%), caption: "Parameters"), <modifier-params>,
+  columns: (1fr, .5fr),
+  numbering-sub: "1a",
+  show-sub-caption: (num, it) => [#it.supplement #num: #it.body],
+  align: top
+)
+
+Once added, you can edit the "ratio" parameter (see @modifier-params). The goal is to have a low face count value (below 400 from my experience). Lowering the ratio will collapse vertices, converting the high-resolution model to a low-resolution one.
+
+#subpar.grid(
+  figure(image("assets/high-res.png", width: 60%), caption: "High resolution"),
+  figure(image("assets/low-res.png", width: 60%), caption: "Low resolution"),
+  columns: (1fr, 1fr),
+  caption: "Simplification of the liver model"
+)
+
+== Export the mesh
+Once you are satisfied with the mesh simplification, you can export it. To do that, in Object Mode, select the mesh in the right panel. Then go to "File", "Export" and choose #box["STL (.stl)"]. In the options at the right side of the export window, tick "Selected Only". Export your mesh at the path of your choice.
+
+= Conversion to volumetric mesh #footnote[Informations have been gathered from #link("https://github.com/google-deepmind/mujoco/issues/1724#issuecomment-2161135394")[this GitHub issue].]
+== Convert your mesh #footnote[This part is a transcription of #link("https://www.youtube.com/watch?v=C5BWRWCr7Ck")[this YouTube video].]
+In Gmsh (installable for free on #link("https://gmsh.info/")), open your STL file using "File", "Open...". You should see a window similar to @gmsh-initial.
+
+#figure(image("assets/gmsh-initial.png", width: 70%), caption: "GMSH window after opening") <gmsh-initial>
+
+In the left panel, click on "Modules" #rarr "Geometry" #rarr "Elementary Entities" #rarr "Add" #rarr "Volume", then click on an edge of your mesh. You may get a popup asking you to create a .geo file #sym.dash click on "Proceed as is", then press on _e_ to end the selection.
+
+Now click on "Modules" #rarr "Mesh" #rarr "3D" to create a volumetric mesh. If you get an error at this point, see @gmsh-error.
+
+Once you have a valid 3D mesh, go to "File" #rarr "Export". Choose `Mesh - Gmsh MSH (.msh)` as the format and save. When it asks you for specific msh format, choose `Version 4 ASCII`.
+
+== Help! "3D" gives me errors <gmsh-error>
+At the step of clicking on "3D" in Gmsh, you might get errors. This usually means the original mesh exported from Blender contains impurities or malformed sections. This must be resolved by hand on an individual basis.
+
+See @gmsh-issue for an example of an issue. It was resolved by looking at the location specified by the blue sphere in Blender: there was a stray vertex creating an erroneous face. After deleting this face in Edit Mode, the 3D operation went successsfully.
+#subpar.grid(
+  figure(image("assets/gmsh-issue.png"), caption: "Mesh issue"),
+  [
+    #figure(image("assets/gmsh-error.png"), caption: "Full error")
+    #text(hyphenate: false)[(This kind of full error is accessible by clicking on the bar at the bottom of the Gmsh window.)]
+  ],
+  caption: "Example of a Gmsh issue when 3D meshing",
+  label: <gmsh-issue>,
+  columns: (1fr, 1fr),
+  align: top
+)
+
+== Clean the mesh
+Your mesh file contains the necessary data and even more! Unfortunately, MuJoCo requires the .msh file to require _only_ the necessary data (the volume and its associated tetrahedron). Therefore, we must clean the mesh of the unnecessary data.
+
+Fortunately, someone created a Python script which does exactly that: https://github.com/mohammad200h/GMSHConverter.
+Clone it or download the "tree" branch, install the required libraries and run it using the following command:
+
+```sh
+$ python3 gmsh_cleaner.py -v 4.1 -i '<file>.msh' -o '<file>_converted.msh'
+```
+
+This will create many files, including `<file>_converted_vol.msh`. That is the important one, save it for later.
+
+= Importing in MuJoCo
+Now we have a file containing the necessary data for MuJoCo to create the soft body, we can include this file in an existing MJCF .xml file. There are multiple things to add in the file:
+
+== Model parameters
+In order to make a soft body work, there are some parameters to adjust in the whole model:
+```xml
+<option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast" jacobian="sparse"/>
+
+<size memory="100M"/>
+
+<extension>
+    <plugin plugin="mujoco.elasticity.solid" />
+</extension>
+```
+The `option` tags seems to be necessary to have a stable soft simulation. The `timestep` can be set to be a little faster but not by much, 0.001 is a good start.
+
+== Soft body
+The most important thing to add is the actual declaration of the soft body. You will put it wherever you want in your bodies hierarchy, in the `<worldbody>` section:
+```xml
+<flexcomp name="soft_body_name" pos="x y z" type="gmsh" dim="3"
+    file="file_converted_vol.msh" scale="1 1 1">
+  <edge equality="true"/>
+  <pin id="47 38 58"/>
+  <contact internal="false" solref="0.005 1" solimp=".95 .99 .0001" selfcollide="none" />
+  <plugin plugin="mujoco.elasticity.solid">
+      <config key="poisson" value="0.1" />
+      <config key="young" value="5e4" />
+      <config key="damping" value="0.005" />
+  </plugin>
+</flexcomp>
+```
+Among the parameters you can edit:
+- the `pos` and `scale` attributes of `<flexcomp>`.
+- `<pin />` to choose which bodies to pin in the world. The IDs are not guessable: use the MuJoCo "Simulate" executable, show the body names in the "Rendering" menu and choose which bodies to pin.
+- the parameters of `<contact />`, which are not easily understandable. See MuJoCo XML reference.
+- the 3 `<config />` values. 
+
+Finally, if you want to add a material or texture to the soft body, you'll have to create it in the `<asset>` section of your model and assign it in the `<flexcomp>`.
\ No newline at end of file
diff --git a/tactile/undergraduat/code/fingers_sim/annular_sim.py b/tactile/undergraduat/code/fingers_sim/annular_sim.py
new file mode 100644
index 0000000..0f686e6
--- /dev/null
+++ b/tactile/undergraduat/code/fingers_sim/annular_sim.py
@@ -0,0 +1,108 @@
+import numpy as np
+from math import pi, cos, sin 
+
+def actuation_annular(distance, q, links_lenghts,R):
+    q1 = q[0]
+    q2 = q[1]
+    q3 = q[2]    
+
+    offset_annular_x = links_lenghts[0]
+    offset_annular_y = links_lenghts[1]
+    offset_annular_z = links_lenghts[2]
+    L1y_annular = links_lenghts[3]
+    L1z_annular = links_lenghts[4]
+    L2y_annular = links_lenghts[5]
+    L2z_annular = links_lenghts[6]
+    L3y_annular = links_lenghts[7]
+    L3z_annular = links_lenghts[8]
+
+    #print(np.linalg.norm(current_pose - np.array([0, 0, 1])))
+
+    py_j2 =  -L1y_annular*cos(q1) - L1z_annular*sin(q1)
+    pz_j2 =  -L1y_annular*sin(q1) + L1z_annular*cos(q1)
+        
+    py_j3 = py_j2 - L2y_annular*cos(q1+q2) - L2z_annular*sin(q1+q2) 
+    pz_j3 = pz_j2 - L2y_annular*sin(q1+q2) + L2z_annular*cos(q1+q2)
+
+    py_tip = py_j3 - L3y_annular*cos(q1+q2+q3) - L3z_annular*sin(q1+q2+q3)
+    pz_tip = pz_j3 - L3y_annular*sin(q1+q2+q3) + L3z_annular*cos(q1+q2+q3)
+
+    pos = np.array([[0], [py_tip], [pz_tip  + 0.03]])   
+    p = R.dot(pos) + np.array([[offset_annular_x], [offset_annular_y], [offset_annular_z]])
+    
+    # Task Jacobian: p_dot = Jp(q)q_dot
+    Jp = np.array([[0,0,0],
+                   [L1y_annular*sin(q1) - L1z_annular*cos(q1) + L2y_annular*sin(q1+q2) - L2z_annular*cos(q1+q2) + L3y_annular*sin(q1+q2+q3) - L3z_annular*cos(q1+q2+q3), 
+                    L2y_annular*sin(q1+q2) - L2z_annular*cos(q1+q2) + L3y_annular*sin(q1+q2+q3) - L3z_annular*cos(q1+q2+q3), 
+                    L3y_annular*sin(q1+q2+q3) - L3z_annular*cos(q1+q2+q3)], 
+                    [-L1y_annular*cos(q1) - L1z_annular*sin(q1) - L2y_annular*cos(q1+q2) - L2z_annular*sin(q1+q2) - L3y_annular*cos(q1+q2+q3) - L3z_annular*sin(q1+q2+q3),
+                    -L2y_annular*cos(q1+q2) - L2z_annular*sin(q1+q2) - L3y_annular*cos(q1+q2+q3) - L3z_annular*sin(q1+q2+q3),
+                    -L3y_annular*cos(q1+q2+q3) - L3z_annular*sin(q1+q2+q3)]])
+
+    Jp = R.dot(Jp)
+    
+    # Distance from origin d
+    d = np.linalg.norm(p)
+
+    W = [[9.5, 0,  0], 
+         [0,  5.5,  0], 
+         [0,  0, 7.5]]
+
+    #print(d - distance)
+
+    # Extended jacobian for distance: d_dot = Jd(q)q_dot
+    Jd = 1/d*p.transpose().dot(Jp)
+
+    W_inv = np.linalg.inv(W)
+
+    Jd_trans = Jd.transpose()
+    detJ = np.float64(Jd.dot(W_inv.dot(Jd_trans)))
+    if detJ <= 1e-6:
+        mu = (detJ + 1.0)/2000
+    else:
+        mu = 0
+    Jinv = W_inv.dot(Jd_trans).dot(1/(detJ + mu**2))
+    
+    # Proportional Gain
+    K = 100
+
+    # Distance measured from WeArt 
+    dr = distance
+
+    w = np.array([(5*pi/16 - q1)/(3*pi/8), (3*pi/8 - q2)/(pi/4), (5*pi/16 - q3)/(3*pi/8)])
+    u_vinc = np.reshape((np.eye(3) - Jinv.dot(Jd)).dot(w.T),[3,1])
+    
+    qdot = Jinv*K*(dr - d) + u_vinc
+
+    return qdot
+
+def move_annular(distance,data,model,joint_ids,palm,links,R, hand):
+    off = 7 if hand=="Right_" else 14
+    q1 = data.qpos[joint_ids[hand+'Annular_J1']+off]
+    q2 = data.qpos[joint_ids[hand+'Annular_J2']+off]
+    q3 = data.qpos[joint_ids[hand+'Annular_J3']+off]
+    
+    L1y_annular = links[0] 
+    L1z_annular = links[1] 
+    L2y_annular = links[2] 
+    L2z_annular = links[3] 
+    L3y_annular = links[4] 
+    L3z_annular = links[5]
+    
+  
+    offset_annular =  data.xpos[model.body(hand+'Annular_J1.stl').id] 
+    offx_annular =  offset_annular[0] - palm[0]
+    offy_annular = offset_annular[1] - palm[1] 
+    offz_annular = offset_annular[2] - palm[2]
+
+    links = [offx_annular,offy_annular, offz_annular, L1y_annular, L1z_annular, L2y_annular, L2z_annular, L3y_annular, L3z_annular]
+    
+    qdot = actuation_annular(distance, [q1, q2, q3], links,R)
+
+    v1 = qdot[0][0] 
+    v2 = qdot[1][0] 
+    v3 = qdot[2][0] 
+
+    data.ctrl[joint_ids[hand+'Annular_J1']] = v1
+    data.ctrl[joint_ids[hand+'Annular_J2']] = v2
+    data.ctrl[joint_ids[hand+'Annular_J3']] = v3
\ No newline at end of file
diff --git a/tactile/undergraduat/code/fingers_sim/index_sim.py b/tactile/undergraduat/code/fingers_sim/index_sim.py
new file mode 100644
index 0000000..55849a2
--- /dev/null
+++ b/tactile/undergraduat/code/fingers_sim/index_sim.py
@@ -0,0 +1,109 @@
+import numpy as np
+from math import pi, cos, sin 
+
+def actuation_index(distance, q, links_lenghts,R):
+    q1 = q[0]
+    q2 = q[1]
+    q3 = q[2] 
+
+    offset_index_x = links_lenghts[0]
+    offset_index_y = links_lenghts[1]
+    offset_index_z = links_lenghts[2]
+    L1y_index = links_lenghts[3]
+    L1z_index = links_lenghts[4]
+    L2y_index = links_lenghts[5]
+    L2z_index = links_lenghts[6]
+    L3y_index = links_lenghts[7]
+    L3z_index = links_lenghts[8]
+    
+    py_j2 = - L1y_index*cos(q1) - L1z_index*sin(q1)
+    pz_j2 = - L1y_index*sin(q1) + L1z_index*cos(q1)
+    
+    py_j3 = py_j2 - L2y_index*cos(q1+q2) - L2z_index*sin(q1+q2) 
+    pz_j3 = pz_j2 - L2y_index*sin(q1+q2) + L2z_index*cos(q1+q2)
+
+    py_tip = py_j3 - L3y_index*cos(q1+q2+q3) - L3z_index*sin(q1+q2+q3) 
+    pz_tip = pz_j3 - L3y_index*sin(q1+q2+q3) + L3z_index*cos(q1+q2+q3) 
+
+    pos = np.array([[0], [py_tip], [pz_tip + 0.02]])  
+
+    p = R.dot(pos) + np.array([[offset_index_x], [offset_index_y], [offset_index_z]])
+
+    # Task Jacobian: p_dot = Jp(q)q_dot
+    Jp = np.array([[0,0,0],
+                    [L1y_index*sin(q1) - L1z_index*cos(q1) + L2y_index*sin(q1+q2) - L2z_index*cos(q1+q2) + L3y_index*sin(q1+q2+q3) - L3z_index*cos(q1+q2+q3), 
+                    L2y_index*sin(q1+q2) - L2z_index*cos(q1+q2) + L3y_index*sin(q1+q2+q3) - L3z_index*cos(q1+q2+q3), 
+                    L3y_index*sin(q1+q2+q3) - L3z_index*cos(q1+q2+q3)], 
+                    [-L1y_index*cos(q1) - L1z_index*sin(q1) - L2y_index*cos(q1+q2) - L2z_index*sin(q1+q2) - L3y_index*cos(q1+q2+q3) - L3z_index*sin(q1+q2+q3),
+                    -L2y_index*cos(q1+q2) - L2z_index*sin(q1+q2) - L3y_index*cos(q1+q2+q3) - L3z_index*sin(q1+q2+q3),
+                    -L3y_index*cos(q1+q2+q3) - L3z_index*sin(q1+q2+q3)]])
+    
+    Jp = R.dot(Jp)
+
+    # Distance from origin d
+    d = np.linalg.norm(p)
+
+    W = [[7.5, 0,  0], 
+         [0,  5.5,  0], 
+         [0,  0, 6.5]]
+
+    #print(d - distance)
+
+    # Extended jacobian for distance: d_dot = Jd(q)q_dot
+    Jd = 1/d*p.transpose().dot(Jp)
+
+    W_inv = np.linalg.inv(W)
+
+    Jd_trans = Jd.transpose()
+    detJ = np.float64(Jd.dot(W_inv.dot(Jd_trans)))
+    #print(detJ)
+    if detJ <= 1e-5:
+        mu = (detJ + 1.0)/1000
+    else:
+        mu = 0
+    Jinv = W_inv.dot(Jd_trans).dot(1/(detJ + mu**2))
+    
+    # Proportional Gain
+    K = 100
+
+    # Distance measured from WeArt 
+    dr = distance
+    
+
+    w = np.array([(5*pi/16 - q1)/(3*pi/8), (3*pi/8 - q2)/(pi/4), (5*pi/16 - q3)/(3*pi/8)])
+    u_vinc = np.reshape((np.eye(3) - Jinv.dot(Jd)).dot(w.T),[3,1])
+    
+    qdot = Jinv*K*(dr - d) + u_vinc
+    return qdot
+
+
+def move_index(distance,data,model,joint_ids,palm,links,R,hand):
+    off = 7 if hand=="Right_" else 14
+    q1 = data.qpos[joint_ids[hand+'Index_J1']+off]
+    q2 = data.qpos[joint_ids[hand+'Index_J2']+off]
+    q3 = data.qpos[joint_ids[hand+'Index_J3']+off]
+    L1y_index = links[0] 
+    L1z_index = links[1] 
+    L2y_index = links[2] 
+    L2z_index = links[3] 
+    L3y_index = links[4] 
+    L3z_index = links[5]
+
+    #print(np.linalg.norm(current_pose_index - np.array([0, 0, 1])))
+
+    offset_index =  data.xpos[model.body(hand+'Index_J1.stl').id] 
+    offx_index = offset_index[0] - palm[0]
+    offy_index = offset_index[1] - palm[1]
+    offz_index = offset_index[2] - palm[2]
+
+    links = [offx_index, offy_index, offz_index, L1y_index, L1z_index, L2y_index, L2z_index, L3y_index, L3z_index]
+
+    qdot = actuation_index(distance, [q1, q2, q3], links,R)
+
+    v1 = qdot[0][0] 
+    v2 = qdot[1][0] 
+    v3 = qdot[2][0] 
+
+    data.ctrl[joint_ids[hand+'Index_J1']] = v1
+    data.ctrl[joint_ids[hand+'Index_J2']] = v2
+    data.ctrl[joint_ids[hand+'Index_J3']] = v3
\ No newline at end of file
diff --git a/tactile/undergraduat/code/fingers_sim/middle_sim.py b/tactile/undergraduat/code/fingers_sim/middle_sim.py
new file mode 100644
index 0000000..3bf98bd
--- /dev/null
+++ b/tactile/undergraduat/code/fingers_sim/middle_sim.py
@@ -0,0 +1,121 @@
+import numpy as np
+from math import pi, cos, sin 
+
+def actuation_middle(distance, q, links_lenghts, R):
+    q1 = q[0]
+    q2 = q[1]
+    q3 = q[2]
+    #print(q1, q2, q3)    
+    dr_dot = 0
+
+    offset_middle_x = links_lenghts[0]
+    offset_middle_y = links_lenghts[1]
+    offset_middle_z = links_lenghts[2]
+    L1y_middle = links_lenghts[3]
+    L1z_middle = links_lenghts[4]
+    L2y_middle = links_lenghts[5]
+    L2z_middle = links_lenghts[6]
+    L3y_middle = links_lenghts[7]
+    L3z_middle = links_lenghts[8]
+    
+    #print(np.linalg.norm(current_pose - np.array([0, 0, 1])))
+
+    py_j2 = - L1y_middle*cos(q1) - L1z_middle*sin(q1)
+    pz_j2 = - L1y_middle*sin(q1) + L1z_middle*cos(q1)
+        
+    py_j3 = py_j2 - L2y_middle*cos(q1+q2) - L2z_middle*sin(q1+q2) 
+    pz_j3 = pz_j2 - L2y_middle*sin(q1+q2) + L2z_middle*cos(q1+q2)
+
+    py_tip = py_j3 - L3y_middle*cos(q1+q2+q3) - L3z_middle*sin(q1+q2+q3)
+    pz_tip = pz_j3 - L3y_middle*sin(q1+q2+q3) + L3z_middle*cos(q1+q2+q3)
+
+
+    pos = np.array([[0], [py_tip], [pz_tip + 0.03]])  
+
+    p = R.dot(pos) + np.array([[offset_middle_x], [offset_middle_y], [offset_middle_z]])
+    
+    #print(p.T-current_pose.T)
+
+    # Task Jacobian: p_dot = Jp(q)q_dot
+    Jp = np.array([[0, 0, 0],
+                   [L1y_middle*sin(q1) - L1z_middle*cos(q1) + L2y_middle*sin(q1+q2) - L2z_middle*cos(q1+q2) + L3y_middle*sin(q1+q2+q3) - L3z_middle*cos(q1+q2+q3), 
+                    L2y_middle*sin(q1+q2) - L2z_middle*cos(q1+q2) + L3y_middle*sin(q1+q2+q3) - L3z_middle*cos(q1+q2+q3), 
+                    L3y_middle*sin(q1+q2+q3) - L3z_middle*cos(q1+q2+q3)], 
+                   [-L1y_middle*cos(q1) - L1z_middle*sin(q1) - L2y_middle*cos(q1+q2) - L2z_middle*sin(q1+q2) - L3y_middle*cos(q1+q2+q3) - L3z_middle*sin(q1+q2+q3),
+                    -L2y_middle*cos(q1+q2) - L2z_middle*sin(q1+q2) - L3y_middle*cos(q1+q2+q3) - L3z_middle*sin(q1+q2+q3),
+                    -L3y_middle*cos(q1+q2+q3) - L3z_middle*sin(q1+q2+q3)]])
+
+    Jp = R.dot(Jp)
+    # Distance from origin d
+    d = np.linalg.norm(p)
+    
+
+    W = [[10.5, 0,  0], 
+         [0,  4.5,  0], 
+         [0,  0, 7.5]]
+
+    #print(d - distance)
+
+    # Extended jacobian for distance: d_dot = Jd(q)q_dot
+    Jd = 1/d*p.transpose().dot(Jp)
+    W_inv = np.linalg.inv(W)
+
+    Jd_trans = Jd.transpose()
+    detJ = np.float64(Jd.dot(W_inv.dot(Jd_trans)))
+    if detJ <= 1e-5:
+        mu = (detJ + 1.0)/2000
+    else:
+        mu = 0
+    Jinv = W_inv.dot(Jd_trans).dot(1/(detJ + mu**2))
+    
+    # Proportional Gain
+    K = 100
+
+    # Distance measured from WeArt 
+    dr = distance
+    
+    w = np.array([(5*pi/16 - q1)/(3*pi/8), (3*pi/8 - q2)/(pi/4), (5*pi/16 - q3)/(3*pi/8)])
+    u_vinc = np.reshape((np.eye(3) - Jinv.dot(Jd)).dot(w.T),[3,1])
+    
+    qdot = Jinv*K*(dr - d) + u_vinc
+
+    return qdot
+
+
+def move_middle(distance,data,model,joint_ids,palm,links,R, hand):
+    off = 7 if hand=="Right_" else 14
+    q1 = data.qpos[joint_ids[hand+'Middle_J1']+off]
+    q2 = data.qpos[joint_ids[hand+'Middle_J2']+off]
+    q3 = data.qpos[joint_ids[hand+'Middle_J3']+off]
+    
+    L1y_middle = links[0] 
+    L1z_middle = links[1] 
+    L2y_middle = links[2] 
+    L2z_middle = links[3] 
+    L3y_middle = links[4] 
+    L3z_middle = links[5]
+    
+    #end_effector_middle = model.site('forSensorMiddle_4.stl').id #"End-effector we wish to control.
+    offset_middle =  data.xpos[model.body(hand+'Middle_J1.stl').id] 
+    offx_middle = offset_middle[0] - palm[0]
+    offy_middle = offset_middle[1] - palm[1] 
+    offz_middle = offset_middle[2] - palm[2]
+
+    #print(offset_middle, current_pose_middle)
+    
+    #lenght links [offsety, offsetz, l1y, l1z, l2y, l2z, l3y, l3z]
+    links = [offx_middle, offy_middle, offz_middle, L1y_middle, L1z_middle, L2y_middle, L2z_middle, L3y_middle, L3z_middle]
+    
+    qdot = actuation_middle(distance, [q1, q2, q3], links, R)
+
+    v1 = qdot[0][0] 
+    v2 = qdot[1][0] 
+    v3 = qdot[2][0] 
+    #v1 = 15
+    #v2 = 15
+    #v3 = 15
+    
+    data.ctrl[joint_ids[hand+'Middle_J1']] = v1
+    data.ctrl[joint_ids[hand+'Middle_J2']] = v2
+    data.ctrl[joint_ids[hand+'Middle_J3']] = v3
+    # print("qpos:" , data.qpos)
diff --git a/tactile/undergraduat/code/fingers_sim/pinky_sim.py b/tactile/undergraduat/code/fingers_sim/pinky_sim.py
new file mode 100644
index 0000000..dcee23b
--- /dev/null
+++ b/tactile/undergraduat/code/fingers_sim/pinky_sim.py
@@ -0,0 +1,106 @@
+import numpy as np
+from math import pi, cos, sin 
+
+def actuation_pinky(distance, q, links_lenghts, R):
+    q1 = q[0]
+    q2 = q[1]
+    q3 = q[2]    
+
+    offset_pinky_x = links_lenghts[0]
+    offset_pinky_y = links_lenghts[1]
+    offset_pinky_z = links_lenghts[2]
+    L1y_pinky = links_lenghts[3]
+    L1z_pinky = links_lenghts[4]
+    L2y_pinky = links_lenghts[5]
+    L2z_pinky = links_lenghts[6]
+    L3y_pinky = links_lenghts[7]
+    L3z_pinky = links_lenghts[8]
+    
+    #print(np.linalg.norm(current_pose - np.array([0, 0, 1])))
+
+    py_j2 = - L1y_pinky*cos(q1) - L1z_pinky*sin(q1)
+    pz_j2 = - L1y_pinky*sin(q1) + L1z_pinky*cos(q1)
+        
+    py_j3 = py_j2 - L2y_pinky*cos(q1+q2) - L2z_pinky*sin(q1+q2) 
+    pz_j3 = pz_j2 - L2y_pinky*sin(q1+q2) + L2z_pinky*cos(q1+q2)
+
+    py_tip = py_j3 - L3y_pinky*cos(q1+q2+q3) - L3z_pinky*sin(q1+q2+q3) 
+    pz_tip = pz_j3 - L3y_pinky*sin(q1+q2+q3) + L3z_pinky*cos(q1+q2+q3)
+
+    pos = np.array([[0], [py_tip], [pz_tip + 0.03]])    
+    
+    p = R.dot(pos) + np.array([[offset_pinky_x], [offset_pinky_y], [offset_pinky_z]])
+    # Task Jacobian: p_dot = Jp(q)q_dot
+    Jp = np.array([[0, 0, 0],
+                   [L1y_pinky*sin(q1) - L1z_pinky*cos(q1) + L2y_pinky*sin(q1+q2) - L2z_pinky*cos(q1+q2) + L3y_pinky*sin(q1+q2+q3) - L3z_pinky*cos(q1+q2+q3), 
+                    L2y_pinky*sin(q1+q2) - L2z_pinky*cos(q1+q2) + L3y_pinky*sin(q1+q2+q3) - L3z_pinky*cos(q1+q2+q3), 
+                    L3y_pinky*sin(q1+q2+q3) - L3z_pinky*cos(q1+q2+q3)], 
+                    [-L1y_pinky*cos(q1) - L1z_pinky*sin(q1) - L2y_pinky*cos(q1+q2) - L2z_pinky*sin(q1+q2) - L3y_pinky*cos(q1+q2+q3) - L3z_pinky*sin(q1+q2+q3),
+                    -L2y_pinky*cos(q1+q2) - L2z_pinky*sin(q1+q2) - L3y_pinky*cos(q1+q2+q3) - L3z_pinky*sin(q1+q2+q3),
+                    -L3y_pinky*cos(q1+q2+q3) - L3z_pinky*sin(q1+q2+q3)]])
+    
+    Jp = R.dot(Jp)
+    # Distance from origin d
+    d = np.linalg.norm(p)
+
+    W = [[6.5, 0,  0], 
+         [0,  5.5,  0], 
+         [0,  0, 7.5]]
+
+    #print(d - distance)
+
+    # Extended jacobian for distance: d_dot = Jd(q)q_dot
+    Jd = 1/d*p.transpose().dot(Jp)
+
+    W_inv = np.linalg.inv(W)
+
+    Jd_trans = Jd.transpose()
+    detJ = np.float64(Jd.dot(W_inv.dot(Jd_trans)))
+    if detJ <= 1e-4:
+        mu = (detJ + 1.0)/1000
+    else:
+        mu = 0
+    Jinv = W_inv.dot(Jd_trans).dot(1/(detJ + mu**2))
+    
+    # Proportional Gain
+    K = 100
+
+    # Distance measured from WeArt 
+    dr = distance
+
+    w = np.array([(5*pi/16 - q1)/(3*pi/8), (3*pi/8 - q2)/(pi/4), (5*pi/16 - q3)/(3*pi/8)])
+
+    u_vinc = np.reshape((np.eye(3) - Jinv.dot(Jd)).dot(w.T),[3,1])
+    qdot = Jinv*K*(dr - d) + u_vinc
+
+    return qdot
+
+def move_pinky(distance,data,model,joint_ids,palm,links,R, hand):
+    off = 7 if hand=="Right_" else 14
+    q1 = data.qpos[joint_ids[hand+'Pinky_J1']+off]
+    q2 = data.qpos[joint_ids[hand+'Pinky_J2']+off]
+    q3 = data.qpos[joint_ids[hand+'Pinky_J3']+off]
+    
+    L1y_pinky = links[0] 
+    L1z_pinky = links[1] 
+    L2y_pinky = links[2] 
+    L2z_pinky = links[3] 
+    L3y_pinky = links[4] 
+    L3z_pinky = links[5]
+    
+    offset_pinky =  data.xpos[model.body(hand+'Pinky_J1.stl').id] 
+    offx_pinky = offset_pinky[0] - palm[0] 
+    offy_pinky = offset_pinky[1] - palm[1] 
+    offz_pinky = offset_pinky[2] - palm[2]
+
+    links = [offx_pinky, offy_pinky, offz_pinky, L1y_pinky, L1z_pinky, L2y_pinky, L2z_pinky, L3y_pinky, L3z_pinky]
+    
+    qdot = actuation_pinky(distance, [q1, q2, q3], links, R)
+
+    v1 = qdot[0][0] 
+    v2 = qdot[1][0] 
+    v3 = qdot[2][0] 
+
+    data.ctrl[joint_ids[hand+'Pinky_J1']] = v1
+    data.ctrl[joint_ids[hand+'Pinky_J2']] = v2
+    data.ctrl[joint_ids[hand+'Pinky_J3']] = v3
\ No newline at end of file
diff --git a/tactile/undergraduat/code/fingers_sim/thumb_sim.py b/tactile/undergraduat/code/fingers_sim/thumb_sim.py
new file mode 100644
index 0000000..f658fa9
--- /dev/null
+++ b/tactile/undergraduat/code/fingers_sim/thumb_sim.py
@@ -0,0 +1,130 @@
+import numpy as np
+from math import pi, cos, sin 
+
+def actuation_thumb(distance, q, links_lenghts, R, hand_side):
+    q1 = q[0]
+    q2 = q[1] 
+
+    offset_thumb_x = links_lenghts[0]
+    offset_thumb_y = links_lenghts[1]
+    offset_thumb_z = links_lenghts[2]
+    L2x_thumb = links_lenghts[3]
+    L2y_thumb = links_lenghts[4]
+    L3x_thumb = links_lenghts[5]
+    L3y_thumb = links_lenghts[6]
+    
+    px_j2 =  L2x_thumb*cos(q1) - L2y_thumb*sin(q1)
+    py_j2 = - L2x_thumb*sin(q1) - L2y_thumb*cos(q1)
+    
+    px_tip = px_j2 + L3x_thumb*cos(q1+q2) - L3y_thumb*sin(q1+q2) 
+    py_tip = py_j2 - L3x_thumb*sin(q1+q2) - L3y_thumb*cos(q1+q2) 
+
+    pos = np.array([[px_tip + 0.05], [py_tip], [0]])
+    pos *= hand_side 
+
+    p = R.dot(pos) + np.array([[offset_thumb_x], [offset_thumb_y], [offset_thumb_z]])
+    
+    # Task Jacobian: p_dot = Jp(q)q_dot
+    Jp = np.array([[- L2x_thumb*sin(q1) - L2y_thumb*cos(q1) - L3x_thumb*sin(q1+q2) - L3y_thumb*cos(q1+q2),
+                    - L3x_thumb*sin(q1+q2) - L3y_thumb*cos(q1+q2)],
+                   [- L2x_thumb*cos(q1) - L2y_thumb*sin(q1) - L3x_thumb*cos(q1+q2) + L3y_thumb*sin(q1+q2),
+                    - L3x_thumb*cos(q1+q2) + L3y_thumb*sin(q1+q2)],
+                    [0,0]])
+    
+    Jp = R.dot(Jp)
+    Jp *= hand_side 
+    # Distance from origin d
+    d = np.linalg.norm(p)
+
+    W = [[0.5,  0], 
+         [0,  0.5]]
+
+    
+
+    # Extended jacobian for distance: d_dot = Jd(q)q_dot
+    Jd = 1/d*p.transpose().dot(Jp)
+
+    W_inv = np.linalg.inv(W)
+
+    Jd_trans = Jd.transpose()
+    detJ = np.float64(Jd.dot(W_inv.dot(Jd_trans)))
+    if detJ <= 1e-3:
+        mu = (detJ + 1.0)/20
+        # print("sing", detJ)
+    else:
+        mu = 0
+    Jinv = W_inv.dot(Jd_trans)
+    Jinv = Jinv * (1/(detJ + mu**2))
+    
+    #print(d, distance) 
+
+    # Proportional Gain
+    K = 100
+
+    # Distance measured from WeArt 
+    dr = distance
+
+    w = np.array([(pi/4 - q1)/(pi/2), (pi/4 - q2)/(pi/2)])
+    
+    u_vinc = np.reshape((np.eye(2) - Jinv.dot(Jd)).dot(w.T),[2,1])
+    qdot = Jinv*K*(dr - d) + u_vinc
+    # print((qdot))
+    return qdot
+
+def actuation_thumb_abd(abduction, q1,Ly,Lz):
+
+    z = - Ly*sin(q1) + Lz*cos(q1)-0.01
+    Jz = -Ly*cos(q1)-Lz*sin(q1)
+
+    detJ = Jz**2
+    if detJ <= 1e-3:
+        mu = (detJ + 1.0)/50
+    else:
+        mu = 0
+    Jinv = Jz/(detJ + mu**2)
+    
+    # Proportional Gain
+    K = 50
+
+    # Distance measured from WeArt 
+    dr_dot = 0
+  
+    qdot = Jinv*( dr_dot + K*(abduction - z))
+
+    return qdot    
+
+def move_thumb(distance,abduction,data,model,joint_ids,palm,links,R, hand_side):
+    hand = 'Right_' if hand_side==1 else 'Left_'
+
+    off = 7 if hand=="Right_" else 14
+    q1 = data.qpos[joint_ids[hand+'Thumb_J2']+off]
+    q2 = data.qpos[joint_ids[hand+'Thumb_J3']+off]
+
+    L2x_thumb = links[0] 
+    L2y_thumb = links[1] 
+    L3x_thumb = links[2] 
+    L3y_thumb = links[3]
+
+
+    q = data.qpos[joint_ids[hand+'Thumb_J1']+off]
+    Ly = links[4]
+    Lz = links[5]
+
+    offset_thumb =  data.xpos[model.body(hand+'Thumb_J1.stl').id] 
+    offx_thumb = offset_thumb[0] - palm[0] 
+    offy_thumb = offset_thumb[1] - palm[1]
+    offz_thumb = offset_thumb[2] - palm[2]
+
+    links = [offx_thumb, offy_thumb, offz_thumb, L2x_thumb, L2y_thumb, L3x_thumb, L3y_thumb]
+
+    Rq = np.array([[1,0,0],[0, cos(q), -sin(q)],[0,sin(q),cos(q)]])
+    R = R.dot(Rq)
+    qdot = actuation_thumb(distance, [q1, q2], links,R, hand_side)
+
+    v1 = qdot[0][0]
+    v2 = qdot[1][0]
+
+    #print(abduction)  
+    data.ctrl[joint_ids[hand + 'Thumb_J1']] = actuation_thumb_abd(abduction, q,Ly,Lz)
+    data.ctrl[joint_ids[hand + 'Thumb_J2']] = v1
+    data.ctrl[joint_ids[hand + 'Thumb_J3']] = v2
\ No newline at end of file
diff --git a/tactile/undergraduat/code/guis.py b/tactile/undergraduat/code/guis.py
new file mode 100644
index 0000000..69d3ff0
--- /dev/null
+++ b/tactile/undergraduat/code/guis.py
@@ -0,0 +1,74 @@
+from interfaces import *
+from pynput import keyboard
+from colorama import just_fix_windows_console, Fore, Style
+import numpy as np
+
+just_fix_windows_console()
+
+class TUI(GUI):
+    RESET_KEYS = [keyboard.KeyCode.from_char('R'), keyboard.KeyCode.from_char('r')]
+    MOVE_KEYS = {
+        keyboard.Key.down: [-1, 0, 0],
+        keyboard.Key.up: [1, 0, 0],
+        keyboard.Key.left: [0, 0, -1],
+        keyboard.Key.right: [0, 0, 1]
+    }
+    MOVE_SCALE = 0.5
+    HAND_MOVE_KEYS = {
+        keyboard.KeyCode.from_char('w'): [1, 0, 0],
+        keyboard.KeyCode.from_char('s'): [-1, 0, 0],
+        keyboard.KeyCode.from_char('a'): [0, 1, 0],
+        keyboard.KeyCode.from_char('d'): [0, -1, 0],
+        keyboard.KeyCode.from_char('q'): [0, 0, 1],
+        keyboard.KeyCode.from_char('e'): [0, 0, -1],
+    }
+    HAND_MOVE_SCALE = 0.01
+    
+    def _key_press(self, key):
+        if key == keyboard.Key.esc:
+            self._esc_pressed = True
+
+        elif key in TUI.RESET_KEYS:
+            print(f"{Fore.YELLOW}Resetting simulation.", Fore.RESET)
+            self._engine.reset_simulation()
+
+        elif key in TUI.MOVE_KEYS:
+            self._offset_origin += TUI.MOVE_KEYS[key]
+            self._update_position()
+        
+        elif key == keyboard.Key.space:
+            self._offset_origin = np.zeros(3)
+            self._update_position()
+
+        elif key in TUI.HAND_MOVE_KEYS:
+            if hasattr(self._engine, "nudge_hand"):
+                delta = np.asarray(TUI.HAND_MOVE_KEYS[key], dtype=float) * TUI.HAND_MOVE_SCALE
+                self._engine.nudge_hand(1, delta.tolist())
+    
+    def _update_position(self):
+        print(f"{Fore.CYAN}Moving to{Style.BRIGHT}", self._offset_origin, Style.RESET_ALL)
+        self._visualizer.offset_origin(self._offset_origin * TUI.MOVE_SCALE)
+
+    def start_gui(self, engine: Engine, visualizer: Visualizer):
+        self._engine = engine
+        self._visualizer = visualizer
+
+        self._esc_pressed = False
+        self._kb_listener = keyboard.Listener(on_press=self._key_press)
+        self._kb_listener.start()
+
+        self._offset_origin = np.zeros(3)
+
+        print(Fore.WHITE)
+        print(f"Press on {Style.BRIGHT}ESC{Style.NORMAL} to stop the simulation.")
+        print(f"Press on {Style.BRIGHT}R{Style.NORMAL} to reset the simulation.")
+        print(f"Press on {Style.BRIGHT}the arrows ←→↑↓{Style.NORMAL} to move in the scene.")
+        print(f"Press on {Style.BRIGHT}SPACE{Style.NORMAL} to reset the position in the scene.")
+        print(f"Press on {Style.BRIGHT}WASD + QE{Style.NORMAL} to move the right hand.")
+        print(Style.RESET_ALL)
+
+    def should_exit(self) -> bool:
+        return self._esc_pressed
+    
+    def stop_gui(self):
+        self._kb_listener.stop()
diff --git a/tactile/undergraduat/code/hand.py b/tactile/undergraduat/code/hand.py
new file mode 100644
index 0000000..db516f9
--- /dev/null
+++ b/tactile/undergraduat/code/hand.py
@@ -0,0 +1,15 @@
+from dataclasses import dataclass
+
+@dataclass
+class Hand:
+    id: int
+    """ID of the hand. 0 = left, 1 = right"""
+    side: str
+    """Side, left or right."""
+    tracking: bool
+    """Whether the space position and rotation of the hand is mapped to the virtual one."""
+    haptics: bool
+    """Whether we can retrieve finger closures and send haptic feedback to the hand."""
+    controller_rotation: float
+    """The initial rotation of the hand, in degrees.
+    0 means the controller is in the same direction as the hand."""
\ No newline at end of file
diff --git a/tactile/undergraduat/code/hand_script/Hand Scene.xml b/tactile/undergraduat/code/hand_script/Hand Scene.xml
new file mode 100644
index 0000000..7d0f40c
--- /dev/null
+++ b/tactile/undergraduat/code/hand_script/Hand Scene.xml	
@@ -0,0 +1,42 @@
+<mujoco model="Hand">
+  <statistic extent="1.5" meansize=".05"/>
+
+  <visual>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <map shadowscale="0.5" zfar="40"/>
+  </visual>
+
+  <include file="output/Hand.xml"/>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
+    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
+    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
+    <!-- <mesh name="hand" file="fingerpart.obj"/> -->
+  </asset>
+
+  <size memory="10M"/>
+
+  <option solver="CG" tolerance="1e-6" timestep=".01"/>
+
+  <worldbody>
+    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" castshadow="false"/>
+    <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4"/>
+
+    <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
+
+    <body name="object" pos="0.3 0 0.1">
+      <freejoint/>
+      <geom type="ellipsoid" size="0.1 0.11 0.09" rgba="0.5 0.7 0.5 1" condim="6" priority="1"
+        friction="0.5 0.01 0.003"/>
+    </body>
+
+    <!-- <body pos="1 1 0" mocap="true">
+      <geom type="mesh" mesh="hand" rgba="0.8 0.2 0.1 1"/>
+    </body> -->
+  </worldbody>
+
+  <deformable>
+    <!-- <skin file="hand_skin.skn"/> -->
+  </deformable>
+</mujoco>
diff --git a/tactile/undergraduat/code/hand_script/hand_script.py b/tactile/undergraduat/code/hand_script/hand_script.py
new file mode 100644
index 0000000..44a43be
--- /dev/null
+++ b/tactile/undergraduat/code/hand_script/hand_script.py
@@ -0,0 +1,256 @@
+"""
+A util similar to obj2mjcf to convert a 3D hand file to a MuJoCo MJCF file.
+
+Unlike obj2mjcf, this util recreates a hierarchy of bodies and constructs the convex
+hulls on each subpart of the hand, thus making the constructed XML file almost ready-to-use.
+
+I dropped it before the end because OBJ files do not contain the necessary data to position
+joints properly and set their axis. The "skeleton_loader" script was made to complete this one but
+failed, as you can read in its header.
+"""
+
+from obj2mjcf.material import Material
+from obj2mjcf import constants
+
+import trimesh
+from trimesh import Geometry, Scene
+import coacd
+
+import numpy as np
+
+from dm_control import mjcf
+from dm_control.mjcf import Element
+
+from pathlib import Path
+import shutil
+import logging
+
+from dataclasses import dataclass
+import tyro
+from tyro.conf import Positional
+
+# All our assets have unique names so we do not need the hash in the filename
+class UnhashedAsset(mjcf.Asset):
+    def __init__(self, contents, name, extension):
+        super().__init__(contents, extension)
+        self.name = name
+
+    def get_vfs_filename(self):
+        return self.name + self.extension
+
+def relative_pos(position: list[int], parent: Element):
+    if "pos" not in parent.get_attributes():
+        return position
+    
+    new_position = [ position[i] - parent.pos[i] for i in range(3) ]
+    if parent.parent is not None:
+        return relative_pos(new_position, parent.parent)
+    else:
+        return new_position
+
+@dataclass
+class Options:
+    hand_model: Positional[Path]
+    """Path to the hand model (.obj)"""
+    output: Positional[Path]
+    """Path to the output directory"""
+    overwrite: bool = False
+    """Should the output directory be automatically deleted (if present).
+    If not enabled, the user will be prompted.
+    """
+    reuse_old_assets: bool = True
+    """Should the existing .obj assets from another execution be reused.
+    Only effective if the user answered "Yes" to the overwrite prompt or if the overwrite option is enabled.
+    """
+    only_visual: bool = False
+    """Skip convex decomposition and splitting in multiple bodies"""
+    scale: float = 1
+    """Scale factor of the model"""
+    verbose: bool = True
+    """Should informations be printed to the standard output."""
+
+class HandCreator:
+    def __init__(self, options: Options):
+        self.options = options
+
+        logging.basicConfig()
+
+    def find_material_file(self) -> Path:
+        with open(self.options.hand_model, "r") as f:
+            for line in f.readlines():
+                if line.startswith("mtllib"):
+                    mat_path = self.options.hand_model.parent / line[7:-1] # no \n at the end
+                    if mat_path.is_file():
+                        logging.info(f"Found material file {mat_path}")
+                        return mat_path
+                    raise RuntimeError("Cannot find material file", mat_path)
+        raise RuntimeError("No materials")
+
+    def load_materials(self, materials_file: Path):
+        # Stolen from obj2mjcf
+        sub_mtls: list[list[str]] = []
+        mtls: dict[Material] = {}
+
+        # Parse the MTL file into separate materials.
+        with open(materials_file, "r") as f:
+            lines = f.readlines()
+        # Remove comments.
+        lines = [
+            line for line in lines if not line.startswith(constants.MTL_COMMENT_CHAR)
+        ]
+        # Remove empty lines.
+        lines = [line for line in lines if line.strip()]
+        # Remove trailing whitespace.
+        lines = [line.strip() for line in lines]
+        # Split at each new material definition.
+        for line in lines:
+            if line.startswith("newmtl"):
+                sub_mtls.append([])
+            sub_mtls[-1].append(line)
+        for sub_mtl in sub_mtls:
+            material = Material.from_string(sub_mtl)
+            mtls[material.name] = material
+
+        # TODO: WE DO NOT PROCESS MATERIALS FOR NOW
+        # If needed in the future (e.g. for textures), see obj2mjcf
+        logging.info("Done processing MTL file.")
+
+        return mtls
+
+    def load_meshes(self) -> Scene:
+        logging.info(f"Loading model file {self.options.hand_model}...")
+        mesh = trimesh.load_mesh(
+            self.options.hand_model,
+            split_object=True,
+            group_material=True,
+            process=False,
+            maintain_order=False,
+        )
+
+        if not isinstance(mesh, Scene):
+            raise RuntimeError("No submeshes")
+        
+        return mesh
+
+    def create_hand_part(self, fullname: str, parent: Element, convex_parts: int = -1):
+        logging.info(f"Creating hand part {fullname}...")
+
+        geom = self.meshes.geometry.get(fullname)
+        if geom is None:
+            raise RuntimeError("No geometry for part", fullname)
+        geom: trimesh.Trimesh
+
+        material = self.materials.get(fullname)
+        if material is None:
+            raise RuntimeError("No material for part", fullname)
+
+        # Scale before recenter !
+        geom.vertices *= self.options.scale
+
+        if self.options.only_visual:
+            partbody = parent
+        else:
+            # Recenter the geometry
+            # WARNING: the center is arbitrary. Joints would have to be repositioned.
+            x,y,z  = [ [ v[i] for v in geom.vertices ] for i in range(3) ]
+            center = [ (max(axis) + min(axis))/2 for axis in [x,y,z] ]
+            geom.vertices -= center
+
+            # Create the body in which we will put the geometries
+            partbody = parent.add("body", name=fullname, pos=relative_pos(center, parent))
+
+        # Visual mesh, geometry and material
+        visual_name = fullname + "_visual"
+        self.model.asset.add("material", name=material.name,
+                             specular=material.mjcf_specular(),
+                             shininess=material.mjcf_shininess(),
+                             rgba=material.mjcf_rgba())
+        # We do not need to export the geometry to a file: by just getting the text contents,
+        # we can pass them to MJCF via assets and it will take care of saving it.
+        mesh_contents = geom.export(None, "obj", include_texture=True, header=None)
+        self.model.asset.add("mesh", name=visual_name,
+                             file=UnhashedAsset(mesh_contents, visual_name, ".obj"))
+        partbody.add("geom", mesh=visual_name, name=visual_name,
+                     dclass="visual", material=material.name)
+
+        if not self.options.only_visual:
+            # Collision meshes and geometries
+            if self.options.reuse_old_assets:
+                logging.info("Reusing convex hull from another time...")
+                for collision_file in self.options.output.glob(fullname + "_collision_*"):
+                    i = collision_file.stem.split("_")[-1]
+                    collision_name = collision_file.stem
+                    self.model.asset.add("mesh", name=collision_name,
+                                        file=UnhashedAsset(collision_file.read_text(), collision_name, ".obj"))
+                    colors = np.random.rand(3)
+                    partbody.add("geom", mesh=collision_name, name=collision_name,
+                                dclass="collision", rgba = [*colors, 1])
+            else:
+                logging.info("Decomposing convex hull...")
+                mesh = coacd.Mesh(geom.vertices, geom.faces)
+                parts = coacd.run_coacd(mesh, max_convex_hull=convex_parts)
+
+                for i, (vs, fs) in enumerate(parts):
+                    collision_name = f"{fullname}_collision_{i}"
+                    part_geom = trimesh.Trimesh(vs, fs)
+                    mesh_contents = part_geom.export(None, "obj", include_texture=False, header=None)
+                    self.model.asset.add("mesh", name=collision_name,
+                                        file=UnhashedAsset(mesh_contents, collision_name, ".obj"))
+                    colors = np.random.rand(3)
+                    partbody.add("geom", mesh=collision_name, name=collision_name,
+                                dclass="collision", rgba = [*colors, 1])
+
+        return partbody
+
+    def create_finger(self, name: str, parent: Element, subparts: int):
+        last_parent = parent
+        for i in range(1, subparts+1):
+            last_parent = self.create_hand_part(f"{name}_{i}", last_parent, convex_parts=3)
+
+    def add_defaults(self, model: mjcf.RootElement):
+        visual = model.default.add("default", dclass="visual")
+        visual.geom.set_attributes(type="mesh", group=2, contype=0, conaffinity=0)
+
+        collision = model.default.add("default", dclass="collision")
+        collision.geom.set_attributes(type="mesh", group=3)
+
+    def main(self):
+        if self.options.verbose:
+            logging.getLogger().setLevel(logging.INFO)
+
+        should_remove = False
+        if self.options.output.exists():
+            if not self.options.overwrite and input("Output already exists. Do you want to remove ? [Y/N] ").lower() != "y":
+                return
+            
+            if self.options.reuse_old_assets:
+                should_remove = True
+            else:
+                shutil.rmtree(self.options.output)
+        else:
+            self.options.reuse_old_assets = False
+
+        self.materials = self.load_materials(self.find_material_file())
+        self.meshes = self.load_meshes()
+
+        self.model = mjcf.RootElement(model="Hand")
+
+        self.add_defaults(self.model)
+
+        hand_body = self.model.worldbody.add("body", name="hand")
+        self.create_finger("thumb", hand_body, 2)
+        self.create_finger("index", hand_body, 3)
+        self.create_finger("middle", hand_body, 3)
+        self.create_finger("annular", hand_body, 3)
+        self.create_finger("pinky", hand_body, 3)
+        self.create_hand_part("wrist", hand_body, convex_parts=6)
+        self.create_hand_part("palm", hand_body, convex_parts=7)
+
+        if should_remove:
+            shutil.rmtree(self.options.output)
+
+        mjcf.export_with_assets(self.model, self.options.output, "Hand.xml", precision=3)
+
+if __name__ == "__main__":
+    options = tyro.cli(Options)
+    HandCreator(options).main()
\ No newline at end of file
diff --git a/tactile/undergraduat/code/hand_script/requirements.txt b/tactile/undergraduat/code/hand_script/requirements.txt
new file mode 100644
index 0000000..bbe3c50
--- /dev/null
+++ b/tactile/undergraduat/code/hand_script/requirements.txt
@@ -0,0 +1,3 @@
+obj2mjcf==0.0.25
+dm_control==1.0.20
+collada==0.8
\ No newline at end of file
diff --git a/tactile/undergraduat/code/hand_script/skeleton_loader.py b/tactile/undergraduat/code/hand_script/skeleton_loader.py
new file mode 100644
index 0000000..86349f6
--- /dev/null
+++ b/tactile/undergraduat/code/hand_script/skeleton_loader.py
@@ -0,0 +1,238 @@
+"""
+A class made to load a .dae file (Collada) and extract the required informations
+to recreate the skeleton in the MuJoCo MJCF format. It was initially made to convert
+a hand model to MuJoCo with all the joints at the right place automatically.
+
+This script is a completion of the "hand_script".
+
+I dropped it before the end because Collada files do not contain leaf joints, thus
+our converted hand would have lacked a joint for the last part of each finger. This is
+because to add a joint, we need to know the direction from one joint to the other.
+
+It was also a mess to get the orientations right. Collada files are terrible.
+"""
+
+from collada import Collada
+from collada.scene import Node, ControllerNode, SceneNode, Scene
+from collada.controller import Skin
+
+from dataclasses import dataclass
+
+import numpy as np
+
+import matplotlib.pyplot as plt
+
+@dataclass
+class Joint:
+    sid: str
+    matrix: list[list[float]]
+    inverse_matrix: list[list[float]] | None
+    children: list['Joint']
+
+    matrix_world: list[list[float]] = None
+
+    worldpos: list[float] = None
+
+    @property
+    def basepos(self) -> list[float]:
+        return self.matrix_world.T[3, :3]
+    
+    @property
+    def is_valid(self) -> bool:
+        return self.worldpos is not None
+
+@dataclass
+class Bone:
+    origin: Joint
+    tail: Joint
+
+    @property
+    def name(self) -> str:
+        return f"{self.origin.sid} to {self.tail.sid}"
+
+    @property
+    def length(self) -> float:
+        return np.linalg.norm(self.tail.basepos - self.origin.basepos)
+
+def find_skeleton_root(node: SceneNode) -> str:
+    if isinstance(node, ControllerNode) and isinstance(node.controller, Skin):
+        for children in node.xmlnode.getchildren():
+            if children.tag == "{http://www.collada.org/2005/11/COLLADASchema}skeleton":
+                return children.text[1:]
+        raise RuntimeError("No skeleton")
+    elif isinstance(node, Node):
+        for child in node.children:
+            root = find_skeleton_root(child)
+            if root is not None:
+                return root
+        
+def find_node(node: SceneNode, id: str, prev_mat: list[list[float]]) -> tuple[Node | None, list[list[float]] | None]:
+    # shitty matrix do not use
+    if node.id == id:
+        return node, prev_mat
+    elif isinstance(node, Node):
+        for child in node.children:
+            n, mat = find_node(child, id, prev_mat @ node.matrix)
+            if n is not None:
+                return (n, mat)
+
+def explore_joints_tree(node: SceneNode, skin: Skin) -> Joint:
+    if isinstance(node, Node):
+        sid = node.xmlnode.get("sid")
+        return Joint(
+            sid = sid,
+            matrix = node.matrix,
+            inverse_matrix = skin.joint_matrices.get(sid), # can be None
+            children = [j for j in map(lambda x: explore_joints_tree(x, skin), node.children) if j is not None],
+        )
+
+def concat_matrix(node: SceneNode, parent: list[list[float]], until: SceneNode):
+    # ultra shitty matrix 
+    if node == until:
+        return True
+    if isinstance(node, Node):
+        mat = parent @ node.matrix
+        for child in node.children:
+            r = concat_matrix(child, mat, until)
+            if r is True:
+                return mat
+            elif r is False:
+                pass
+            else:
+                return r
+    return False
+
+def load_skeleton_joints(skin: Skin, scene: Scene) -> tuple[Joint, list[list[float]]]:
+    skeleton_root = None
+    for node in scene.nodes:
+        skeleton_root = find_skeleton_root(node)
+        if skeleton_root is not None:
+            break
+    
+    if skeleton_root is None:
+        raise RuntimeError("Cannot find skeleton root name")
+
+    skeleton_root_node = None
+    skeleton_root_transform = None
+    for node in scene.nodes:
+        skeleton_root_node, skeleton_root_transform = find_node(node, skeleton_root, np.identity(4))
+        if skeleton_root_node is not None:
+            break
+
+    if skeleton_root_node is None:
+        raise RuntimeError("Cannot find skeleton root node", skeleton_root)
+
+    mat = None
+    for node in scene.nodes:
+        mat = concat_matrix(node, np.identity(4), skeleton_root_node)
+        if isinstance(mat, bool):
+            pass
+        else:
+            break
+
+    return explore_joints_tree(skeleton_root_node, skin), mat
+
+def _add_bones(joint: Joint, bones: list[Bone]):
+    for subjoint in joint.children:
+        bones.append(Bone(joint, subjoint))
+        _add_bones(subjoint, bones)
+
+def infer_bones(root_joint: Joint) -> list[Bone]:
+    bones = []
+    _add_bones(root_joint, bones)
+    return bones
+
+def add_joints_list(joint: Joint, list: list[Joint]):
+    list.append(joint)
+    for subjoint in joint.children:
+        add_joints_list(subjoint, list)
+
+def derive_matrixes(joint: Joint, prev: Joint):
+    if prev is not None:
+        joint.matrix_world = prev.matrix_world @ joint.matrix
+    for subjoint in joint.children:
+        derive_matrixes(subjoint, joint)
+
+def derive_vertexes(joint: Joint, bind_shape_matrix: list[list[float]]):
+    vert = joint.matrix_world.T[3]
+    # vert = np.array([0, 0, 0, 1])
+    if joint.inverse_matrix is not None:
+        joint.worldpos = np.dot(joint.matrix_world @ joint.inverse_matrix @ bind_shape_matrix, vert)[:3]
+    for subjoint in joint.children:
+        derive_vertexes(subjoint, bind_shape_matrix)
+
+model_path = "/data/Documents/Ecole/INSA/Info/Stage/3D/hand/testB.dae"
+c = Collada(model_path)
+skin = None
+for controller in c.controllers:
+    if isinstance(controller, Skin):
+        skin = controller
+
+if skin is None:
+    raise RuntimeError("Skin controller not found")
+
+root_joint, root_mat = load_skeleton_joints(skin, c.scene)
+# print(root_joint, root_mat)
+
+#root_joint.matrix_world = np.identity(4)
+root_joint.matrix_world = root_mat @ root_joint.matrix
+derive_matrixes(root_joint, None)
+derive_vertexes(root_joint, skin.bind_shape_matrix)
+
+joints_list = []
+add_joints_list(root_joint, joints_list)
+
+bones = infer_bones(root_joint)
+for b in bones:
+    print(f"{b.name} : {b.length}")
+
+def viz_skeleton(bones):
+    fig = plt.figure()
+    ax = fig.add_subplot(projection="3d")
+    
+    xs, ys, zs = [[joint.worldpos[i] for joint in joints_list if joint.is_valid] for i in range(3)]
+    ax.scatter(xs, ys, zs)
+
+    for joint in joints_list:
+        if joint.is_valid:
+            ax.text(*joint.worldpos, joint.sid)
+
+    for bone in bones:
+        if bone.origin.is_valid and bone.tail.is_valid:
+            ax.plot(*[[bone.origin.worldpos[i], bone.tail.worldpos[i]] for i in range(3)])
+
+    plt.show()
+
+viz_skeleton(bones)
+
+
+from dm_control import mjcf
+from dm_control.mjcf import Element
+import dm_control.mjcf.skin
+import mujoco
+import trimesh
+model = mjcf.RootElement(model="HandBones")
+
+def add_joint(body: Element, joint: Joint):
+    quat = np.zeros(4)
+    mat = joint.matrix_world
+    mujoco.mju_mat2Quat(quat, mat[:3, :3].reshape(9))
+    sb = body.add("body", name=joint.sid, pos=joint.worldpos, quat=quat)
+    sb.add("geom", type="sphere", size="0.01")
+
+for joint in joints_list:
+    if joint.is_valid:
+        add_joint(model.worldbody, joint)
+
+# mesh = trimesh.load_mesh(model_path)
+# mesh: trimesh.Scene
+# geom = mesh.geometry[0]
+# geom: trimesh.Trimesh
+
+# sbones = []
+# for bone in bones:
+#     pass
+
+# dm_control.mjcf.skin.serialize(vertices = geom.vertices, texcoords = [], faces = geom.faces, bones = sbones)
+
+mjcf.export_with_assets(model, ".", "Hand.xml", precision=3)
\ No newline at end of file
diff --git a/tactile/undergraduat/code/interfaces.py b/tactile/undergraduat/code/interfaces.py
new file mode 100644
index 0000000..14baa06
--- /dev/null
+++ b/tactile/undergraduat/code/interfaces.py
@@ -0,0 +1,110 @@
+"""Contains the classes that must be implemented to have a complete simulation.
+"""
+
+from weart import TextureType
+
+class Engine:
+    """Represents a link to a physics engine.
+    """
+    def move_finger(self, hand_id: int, finger: str, closure: float, abduction: float):
+        """Move one of the virtual fingers with an angle.
+
+        Args:
+            hand_id (int): 0 = left hand, 1 = right hand
+            finger (str): which finger to move (thumb, index, middle)
+            closure (float): closure value of the finger
+            abduction (float): abduction value of the finger
+        """
+        pass
+    def move_hand(self, hand_id: int, position: list[float], rotation: list[float]):
+        """Move the virtual hand in the simulation
+
+        Args:
+            hand_id (int): 0 = left hand, 1 = right hand
+            position (list[float]): cartesian position of the hand
+            rotation (list[float]): orientation quaternion of the hand
+        """
+        pass
+    def get_contact(self, hand_id: int, finger: str) -> tuple[float, TextureType | None]:
+        """Get the force the finger should feel in contact with the environment
+
+        Args:
+            hand_id (int): 0 = left hand, 1 = right hand
+            finger (str): thumb, index, middle, annular or pinky
+
+        Returns:
+            tuple[float, TextureType | None]:
+                a value between 0 and 1 for the force and an optional texture
+        """
+        return (0, None)
+    def start_simulation(self):
+        pass
+    def step_simulation(self, duration: float | None):
+        """Steps the simulation for the amount of time specified.
+
+        Args:
+            duration (float | None): amount of seconds to simulate.
+            If None, then only step once.
+        """        
+        pass
+    def reset_simulation(self):
+        """Resets the simulation to its original state.
+        """
+        pass
+    def stop_simulation(self):
+        pass
+
+class Visualizer:
+    """Represents a way to visualize the simulation.
+    """
+    def start_visualization(self):
+        pass
+    def wait_frame(self) -> tuple[bool, float | None]:
+        """Starts a render frame.
+
+        Returns:
+            tuple[bool, float | None]: a tuple containing True and the amount of
+            seconds this frame should durate (or None if unknown) IF the frame
+            should render, a tuple containing False and any other value otherwise.
+        """
+        return (True, None)
+    def render_frame(self):
+        pass
+    def should_exit(self) -> bool:
+        return False
+    def stop_visualization(self):
+        pass
+    def offset_origin(self, position: list[float]):
+        """Offsets the origin position of the visualization.
+
+        Args:
+            position (list[float]): a list of 3 floats describing the new offset (overrides the previous one)
+        """
+        pass
+
+class HandPoseProvider:
+    """Represents an object that can provide the position of hands in real-time.
+    """
+    def get_hand_pose(self, hand_id: int) -> tuple[list[float], list[float]] | None:
+        """Retrieves the hand pose.
+
+        Args:
+            hand_id (int): 0 = left hand, 1 = right hand
+
+        Returns:
+            tuple[list[float], list[float]] | None:
+                The position (cartesian) and rotation (quaternion) of the hand if present, None otherwise.
+        """        
+        pass
+
+class GUI:
+    """Represents a way for the user to interact with the simulation.
+    """
+    def start_gui(self, engine: Engine, visualizer: Visualizer):
+        pass
+    def should_exit(self) -> bool:
+        return False
+    def stop_gui(self):
+        pass
+
+__all__ = ['Engine', 'Visualizer', 'HandPoseProvider', 'GUI']
\ No newline at end of file
diff --git a/tactile/undergraduat/code/mjxr_tests/mujoco_openxr.py b/tactile/undergraduat/code/mjxr_tests/mujoco_openxr.py
new file mode 100644
index 0000000..dcf397e
--- /dev/null
+++ b/tactile/undergraduat/code/mjxr_tests/mujoco_openxr.py
@@ -0,0 +1,386 @@
+import xr
+import mujoco
+import glfw
+import platform
+import ctypes
+import numpy
+from OpenGL import GL
+from typing import Optional
+
+APP_NAME = "MuJoCo XR Viewer"
+FRUSTUM_NEAR = 0.05
+FRUSTUM_FAR = 50
+
+class MujocoXRViewer:
+    def __init__(self, mirror_window = False, debug = False, samples: Optional[int] = None):
+        self._mirror_window = mirror_window
+        self._debug = debug
+        self._samples = samples
+        self._should_quit = False
+    
+    def __enter__(self):
+        self._init_xr()
+        self._init_window()
+        self._prepare_xr()
+        self._prepare_mujoco()
+        glfw.make_context_current(None) # To let other threads use the context if needed
+        return self
+
+    def _init_xr(self):
+        """
+        Initializes the OpenXR environment prior to session creation.
+
+        Also fetches informations about the setup, most importantly the render size.
+        """
+        extensions = [xr.KHR_OPENGL_ENABLE_EXTENSION_NAME]
+        instance_create_info = xr.InstanceCreateInfo(
+            application_info=xr.ApplicationInfo(
+                application_name=APP_NAME,
+                engine_name="pyopenxr",
+                engine_version=xr.PYOPENXR_CURRENT_API_VERSION,
+                api_version=xr.Version(1, 0, xr.XR_VERSION_PATCH)
+            )
+        )
+
+        if self._debug:
+            def debug_callback_py(severity, _type, data, _user_data):
+                print(severity, f"{data.contents.function_name.decode()}: {data.contents.message.decode()}")
+                return True
+
+            debug_messenger = xr.DebugUtilsMessengerCreateInfoEXT(
+                message_severities=
+                    xr.DebugUtilsMessageSeverityFlagsEXT.VERBOSE_BIT
+                    | xr.DebugUtilsMessageSeverityFlagsEXT.INFO_BIT
+                    | xr.DebugUtilsMessageSeverityFlagsEXT.WARNING_BIT
+                    | xr.DebugUtilsMessageSeverityFlagsEXT.ERROR_BIT,
+                message_types=
+                    xr.DebugUtilsMessageTypeFlagsEXT.GENERAL_BIT
+                    | xr.DebugUtilsMessageTypeFlagsEXT.VALIDATION_BIT
+                    | xr.DebugUtilsMessageTypeFlagsEXT.PERFORMANCE_BIT
+                    | xr.DebugUtilsMessageTypeFlagsEXT.CONFORMANCE_BIT,
+                user_callback=xr.PFN_xrDebugUtilsMessengerCallbackEXT(debug_callback_py)
+            )
+            instance_create_info.next = ctypes.cast(ctypes.pointer(debug_messenger), ctypes.c_void_p)
+            extensions.append(xr.EXT_DEBUG_UTILS_EXTENSION_NAME)
+
+        instance_create_info.enabled_extension_names = extensions
+        self._xr_instance = xr.create_instance(instance_create_info)
+
+        # The following fetches important informations about the setup
+        # (mainly rendering size)
+        self._xr_system = xr.get_system(self._xr_instance, xr.SystemGetInfo(xr.FormFactor.HEAD_MOUNTED_DISPLAY))
+        assert xr.enumerate_view_configurations(self._xr_instance, self._xr_system)[0] == xr.ViewConfigurationType.PRIMARY_STEREO
+        
+        views_config = xr.enumerate_view_configuration_views(self._xr_instance, self._xr_system, xr.ViewConfigurationType.PRIMARY_STEREO)
+        assert len(views_config) == 2
+        assert views_config[0].recommended_image_rect_width == views_config[1].recommended_image_rect_width
+        assert views_config[0].recommended_image_rect_height == views_config[1].recommended_image_rect_height
+        
+        self._width, self._height = views_config[0].recommended_image_rect_width, views_config[0].recommended_image_rect_height
+        self._width_render = self._width * 2
+
+        pxrGetOpenGLGraphicsRequirementsKHR = ctypes.cast(
+            xr.get_instance_proc_addr(
+                self._xr_instance,
+                "xrGetOpenGLGraphicsRequirementsKHR",
+            ),
+            xr.PFN_xrGetOpenGLGraphicsRequirementsKHR
+        )
+        graphics_result = pxrGetOpenGLGraphicsRequirementsKHR(
+            self._xr_instance,
+            self._xr_system,
+            ctypes.byref(xr.GraphicsRequirementsOpenGLKHR())
+        )
+        graphics_result = xr.exception.check_result(xr.Result(graphics_result))
+        if graphics_result.is_exception():
+            raise graphics_result
+
+    def _init_window(self):
+        """
+        Initializes the GLFW window (and make it hidden if mirrored mode is disabled).
+
+        Creates the OpenGL context that will be used.
+        """
+        if not glfw.init():
+            raise RuntimeError("GLFW initialization failed")
+        glfw.window_hint(glfw.DOUBLEBUFFER, False)
+        glfw.window_hint(glfw.RESIZABLE, False)
+        glfw.window_hint(glfw.SAMPLES, 0) # no need for multisampling here, we will resolve ourselves
+        if not self._mirror_window:
+            glfw.window_hint(glfw.VISIBLE, False)
+        self._window_size = [self._width // 2, self._height // 2]
+        self._window = glfw.create_window(*self._window_size, APP_NAME, None, None)
+        if self._window is None:
+            raise RuntimeError("Failed to create GLFW window")
+        glfw.make_context_current(self._window)
+        # Attempt to disable vsync on the desktop window or
+        # it will interfere with the OpenXR frame loop timing
+        glfw.swap_interval(0)
+    
+    def _prepare_xr(self):
+        """
+        Creates the OpenXR session and prepares everything to launch the frames loop.
+        """
+        if platform.system() == 'Windows':
+            from OpenGL import WGL
+            graphics_binding = xr.GraphicsBindingOpenGLWin32KHR()
+            graphics_binding.h_dc = WGL.wglGetCurrentDC()
+            graphics_binding.h_glrc = WGL.wglGetCurrentContext()
+        else:
+            from OpenGL import GLX
+            graphics_binding = xr.GraphicsBindingOpenGLXlibKHR()
+            graphics_binding.x_display = GLX.glXGetCurrentDisplay()
+            graphics_binding.glx_context = GLX.glXGetCurrentContext()
+            graphics_binding.glx_drawable = GLX.glXGetCurrentDrawable()
+
+        self._xr_session = xr.create_session(
+            self._xr_instance,
+            xr.SessionCreateInfo(
+                xr.SessionCreateFlags.NONE,
+                self._xr_system,
+                next=ctypes.cast(ctypes.pointer(graphics_binding), ctypes.c_void_p)
+            )
+        )
+        self._xr_session_state = xr.SessionState.IDLE
+
+        self._xr_swapchain = xr.create_swapchain(self._xr_session, xr.SwapchainCreateInfo(
+            usage_flags=xr.SwapchainUsageFlags.TRANSFER_DST_BIT | xr.SwapchainUsageFlags.COLOR_ATTACHMENT_BIT | xr.SwapchainUsageFlags.SAMPLED_BIT,
+            format=GL.GL_RGBA8,
+            sample_count=1 if self._samples is None else self._samples,
+            array_size=1,
+            face_count=1,
+            mip_count=1,
+            width=self._width_render,
+            height=self._height
+        ))
+        self._xr_swapchain_images = xr.enumerate_swapchain_images(self._xr_swapchain, xr.SwapchainImageOpenGLKHR)
+
+        self._xr_projection_layer = xr.CompositionLayerProjection(
+            # Default space params are okay: identity quaternion and zero vector. Let's use them.
+            space=xr.create_reference_space(self._xr_session, xr.ReferenceSpaceCreateInfo()),
+            views = [xr.CompositionLayerProjectionView(
+                sub_image=xr.SwapchainSubImage(
+                    swapchain=self._xr_swapchain,
+                    image_rect=xr.Rect2Di(
+                        extent=xr.Extent2Di(self._width, self._height),
+                        offset=None if eye_index == 0 else xr.Offset2Di(x = self._width) # right eye offset
+                    )
+                )
+            ) for eye_index in range(2)]
+        )
+
+        self._xr_swapchain_fbo = GL.glGenFramebuffers(1)
+
+    def _prepare_mujoco(self):
+        """
+        Prepares the MuJoCo environment.
+        """
+        self._mj_model = mujoco.MjModel.from_xml_path("assets/balloons.xml")
+        self._mj_data = mujoco.MjData(self._mj_model)
+        self._mj_scene = mujoco.MjvScene(self._mj_model, 1000)
+        self._mj_scene.stereo = mujoco.mjtStereo.mjSTEREO_SIDEBYSIDE
+
+        # We want the visualization properties set BEFORE creation of the context,
+        # otherwise we would have to call mjr_resizeOffscreen.
+        self._mj_model.vis.global_.offwidth = self._width_render
+        self._mj_model.vis.global_.offheight = self._height
+        self._mj_model.vis.quality.offsamples = 0 if self._samples is None else self._samples
+
+        self._mj_context = mujoco.MjrContext(self._mj_model, mujoco.mjtFontScale.mjFONTSCALE_100)
+        self._mj_camera = mujoco._structs.MjvCamera()
+        self._mj_option = mujoco.MjvOption()
+        # We do NOT want to call mjv_defaultFreeCamera
+
+        mujoco.mjv_defaultOption(self._mj_option)
+    
+    def _update_mujoco(self):
+        """
+        Updates MuJoCo for one frame.
+        """
+        mujoco.mj_step(self._mj_model, self._mj_data)
+        mujoco.mjv_updateScene(self._mj_model, self._mj_data, self._mj_option, None, self._mj_camera, mujoco.mjtCatBit.mjCAT_ALL, self._mj_scene)
+
+    def _wait_xr_frame(self):
+        """
+        Wait to begin the next OpenXR frame.
+
+        Returns:
+            bool: whether or not we should update the scene and maybe render it.
+        """
+        if self._xr_session_state in [
+            xr.SessionState.READY,
+            xr.SessionState.FOCUSED,
+            xr.SessionState.SYNCHRONIZED,
+            xr.SessionState.VISIBLE,
+        ]:
+            self._xr_frame_state = xr.wait_frame(self._xr_session, xr.FrameWaitInfo())
+            return True
+        return False
+
+    def _end_xr_frame(self):
+        xr.end_frame(self._xr_session, xr.FrameEndInfo(
+            self._xr_frame_state.predicted_display_time,
+            xr.EnvironmentBlendMode.OPAQUE,
+            layers=[ctypes.byref(self._xr_projection_layer)] if self._xr_frame_state.should_render else []
+        ))
+
+    def _poll_xr_events(self):
+        while True:
+            try:
+                event_buffer = xr.poll_event(self._xr_instance)
+                event_type = xr.StructureType(event_buffer.type)
+                if event_type == xr.StructureType.EVENT_DATA_SESSION_STATE_CHANGED:
+                    event = ctypes.cast(
+                        ctypes.byref(event_buffer),
+                        ctypes.POINTER(xr.EventDataSessionStateChanged)).contents
+                    self._xr_session_state = xr.SessionState(event.state)
+                    match self._xr_session_state:
+                        case xr.SessionState.READY:
+                            if not self._should_quit:
+                                xr.begin_session(self._xr_session, xr.SessionBeginInfo(xr.ViewConfigurationType.PRIMARY_STEREO))
+                        case xr.SessionState.STOPPING:
+                            # means the session should end BUT it can start again later,
+                            # this happens for instance when the user removes the headset
+                            xr.end_session(self._xr_session)
+                        case xr.SessionState.EXITING | xr.SessionState.LOSS_PENDING:
+                            self._should_quit = True
+            except xr.EventUnavailable:
+                break # We got all events
+
+    def _update_views(self):
+        _, view_states = xr.locate_views(self._xr_session, xr.ViewLocateInfo(
+            xr.ViewConfigurationType.PRIMARY_STEREO,
+            self._xr_frame_state.predicted_display_time,
+            self._xr_projection_layer.space,
+        ))
+        for eye_index, view_state in enumerate(view_states):
+            self._xr_projection_layer.views[eye_index].fov = view_state.fov
+            self._xr_projection_layer.views[eye_index].pose = view_state.pose
+
+            cam = self._mj_scene.camera[eye_index]
+            cam.pos = list(view_state.pose.position)
+            cam.frustum_near = FRUSTUM_NEAR
+            cam.frustum_far = FRUSTUM_FAR
+            cam.frustum_bottom = numpy.tan(view_state.fov.angle_down) * FRUSTUM_NEAR
+            cam.frustum_top = numpy.tan(view_state.fov.angle_up) * FRUSTUM_NEAR
+            cam.frustum_center = 0.5 * (numpy.tan(view_state.fov.angle_left) + numpy.tan(view_state.fov.angle_right)) * FRUSTUM_NEAR
+            # no need to set left/right as it will be computed using center
+
+            rot_quat = list(view_state.pose.orientation)
+            # Guess what? OpenXR quaternions are in form (x, y, z, w)
+            # while MuJoCo quaternions are in form (w, x, y, z)...
+            rot_quat = [rot_quat[3], *rot_quat[0:3]]
+
+            forward, up = numpy.zeros(3), numpy.zeros(3)
+            mujoco.mju_rotVecQuat(forward, [0, 0, -1], rot_quat)
+            mujoco.mju_rotVecQuat(up, [0, 1, 0], rot_quat)
+            cam.forward, cam.up = forward.tolist(), up.tolist()
+        
+        self._mj_scene.enabletransform = True
+        self._mj_scene.rotate[0] = numpy.cos(0.25 * numpy.pi)
+        self._mj_scene.rotate[1] = numpy.sin(-0.25 * numpy.pi)
+
+    def _render(self):
+        """
+        Renders the scene in the swapchain and eventually mirrors it on the window if needed.
+        """
+        # We first ask to acquire a swapchain image to render onto
+        image_index = xr.acquire_swapchain_image(self._xr_swapchain, xr.SwapchainImageAcquireInfo())
+        xr.wait_swapchain_image(self._xr_swapchain, xr.SwapchainImageWaitInfo(timeout=xr.INFINITE_DURATION))
+        
+        # Once we acquired it, we bind the image to our framebuffer object
+        GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, self._xr_swapchain_fbo)
+        GL.glFramebufferTexture2D(
+            GL.GL_FRAMEBUFFER,
+            GL.GL_COLOR_ATTACHMENT0,
+            GL.GL_TEXTURE_2D if self._samples == None else GL.GL_TEXTURE_2D_MULTISAMPLE,
+            self._xr_swapchain_images[image_index].image,
+            0
+        )
+        
+        # We ask MuJoCo to render on its own offscreen framebuffer
+        mujoco.mjr_setBuffer(mujoco.mjtFramebuffer.mjFB_OFFSCREEN, self._mj_context)
+        mujoco.mjr_render(mujoco.MjrRect(0, 0, self._width_render, self._height), self._mj_scene, self._mj_context)
+
+        # We copy what MuJoCo rendered on our framebuffer object
+        GL.glBindFramebuffer(GL.GL_READ_FRAMEBUFFER, self._mj_context.offFBO)
+        GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, self._xr_swapchain_fbo)
+        GL.glBlitFramebuffer(
+            0, 0,
+            self._width_render, self._height,
+            0, 0,
+            self._width_render, self._height,
+            GL.GL_COLOR_BUFFER_BIT,
+            GL.GL_NEAREST
+        )
+
+        if self._mirror_window:
+            # We copy the data from the MuJoCo buffer to the window one (0 is the default window fbo)
+            if self._samples is not None:
+                # We first resolve multi-sample if needed
+                GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, self._mj_context.offFBO_r)
+                GL.glBlitFramebuffer(
+                    0, 0,
+                    self._width_render, self._height,
+                    0, 0,
+                    self._width_render, self._height,
+                    GL.GL_COLOR_BUFFER_BIT,
+                    GL.GL_NEAREST
+                )
+                GL.glBindFramebuffer(GL.GL_READ_FRAMEBUFFER, self._mj_context.offFBO_r)
+
+            # We then copy the data to the window
+            GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, 0)
+            GL.glBlitFramebuffer(
+                0, 0,
+                self._width, self._height, # one eye only (left)
+                0, 0,
+                *self._window_size,
+                GL.GL_COLOR_BUFFER_BIT,
+                0x90BA # EXT_framebuffer_multisample_blit_scaled, SCALED_RESOLVE_FASTEST_EXT
+            )
+        xr.release_swapchain_image(self._xr_swapchain, xr.SwapchainImageReleaseInfo())
+    
+    def __exit__(self, exc_type, exc_value, traceback):
+        if self._window is not None:
+            glfw.make_context_current(self._window)
+            if self._xr_swapchain_fbo is not None:
+                GL.glDeleteFramebuffers(1, [self._xr_swapchain_fbo])
+                self._xr_swapchain_fbo = None
+            glfw.terminate()
+        if self._xr_swapchain is not None:
+            xr.destroy_swapchain(self._xr_swapchain)
+        if self._xr_session is not None:
+            xr.destroy_session(self._xr_session)
+        if self._xr_instance is not None:
+            # # may break on Linux SteamVR
+            # xr.destroy_instance(self._xr_instance)
+            pass # does not seem to work
+        glfw.terminate()
+
+    def frame(self):
+        glfw.poll_events()
+        self._poll_xr_events()
+        if glfw.window_should_close(self._window):
+            self._should_quit = True
+
+        if self._should_quit:
+            return
+        
+        if self._wait_xr_frame():
+            self._update_mujoco()
+            self._update_views()
+            
+            xr.begin_frame(self._xr_session, None)
+            if self._xr_frame_state.should_render:
+                self._render()
+            self._end_xr_frame()
+    
+    def loop(self):
+        glfw.make_context_current(self._window)
+        while not self._should_quit:
+            self.frame()
+
+if __name__ == "__main__":
+    with MujocoXRViewer(debug=True, mirror_window=True, samples=8) as mjxr:
+        mjxr.loop()
\ No newline at end of file
diff --git a/tactile/undergraduat/code/mjxr_tests/mujoco_xr_full.py b/tactile/undergraduat/code/mjxr_tests/mujoco_xr_full.py
new file mode 100644
index 0000000..ebfafe1
--- /dev/null
+++ b/tactile/undergraduat/code/mjxr_tests/mujoco_xr_full.py
@@ -0,0 +1,594 @@
+"""
+Second attempt to make a standalone program which displays
+a MuJoCo scene on a VR device using openXR.
+
+This attempt is an adaptation of the gl_example from pyopenxr_examples
+but with MuJoCo used to render.
+
+https://github.com/cmbruns/pyopenxr_examples/blob/main/xr_examples/gl_example.py
+"""
+
+import ctypes
+import logging
+
+import glfw
+import platform
+from OpenGL import GL
+if platform.system() == "Windows":
+    from OpenGL import WGL
+elif platform.system() == "Linux":
+    from OpenGL import GLX
+
+import xr
+import mujoco
+
+from math import tan, cos, sin, pi
+import numpy as np # present in MuJoCo
+
+ALL_SEVERITIES = (
+    xr.DEBUG_UTILS_MESSAGE_SEVERITY_VERBOSE_BIT_EXT
+    | xr.DEBUG_UTILS_MESSAGE_SEVERITY_INFO_BIT_EXT
+    | xr.DEBUG_UTILS_MESSAGE_SEVERITY_WARNING_BIT_EXT
+    | xr.DEBUG_UTILS_MESSAGE_SEVERITY_ERROR_BIT_EXT
+)
+
+ALL_TYPES = (
+    xr.DEBUG_UTILS_MESSAGE_TYPE_GENERAL_BIT_EXT
+    | xr.DEBUG_UTILS_MESSAGE_TYPE_VALIDATION_BIT_EXT
+    | xr.DEBUG_UTILS_MESSAGE_TYPE_PERFORMANCE_BIT_EXT
+    | xr.DEBUG_UTILS_MESSAGE_TYPE_CONFORMANCE_BIT_EXT
+)
+
+
+def py_log_level(severity_flags: int):
+    if severity_flags & 0x0001:  # VERBOSE
+        return logging.DEBUG
+    if severity_flags & 0x0010:  # INFO
+        return logging.INFO
+    if severity_flags & 0x0100:  # WARNING
+        return logging.WARNING
+    if severity_flags & 0x1000:  # ERROR
+        return logging.ERROR
+    return logging.CRITICAL
+
+
+stringForFormat = {
+    GL.GL_COMPRESSED_R11_EAC: "COMPRESSED_R11_EAC",
+    GL.GL_COMPRESSED_RED_RGTC1: "COMPRESSED_RED_RGTC1",
+    GL.GL_COMPRESSED_RG_RGTC2: "COMPRESSED_RG_RGTC2",
+    GL.GL_COMPRESSED_RG11_EAC: "COMPRESSED_RG11_EAC",
+    GL.GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT: "COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT",
+    GL.GL_COMPRESSED_RGB8_ETC2: "COMPRESSED_RGB8_ETC2",
+    GL.GL_COMPRESSED_RGB8_PUNCHTHROUGH_ALPHA1_ETC2: "COMPRESSED_RGB8_PUNCHTHROUGH_ALPHA1_ETC2",
+    GL.GL_COMPRESSED_RGBA8_ETC2_EAC: "COMPRESSED_RGBA8_ETC2_EAC",
+    GL.GL_COMPRESSED_SIGNED_R11_EAC: "COMPRESSED_SIGNED_R11_EAC",
+    GL.GL_COMPRESSED_SIGNED_RG11_EAC: "COMPRESSED_SIGNED_RG11_EAC",
+    GL.GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM: "COMPRESSED_SRGB_ALPHA_BPTC_UNORM",
+    GL.GL_COMPRESSED_SRGB8_ALPHA8_ETC2_EAC: "COMPRESSED_SRGB8_ALPHA8_ETC2_EAC",
+    GL.GL_COMPRESSED_SRGB8_ETC2: "COMPRESSED_SRGB8_ETC2",
+    GL.GL_COMPRESSED_SRGB8_PUNCHTHROUGH_ALPHA1_ETC2: "COMPRESSED_SRGB8_PUNCHTHROUGH_ALPHA1_ETC2",
+    GL.GL_DEPTH_COMPONENT16: "DEPTH_COMPONENT16",
+    GL.GL_DEPTH_COMPONENT24: "DEPTH_COMPONENT24",
+    GL.GL_DEPTH_COMPONENT32: "DEPTH_COMPONENT32",
+    GL.GL_DEPTH_COMPONENT32F: "DEPTH_COMPONENT32F",
+    GL.GL_DEPTH24_STENCIL8: "DEPTH24_STENCIL8",
+    GL.GL_R11F_G11F_B10F: "R11F_G11F_B10F",
+    GL.GL_R16_SNORM: "R16_SNORM",
+    GL.GL_R16: "R16",
+    GL.GL_R16F: "R16F",
+    GL.GL_R16I: "R16I",
+    GL.GL_R16UI: "R16UI",
+    GL.GL_R32F: "R32F",
+    GL.GL_R32I: "R32I",
+    GL.GL_R32UI: "R32UI",
+    GL.GL_R8_SNORM: "R8_SNORM",
+    GL.GL_R8: "R8",
+    GL.GL_R8I: "R8I",
+    GL.GL_R8UI: "R8UI",
+    GL.GL_RG16_SNORM: "RG16_SNORM",
+    GL.GL_RG16: "RG16",
+    GL.GL_RG16F: "RG16F",
+    GL.GL_RG16I: "RG16I",
+    GL.GL_RG16UI: "RG16UI",
+    GL.GL_RG32F: "RG32F",
+    GL.GL_RG32I: "RG32I",
+    GL.GL_RG32UI: "RG32UI",
+    GL.GL_RG8_SNORM: "RG8_SNORM",
+    GL.GL_RG8: "RG8",
+    GL.GL_RG8I: "RG8I",
+    GL.GL_RG8UI: "RG8UI",
+    GL.GL_RGB10_A2: "RGB10_A2",
+    GL.GL_RGB8: "RGB8",
+    GL.GL_RGB9_E5: "RGB9_E5",
+    GL.GL_RGBA16_SNORM: "RGBA16_SNORM",
+    GL.GL_RGBA16: "RGBA16",
+    GL.GL_RGBA16F: "RGBA16F",
+    GL.GL_RGBA16I: "RGBA16I",
+    GL.GL_RGBA16UI: "RGBA16UI",
+    GL.GL_RGBA2: "RGBA2",
+    GL.GL_RGBA32F: "RGBA32F",
+    GL.GL_RGBA32I: "RGBA32I",
+    GL.GL_RGBA32UI: "RGBA32UI",
+    GL.GL_RGBA8_SNORM: "RGBA8_SNORM",
+    GL.GL_RGBA8: "RGBA8",
+    GL.GL_RGBA8I: "RGBA8I",
+    GL.GL_RGBA8UI: "RGBA8UI",
+    GL.GL_SRGB8_ALPHA8: "SRGB8_ALPHA8",
+    GL.GL_SRGB8: "SRGB8",
+    GL.GL_RGB16F: "RGB16F",
+    GL.GL_DEPTH32F_STENCIL8: "DEPTH32F_STENCIL8",
+    GL.GL_BGR: "BGR (Out of spec)",
+    GL.GL_BGRA: "BGRA (Out of spec)",
+}
+
+
+class OpenXrExample(object):
+    def __init__(self, log_level=logging.DEBUG):
+        logging.basicConfig()
+        self.logger = logging.getLogger("gl_example")
+        self.logger.setLevel(log_level)
+        self.debug_callback = xr.PFN_xrDebugUtilsMessengerCallbackEXT(self.debug_callback_py)
+        self.mirror_window = False
+        self.instance = None
+        self.system_id = None
+        self.pxrCreateDebugUtilsMessengerEXT = None
+        self.pxrDestroyDebugUtilsMessengerEXT = None
+        self.pxrGetOpenGLGraphicsRequirementsKHR = None
+        self.graphics_requirements = xr.GraphicsRequirementsOpenGLKHR()
+        if platform.system() == 'Windows':
+            self.graphics_binding = xr.GraphicsBindingOpenGLWin32KHR()
+        elif platform.system() == 'Linux':
+            self.graphics_binding = xr.GraphicsBindingOpenGLXlibKHR()
+        else:
+            raise NotImplementedError('Unsupported platform')
+        self.render_target_size = None
+        self.window = None
+        self.session = None
+        self.projection_layer_views = (xr.CompositionLayerProjectionView * 2)(
+            *([xr.CompositionLayerProjectionView()] * 2))
+        self.projection_layer = xr.CompositionLayerProjection(
+            views=self.projection_layer_views)
+        self.swapchain_create_info = xr.SwapchainCreateInfo()
+        self.swapchain = None
+        self.swapchain_images = None
+        self.quit = False
+        self.session_state = xr.SessionState.IDLE
+        self.frame_state = xr.FrameState()
+        self.eye_view_states = None
+        self.window_size = None
+        self.enable_debug = True
+        self.linux_steamvr_broken_destroy_instance = False
+
+    def debug_callback_py(
+            self,
+            severity: xr.DebugUtilsMessageSeverityFlagsEXT,
+            _type: xr.DebugUtilsMessageTypeFlagsEXT,
+            data: ctypes.POINTER(xr.DebugUtilsMessengerCallbackDataEXT),
+            _user_data: ctypes.c_void_p,
+    ) -> bool:
+        d = data.contents
+        # TODO structure properties to return unicode strings
+        self.logger.log(py_log_level(severity), f"{d.function_name.decode()}: {d.message.decode()}")
+        return True
+
+    def run(self):
+        while not self.quit:
+            if glfw.window_should_close(self.window):
+                self.quit = True
+            else:
+                self.frame()
+
+    def __enter__(self):
+        self.prepare_xr_instance()
+        self.prepare_xr_system()
+        self.prepare_window()
+        self.prepare_xr_session()
+        self.prepare_xr_swapchain()
+        self.prepare_xr_composition_layers()
+        self.prepare_gl_framebuffer()
+        self.prepare_mujoco()
+        return self
+
+    def prepare_xr_instance(self):
+        discovered_extensions = xr.enumerate_instance_extension_properties()
+        if xr.EXT_DEBUG_UTILS_EXTENSION_NAME not in discovered_extensions:
+            self.enable_debug = False
+        requested_extensions = [xr.KHR_OPENGL_ENABLE_EXTENSION_NAME]
+        if self.enable_debug:
+            requested_extensions.append(xr.EXT_DEBUG_UTILS_EXTENSION_NAME)
+        for extension in requested_extensions:
+            assert extension in discovered_extensions
+        app_info = xr.ApplicationInfo(
+            application_name="gl_example",
+            application_version=0,
+            engine_name="pyopenxr",
+            engine_version=xr.PYOPENXR_CURRENT_API_VERSION,
+            api_version=xr.Version(1, 0, xr.XR_VERSION_PATCH),
+        )
+        ici = xr.InstanceCreateInfo(
+            application_info=app_info,
+            enabled_extension_names=requested_extensions,
+        )
+        dumci = xr.DebugUtilsMessengerCreateInfoEXT()
+        if self.enable_debug:
+            dumci.message_severities = ALL_SEVERITIES
+            dumci.message_types = ALL_TYPES
+            dumci.user_data = None  # TODO
+            dumci.user_callback = self.debug_callback
+            ici.next = ctypes.cast(ctypes.pointer(dumci), ctypes.c_void_p)  # TODO: yuck
+        self.instance = xr.create_instance(ici)
+        # TODO: pythonic wrapper
+        self.pxrGetOpenGLGraphicsRequirementsKHR = ctypes.cast(
+            xr.get_instance_proc_addr(
+                self.instance,
+                "xrGetOpenGLGraphicsRequirementsKHR",
+            ),
+            xr.PFN_xrGetOpenGLGraphicsRequirementsKHR
+        )
+        instance_props = xr.get_instance_properties(self.instance)
+        if platform.system() == 'Linux' and instance_props.runtime_name == b"SteamVR/OpenXR":
+            print("SteamVR/OpenXR on Linux detected, enabling workarounds")
+            # Enabling workaround for https://github.com/ValveSoftware/SteamVR-for-Linux/issues/422,
+            # and https://github.com/ValveSoftware/SteamVR-for-Linux/issues/479
+            # destroy_instance() causes SteamVR to hang and never recover
+            self.linux_steamvr_broken_destroy_instance = True
+
+    def prepare_xr_system(self):
+        get_info = xr.SystemGetInfo(xr.FormFactor.HEAD_MOUNTED_DISPLAY)
+        self.system_id = xr.get_system(self.instance, get_info)  # TODO: not a pointer
+        view_configs = xr.enumerate_view_configurations(self.instance, self.system_id)
+        assert view_configs[0] == xr.ViewConfigurationType.PRIMARY_STEREO.value  # TODO: equality...
+        view_config_views = xr.enumerate_view_configuration_views(
+            self.instance, self.system_id, xr.ViewConfigurationType.PRIMARY_STEREO)
+        assert len(view_config_views) == 2
+        assert view_config_views[0].recommended_image_rect_height == view_config_views[1].recommended_image_rect_height
+        self.render_target_size = (
+            view_config_views[0].recommended_image_rect_width * 2,
+            view_config_views[0].recommended_image_rect_height)
+        result = self.pxrGetOpenGLGraphicsRequirementsKHR(
+            self.instance, self.system_id, ctypes.byref(self.graphics_requirements))  # TODO: pythonic wrapper
+        result = xr.exception.check_result(xr.Result(result))
+        if result.is_exception():
+            raise result
+
+    def prepare_window(self):
+        if not glfw.init():
+            raise RuntimeError("GLFW initialization failed")
+        if not self.mirror_window:
+            glfw.window_hint(glfw.VISIBLE, False)
+            glfw.window_hint(glfw.SAMPLES, 0)
+        glfw.window_hint(glfw.DOUBLEBUFFER, False)
+        self.window_size = [self.render_target_size[0] // 2, self.render_target_size[1] // 2]
+        self.window = glfw.create_window(*self.window_size, "gl_example", None, None)
+        if self.window is None:
+            raise RuntimeError("Failed to create GLFW window")
+        glfw.make_context_current(self.window)
+        # Attempt to disable vsync on the desktop window or
+        # it will interfere with the OpenXR frame loop timing
+        glfw.swap_interval(0)
+
+    def prepare_xr_session(self):
+        if platform.system() == 'Windows':
+            self.graphics_binding.h_dc = WGL.wglGetCurrentDC()
+            self.graphics_binding.h_glrc = WGL.wglGetCurrentContext()
+        else:
+            self.graphics_binding.x_display = GLX.glXGetCurrentDisplay()
+            self.graphics_binding.glx_context = GLX.glXGetCurrentContext()
+            self.graphics_binding.glx_drawable = GLX.glXGetCurrentDrawable()
+        pp = ctypes.cast(ctypes.pointer(self.graphics_binding), ctypes.c_void_p)
+        sci = xr.SessionCreateInfo(0, self.system_id, next=pp)
+        self.session = xr.create_session(self.instance, sci)
+        reference_spaces = xr.enumerate_reference_spaces(self.session)
+        for rs in reference_spaces:
+            self.logger.debug(f"Session supports reference space {xr.ReferenceSpaceType(rs)}")
+        # TODO: default constructors for Quaternion, Vector3f, Posef, ReferenceSpaceCreateInfo
+        rsci = xr.ReferenceSpaceCreateInfo(
+            xr.ReferenceSpaceType.STAGE,
+            xr.Posef(xr.Quaternionf(0, 0, 0, 1), xr.Vector3f(0, 0, 0))
+        )
+        self.projection_layer.space = xr.create_reference_space(self.session, rsci)
+        swapchain_formats = xr.enumerate_swapchain_formats(self.session)
+        for scf in swapchain_formats:
+            self.logger.debug(f"Session supports swapchain format {stringForFormat[scf]}")
+
+    def prepare_xr_swapchain(self):
+        self.swapchain_create_info.usage_flags = xr.SWAPCHAIN_USAGE_TRANSFER_DST_BIT | xr.SWAPCHAIN_USAGE_COLOR_ATTACHMENT_BIT | xr.SWAPCHAIN_USAGE_SAMPLED_BIT
+        self.swapchain_create_info.format = GL.GL_RGBA8
+        self.swapchain_create_info.sample_count = 1
+        self.swapchain_create_info.array_size = 1
+        self.swapchain_create_info.face_count = 1
+        self.swapchain_create_info.mip_count = 1
+        self.swapchain_create_info.width = self.render_target_size[0]
+        self.swapchain_create_info.height = self.render_target_size[1]
+        self.swapchain = xr.create_swapchain(self.session, self.swapchain_create_info)
+        self.swapchain_images = xr.enumerate_swapchain_images(self.swapchain, xr.SwapchainImageOpenGLKHR)
+        for i, si in enumerate(self.swapchain_images):
+            self.logger.debug(f"Swapchain image {i} type = {xr.StructureType(si.type)}")
+
+    def prepare_xr_composition_layers(self):
+        self.projection_layer.view_count = 2
+        self.projection_layer.views = self.projection_layer_views
+        for eye_index in range(2):
+            layer_view = self.projection_layer_views[eye_index]
+            layer_view.sub_image.swapchain = self.swapchain
+            layer_view.sub_image.image_rect.extent = xr.Extent2Di(
+                self.render_target_size[0] // 2,
+                self.render_target_size[1],
+            )   
+            # the following causes MuJoCo to render blank to the right eye
+            if eye_index == 1:
+                layer_view.sub_image.image_rect.offset.x = layer_view.sub_image.image_rect.extent.width
+
+    def prepare_gl_framebuffer(self):
+        w, h = self.swapchain_create_info.width, self.swapchain_create_info.height
+        glfw.make_context_current(self.window)
+
+        # FBO
+        self.sw_fbo = GL.glGenFramebuffers(1)
+        # GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, self.sw_fbo)
+        # GL.glViewport(0, 0, w, h)
+
+        # COLOR
+
+
+        # DEPTH
+        """ self.fbo_depth_tex = GL.glGenTextures(1)
+        GL.glBindTexture(GL.GL_TEXTURE_2D, self.fbo_depth_tex)
+        GL.glTexParameteri(GL.GL_TEXTURE_2D, GL.GL_TEXTURE_MAG_FILTER, GL.GL_NEAREST)
+        GL.glTexParameteri(GL.GL_TEXTURE_2D, GL.GL_TEXTURE_MIN_FILTER, GL.GL_NEAREST)
+        GL.glTexParameteri(GL.GL_TEXTURE_2D, GL.GL_TEXTURE_WRAP_S, GL.GL_CLAMP_TO_EDGE)
+        GL.glTexParameteri(GL.GL_TEXTURE_2D, GL.GL_TEXTURE_WRAP_T, GL.GL_CLAMP_TO_EDGE)
+        GL.glTexImage2D(GL.GL_TEXTURE_2D, 0, GL.GL_DEPTH_COMPONENT32, w, h, 0, GL.GL_DEPTH_COMPONENT, GL.GL_FLOAT, None)
+
+        if self.mirror_window:
+            self.fbo_downsample = GL.glGenBuffers(1)
+            self.tex_dowmsample = GL.glGenTextures(1)
+            GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, self.fbo_downsample)
+            GL.glBindTexture(GL.GL_TEXTURE_2D, self.tex_dowmsample)
+            GL.glTexImage2D(GL.GL_TEXTURE_2D, 0, GL.GL_RGBA8, *self.window_size, 0, GL.GL_RGBA, GL.GL_UNSIGNED_BYTE, None)
+            GL.glFramebufferTexture2D(GL.GL_FRAMEBUFFER, GL.GL_COLOR_ATTACHMENT0, GL.GL_TEXTURE_2D, self.tex_dowmsample, 0)
+
+        GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, 0) """
+
+    def prepare_mujoco(self):
+        self.first = True
+        self._model = mujoco.MjModel.from_xml_path("assets/balloons.xml")
+        self._data = mujoco.MjData(self._model)
+        self._scene = mujoco.MjvScene(self._model, 1000)
+        self._context = mujoco.MjrContext(self._model, mujoco.mjtFontScale.mjFONTSCALE_100)
+        self._camera = mujoco._structs.MjvCamera()
+        self._camera.azimuth = 0
+        self._camera.distance = 0
+        self._camera.elevation = 0
+        self._camera.lookat = [0, 0, 0]
+        # The following sets default things we do not want
+        # mujoco.mjv_defaultFreeCamera(self._model, self._camera)
+        self._model.vis.global_.offwidth = self.render_target_size[0]
+        self._model.vis.global_.offheight = self.render_target_size[1]
+        mujoco.mjr_resizeOffscreen(*self.render_target_size, self._context)
+
+        self._option = mujoco.MjvOption()
+        mujoco.mjv_defaultOption(self._option)
+
+    def frame(self):
+        glfw.poll_events()
+        self.poll_xr_events()
+        if self.quit:
+            return
+        if self.start_xr_frame():
+            mujoco.mj_step(self._model, self._data)
+            mujoco.mjv_updateScene(self._model, self._data, self._option, None, self._camera, mujoco.mjtCatBit.mjCAT_ALL, self._scene)
+
+            self.update_xr_views()
+            if self.frame_state.should_render:
+                self.render()
+            self.end_xr_frame()
+
+    def poll_xr_events(self):
+        while True:
+            try:
+                event_buffer = xr.poll_event(self.instance)
+                event_type = xr.StructureType(event_buffer.type)
+                if event_type == xr.StructureType.EVENT_DATA_SESSION_STATE_CHANGED:
+                    self.on_session_state_changed(event_buffer)
+            except xr.EventUnavailable:
+                break
+
+    def on_session_state_changed(self, session_state_changed_event):
+        # TODO: it would be nice to avoid this horrible cast...
+        event = ctypes.cast(
+            ctypes.byref(session_state_changed_event),
+            ctypes.POINTER(xr.EventDataSessionStateChanged)).contents
+        # TODO: enum property
+        self.session_state = xr.SessionState(event.state)
+        if self.session_state == xr.SessionState.READY:
+            if not self.quit:
+                sbi = xr.SessionBeginInfo(xr.ViewConfigurationType.PRIMARY_STEREO)
+                xr.begin_session(self.session, sbi)
+        elif self.session_state == xr.SessionState.STOPPING:
+            xr.end_session(self.session)
+            self.session = None
+            self.quit = True
+
+    def start_xr_frame(self) -> bool:
+        if self.session_state in [
+            xr.SessionState.READY,
+            xr.SessionState.FOCUSED,
+            xr.SessionState.SYNCHRONIZED,
+            xr.SessionState.VISIBLE,
+        ]:
+            frame_wait_info = xr.FrameWaitInfo(None)
+            try:
+                self.frame_state = xr.wait_frame(self.session, frame_wait_info)
+                xr.begin_frame(self.session, None)
+                return True
+            except xr.ResultException as ex:
+                print(ex)
+                return False
+        return False
+
+    def end_xr_frame(self):
+        frame_end_info = xr.FrameEndInfo(
+            self.frame_state.predicted_display_time,
+            xr.EnvironmentBlendMode.OPAQUE
+        )
+        if self.frame_state.should_render:
+            for eye_index in range(2):
+                layer_view = self.projection_layer_views[eye_index]
+                eye_view = self.eye_view_states[eye_index]
+                layer_view.fov = eye_view.fov
+                layer_view.pose = eye_view.pose
+            frame_end_info.layers = [ctypes.byref(self.projection_layer), ]
+        xr.end_frame(self.session, frame_end_info)
+
+    @staticmethod
+    def quat_xr2mj(xr_quat):
+        return [xr_quat[3], *xr_quat[0:3]]
+
+    def update_xr_views(self):
+        vi = xr.ViewLocateInfo(
+            xr.ViewConfigurationType.PRIMARY_STEREO,
+            self.frame_state.predicted_display_time,
+            self.projection_layer.space,
+        )
+        vs, self.eye_view_states = xr.locate_views(self.session, vi)
+        for eye_index, view_state in enumerate(self.eye_view_states):
+            rot_quat = list(view_state.pose.orientation)
+
+            self._scene.stereo = mujoco.mjtStereo.mjSTEREO_SIDEBYSIDE
+            cam = self._scene.camera[eye_index]
+            cam.pos = list(view_state.pose.position)
+            FRUSTUM_NEAR = 0.05
+            FRUSTUM_FAR = 50
+            cam.frustum_near = FRUSTUM_NEAR
+            cam.frustum_far = FRUSTUM_FAR
+            cam.frustum_bottom = tan(view_state.fov.angle_down) * FRUSTUM_NEAR
+            cam.frustum_top = tan(view_state.fov.angle_up) * FRUSTUM_NEAR
+            cam.frustum_center = 0.5 * (tan(view_state.fov.angle_left) + tan(view_state.fov.angle_right)) * FRUSTUM_NEAR
+            # no need to set left/right as it will be computed using center
+
+            forward = np.zeros(3)
+            up = np.zeros(3)
+            mujoco.mju_rotVecQuat(forward, [0, 0, -1], OpenXrExample.quat_xr2mj(rot_quat))
+            mujoco.mju_rotVecQuat(up, [0, 1, 0], OpenXrExample.quat_xr2mj(rot_quat))
+            cam.forward = forward.tolist()
+            cam.up = up.tolist()
+            # cam.forward = [0, 0, -1]
+            # cam.up = [0, 1 if eye_index == 1 else -1, 0]
+        
+        self._scene.enabletransform = True
+        self._scene.translate[0] = 0;
+        self._scene.translate[2] = 0;
+        self._scene.rotate[0] = cos(0.25 * pi);
+        self._scene.rotate[1] = sin(-0.25 * pi);
+        self._scene.rotate[2] = 0;
+        self._scene.rotate[3] = 0;
+        self._scene.scale = 1;
+
+    def render(self):
+        ai = xr.SwapchainImageAcquireInfo(None)
+        swapchain_index = xr.acquire_swapchain_image(self.swapchain, ai)
+        wi = xr.SwapchainImageWaitInfo(xr.INFINITE_DURATION)
+        xr.wait_swapchain_image(self.swapchain, wi)
+        glfw.make_context_current(self.window)
+        w, h = self.render_target_size
+
+        GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, self.sw_fbo)
+        sw_image = self.swapchain_images[swapchain_index]
+
+        # GL.glTexParameteri(GL.GL_TEXTURE_2D, GL.GL_TEXTURE_MAG_FILTER, GL.GL_NEAREST);
+        # GL.glTexParameteri(GL.GL_TEXTURE_2D, GL.GL_TEXTURE_MIN_FILTER, GL.GL_NEAREST);
+        # GL.glTexParameteri(GL.GL_TEXTURE_2D, GL.GL_TEXTURE_WRAP_S, GL.GL_CLAMP_TO_EDGE);
+        # GL.glTexParameteri(GL.GL_TEXTURE_2D, GL.GL_TEXTURE_WRAP_T, GL.GL_CLAMP_TO_EDGE);
+        # # GL.glTexImage2D(GL.GL_TEXTURE_2D, 0, GL.GL_RGBA8, w, h, 0, GL.GL_RGBA, GL.GL_UNSIGNED_BYTE, None);
+
+        GL.glFramebufferTexture2D(GL.GL_FRAMEBUFFER, GL.GL_COLOR_ATTACHMENT0, GL.GL_TEXTURE_2D, sw_image.image, 0)
+        # GL.glFramebufferTexture2D(GL.GL_FRAMEBUFFER, GL.GL_DEPTH_ATTACHMENT, GL.GL_TEXTURE_2D, self.fbo_depth_tex, 0)
+
+        # print("INFO")
+        # print(hex(GL.glGetFramebufferAttachmentParameteriv(GL.GL_FRAMEBUFFER, GL.GL_COLOR_ATTACHMENT0, GL.GL_FRAMEBUFFER_ATTACHMENT_COLOR_ENCODING)))
+        # print(hex(GL.glGetFramebufferAttachmentParameteriv(GL.GL_FRAMEBUFFER, GL.GL_COLOR_ATTACHMENT0, GL.GL_FRAMEBUFFER_ATTACHMENT_COMPONENT_TYPE)))
+        # print(hex(GL.glGetFramebufferAttachmentParameteriv(GL.GL_FRAMEBUFFER, GL.GL_COLOR_ATTACHMENT0, GL.GL_FRAMEBUFFER_ATTACHMENT_ALPHA_SIZE)))
+
+        viewport = mujoco.MjrRect(0, 0, w, h)
+
+        # print("Skybox:", self._scene.flags[mujoco.mjtRndFlag.mjRND_SKYBOX])
+        # print("Reflection:", self._scene.flags[mujoco.mjtRndFlag.mjRND_REFLECTION])
+
+        # GL.glEnable(GL.GL_SCISSOR_TEST)
+        # GL.glScissor(0, 0, w // 2, h)
+        # GL.glClearColor(0, 1, 0, 1)
+        # GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
+        # GL.glScissor(w // 2, 0, w // 2, h)
+        # GL.glClearColor(0, 0, 1, 1)
+        # GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
+        # GL.glDisable(GL.GL_SCISSOR_TEST)
+
+        mujoco.mjr_setBuffer(mujoco.mjtFramebuffer.mjFB_OFFSCREEN, self._context)
+        mujoco.mjr_render(viewport, self._scene, self._context)
+
+        GL.glBindFramebuffer(GL.GL_READ_FRAMEBUFFER, self._context.offFBO)
+        GL.glReadBuffer(GL.GL_COLOR_ATTACHMENT0)
+        GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, self.sw_fbo)
+        GL.glDrawBuffer(GL.GL_COLOR_ATTACHMENT0)
+        GL.glBlitFramebuffer(
+            0, 0,
+            w, h,
+            0, 0,
+            w, h,
+            GL.GL_COLOR_BUFFER_BIT,
+            GL.GL_NEAREST
+        )
+
+        if self.mirror_window:
+            # fast blit from the fbo to the window surface
+            GL.glBindFramebuffer(GL.GL_READ_FRAMEBUFFER, self.sw_fbo)
+            GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, 0)
+            GL.glBlitFramebuffer(
+                0, 0,
+                w, h,
+                0, 0,
+                *self.window_size,
+                GL.GL_COLOR_BUFFER_BIT,
+                0x90BA # EXT_framebuffer_multisample_blit_scaled
+            )
+
+            # GL.glFramebufferTexture(GL.GL_READ_FRAMEBUFFER, GL.GL_COLOR_ATTACHMENT0, 0, 0)
+            GL.glBindFramebuffer(GL.GL_READ_FRAMEBUFFER, 0)
+        ri = xr.SwapchainImageReleaseInfo()
+        xr.release_swapchain_image(self.swapchain, ri)
+        # If we're mirror make sure to do the potentially blocking command
+        # AFTER we've released the swapchain image
+        if self.mirror_window:
+            glfw.swap_buffers(self.window)
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        if self.window is not None:
+            glfw.make_context_current(self.window)
+            if self.sw_fbo is not None:
+                GL.glDeleteFramebuffers(1, [self.sw_fbo])
+                self.sw_fbo = None
+            # if self.fbo_depth_buffer is not None:
+            #     GL.glDeleteRenderbuffers(1, [self.fbo_depth_buffer])
+            #     self.fbo_depth_buffer = None
+            glfw.terminate()
+            self.window = None
+        if self.swapchain is not None:
+            xr.destroy_swapchain(self.swapchain)
+            self.swapchain = None
+        if self.session is not None:
+            xr.destroy_session(self.session)
+            self.session = None
+        self.system_id = None
+        if self.instance is not None:
+            # Workaround for https://github.com/ValveSoftware/SteamVR-for-Linux/issues/422
+            # and https://github.com/ValveSoftware/SteamVR-for-Linux/issues/479
+            if not self.linux_steamvr_broken_destroy_instance:
+                xr.destroy_instance(self.instance)
+            self.instance = None
+        glfw.terminate()
+
+
+if __name__ == "__main__":
+    with OpenXrExample(logging.DEBUG) as ex:
+        ex.run()
\ No newline at end of file
diff --git a/tactile/undergraduat/code/mjxr_tests/mujocoxr_nope.py b/tactile/undergraduat/code/mjxr_tests/mujocoxr_nope.py
new file mode 100644
index 0000000..2d03ca7
--- /dev/null
+++ b/tactile/undergraduat/code/mjxr_tests/mujocoxr_nope.py
@@ -0,0 +1,177 @@
+"""
+First attempt to make a standalone program which displays
+a MuJoCo scene on a VR device using openXR.
+
+This attempt was made using ContextObject and eventually failed.
+See why in the __init__ method.
+"""
+import mujoco.gl_context
+import mujoco.glfw
+import xr
+from ctypes import byref
+
+import mujoco
+
+import glfw
+from OpenGL import GL
+import OpenGL.GL.ARB.framebuffer_object
+
+class MuJoCoXr:
+    def __init__(self):
+        """
+        Things preventing us from using an xr.ContextObject instead of creating everything
+        ourselves:
+
+        - CtxObj creates one swapchain per eye. We need only one stereo swapchain, because
+          this is what the MuJoCo renderer is expecting.
+            - This is bypassable by creating a new swapchain ourselves.
+            - We also need to create a composition layer containing two views, one per eye.
+            - And to be able to use the "ContextObject.graphics" pre-made functions, we also
+              need another big layer with only one view containing both eyes side-by-side.
+        - CtxObj uses an internal OpenGLGraphics containing a lot of useful functions related
+          to rendering. However, this class initializes the OpenGL context using GLFW with some
+          hints to require context version 4.5 and Core Profile. MuJoCo is not compatible with
+          that: it requires OpenGL 3.1 or lower OR 3.2 and higher with the Compatibility Profile.
+            - This is NOT bypassable without recompiling all of pyopenxr
+        
+        We must therefore do everything ourselves, just like in vanilla OpenXR.
+
+        See the gl_example in the pyopenxr examples repository:
+        https://github.com/cmbruns/pyopenxr_examples/blob/main/xr_examples/gl_example.py
+        """
+        self._context = xr.ContextObject(
+            instance_create_info=xr.InstanceCreateInfo(
+                enabled_extension_names=[
+                    xr.KHR_OPENGL_ENABLE_EXTENSION_NAME
+                ]
+            )
+        )
+
+    def __enter__(self):
+        self._context.__enter__()
+        # the ContextObject does only create one swapchain per view (i.e. per eye)
+        # whereas we want a "stereo" swapchain, as it is what MuJoCo OpenGL renderer is expecting
+
+        gl_formats = xr.enumerate_swapchain_formats(self._context.session)
+        print("Supported formats:", [hex(f) for f in gl_formats])
+
+        gl_format = self._context.graphics.select_color_swapchain_format(gl_formats)
+        print("Choosen", gl_format)
+
+        self._fetch_view_attributes()
+
+        self._swapchain = xr.create_swapchain(
+            self._context.session,
+            xr.SwapchainCreateInfo(
+                array_size=1,
+                format=gl_format,
+                width=self._render_target_w,
+                height=self._render_target_h,
+                mip_count=1,
+                face_count=1,
+                sample_count=1,
+                usage_flags=xr.SwapchainUsageFlags.COLOR_ATTACHMENT_BIT,
+            )
+        )
+        
+        self._swapchain_images = xr.enumerate_swapchain_images(self._swapchain, xr.SwapchainImageOpenGLKHR)
+        for i, si in enumerate(self._swapchain_images):
+            print(f"Swapchain image {i} type = {xr.StructureType(si.type)}")
+
+        self._render_layer = xr.CompositionLayerProjection(
+            space=self._context.space,
+            view_count=2,
+            views=[xr.CompositionLayerProjectionView(
+                sub_image=xr.SwapchainSubImage(
+                    swapchain=self._swapchain,
+                    image_rect=xr.Rect2Di(
+                        extent=xr.Extent2Di(self._render_target_w // 2, self._render_target_h),
+                        offset=xr.Offset2Di(x=i*self._render_target_w // 2) # so the right image is offset by its width
+                    )
+                )
+            ) for i in range(2)]
+        )
+        self._large_layer_view = xr.CompositionLayerProjectionView(
+            sub_image=xr.SwapchainSubImage(
+                    swapchain=self._swapchain,
+                    image_rect=xr.Rect2Di(
+                        extent=xr.Extent2Di(self._render_target_w, self._render_target_h),
+                    )
+                )
+        )
+        # To use the already-made graphics class provided by openXR, we need a layer view that covers all the viewport.
+        # It seems hacky, TODO see if it works.
+
+        return self
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        self._context.__exit__(exc_type, exc_value, traceback)
+    
+    def _fetch_view_attributes(self):
+        # we should normally get the render target size with the view configurations
+        # but it has already been done by the ContextObject
+        self._render_target_w = self._context.swapchains[0].width * 2
+        self._render_target_h = self._context.swapchains[0].height
+    
+    def loop(self):
+        for frame_state in self._context.frame_loop():
+            print("Starting frame...")
+
+            swapchain_index = xr.acquire_swapchain_image(self._swapchain, xr.SwapchainImageAcquireInfo())
+            xr.wait_swapchain_image(self._swapchain, xr.SwapchainImageWaitInfo(xr.INFINITE_DURATION))
+            swapchain_image = self._swapchain_images[swapchain_index]
+
+            self._context.graphics.begin_frame(self._large_layer_view, swapchain_image.image)
+
+            yield frame_state
+
+            self._context.graphics.end_frame()
+            xr.release_swapchain_image(self._swapchain, xr.SwapchainImageReleaseInfo())
+            # TODO update pose here
+            self._context.render_layers.append(byref(self._render_layer))
+            print("End of frame.")
+
+    def launch_mujoco(self, xml_path: str):
+        model = mujoco.MjModel.from_xml_path(xml_path)
+        data = mujoco.MjData(model)
+
+        gl_context = mujoco.glfw.GLContext(1000, 600)
+        gl_context.make_current()
+
+        scene = mujoco.MjvScene(model, 1000)
+        context = mujoco.MjrContext(model, mujoco.mjtFontScale.mjFONTSCALE_100)
+
+        for frame_step in self.loop():
+            mujoco.mj_step(model, data)
+            
+            mujoco.mjv_updateScene(model, data, None, None, None, mujoco.mjtCatBit.mjCAT_ALL, scene)
+            viewport = mujoco.mjr_maxViewport(context)
+
+            mujoco.mjr_render(viewport, scene, context)
+
+if __name__ == "__main__":
+    if False:
+        if not glfw.init():
+            raise RuntimeError("GLFW initialization failed")
+        
+        glfw.window_hint(glfw.DOUBLEBUFFER, False)
+        # glfw.window_hint(glfw.CONTEXT_VERSION_MAJOR, 4)
+        # glfw.window_hint(glfw.CONTEXT_VERSION_MINOR, 5)
+        # glfw.window_hint(glfw.OPENGL_PROFILE, glfw.OPENGL_CORE_PROFILE)
+        window = glfw.create_window(1000, 600, "gl_example", None, None)
+        if window is None:
+            raise RuntimeError("Failed to create GLFW window")
+        glfw.make_context_current(window)
+        
+        if not OpenGL.GL.ARB.framebuffer_object.glInitFramebufferObjectARB():
+            raise RuntimeError("No arb fbo")
+
+        for i in range(GL.glGetIntegerv(GL.GL_NUM_EXTENSIONS)):
+            extension_name = GL.glGetStringi(GL.GL_EXTENSIONS, i)
+            print("Supported OpenGL extension: ", extension_name)
+    
+    with MuJoCoXr() as mjxr:
+        """for frame, frame_state in enumerate(mjxr.loop()):
+        GL.glClearColor(1, 0.7, 0.7, 1)  # pink
+        GL.glClear(GL.GL_COLOR_BUFFER_BIT) """
+        mjxr.launch_mujoco("assets/MuJoCo scene.xml")
\ No newline at end of file
diff --git a/tactile/undergraduat/code/mujoco_connector.py b/tactile/undergraduat/code/mujoco_connector.py
new file mode 100644
index 0000000..93aca96
--- /dev/null
+++ b/tactile/undergraduat/code/mujoco_connector.py
@@ -0,0 +1,256 @@
+from fingers_sim import annular_sim, index_sim, middle_sim, pinky_sim, thumb_sim
+from interfaces import Engine, Visualizer
+from hand import Hand
+from math import radians
+
+import mujoco as mj
+import mujoco.viewer as mj_viewer
+
+from weart import TextureType
+
+import numpy as np
+import os
+from fingers_sim import *
+
+TEXTURE_MAPPING = {
+    "left kidney normal": TextureType.ProfiledRubberSlow,
+    "liver cibrosis": TextureType.CrushedRock,
+    "liver lesion": TextureType.VenetianGranite,
+    "demo_jelly_cube": TextureType.ProfiledRubberSlow,
+    "demo_jelly_ball": TextureType.VenetianGranite,
+    "demo_cloth_pad": TextureType.CrushedRock,
+}
+
+class MujocoConnector(Engine):
+    _plugins_loaded = False
+
+    def __init__(self, xml_path: str, hands: tuple[Hand, Hand]):
+        """Creates the MuJoCo Connector with the MJCF at the passed path.
+
+        Args:
+            xml_path (str): path to the XML file containing the MJCF
+            hands (tuple[Hand, Hand]): hands configuration
+        """
+        if not MujocoConnector._plugins_loaded:
+            try:
+                if hasattr(mj, "_load_all_bundled_plugins"):
+                    mj._load_all_bundled_plugins()
+                else:
+                    plugin_dir = os.path.join(os.path.dirname(mj.__file__), "plugin")
+                    mj.mj_loadAllPluginLibraries(plugin_dir)
+            finally:
+                MujocoConnector._plugins_loaded = True
+
+        spec = mj.MjSpec()
+        spec = spec.from_file(xml_path)
+
+        self._edit_hands(spec, hands)
+        
+        self.model = spec.compile()
+        self.data = mj.MjData(self.model)
+
+        self._fetch_hands(hands)
+        self._fetch_flexes(TEXTURE_MAPPING)
+
+        self._fetch_finger_joints(hands)
+        self._init_task()
+
+        self._should_reset = False
+
+    def _edit_hands(self, spec: mj.MjSpec, hands: tuple[Hand, Hand]):
+        for hand in hands:
+            hand_body = spec.worldbody.find_child(f"{hand.side}_hand")
+            if hand_body is None:
+                raise ValueError(f"Body not found in MJCF: {hand.side}_hand")
+
+            if hand.tracking or hand.haptics:
+                controller_rotation = hand.controller_rotation if spec.compiler.degree else radians(hand.controller_rotation)
+                hand_body_rotation = hand_body.alt
+                hand_body_rotation.euler[1] += controller_rotation
+                hand_body.alt = hand_body_rotation
+            else:
+                hand_mocap = spec.worldbody.find_child(f"{hand.side}_hand_mocap")
+                if hand_mocap is not None:
+                    hand_mocap.pos[2] = -10.0
+                
+                # if this hand is used for neither tracking nor haptics, we can delete it from the scene.
+                spec.delete(hand_body)
+                # detach takes care of removing weld constraints, sensors and everything.
+
+    def _fetch_hands(self, hands: tuple[Hand, Hand]):
+        self._hand_mocaps = [self.model.body(f"{hand.side}_hand_mocap").mocapid[0] if hand.tracking else 0 for hand in hands]
+    
+    def _fetch_flexes(self, flex_textures: dict[str, TextureType]):
+        self._flex_textures = {}
+        for flex, texture in flex_textures.items():
+            flex_id = self._get_flex_id(flex)
+            if flex_id is not None:
+                self._flex_textures[flex_id] = texture
+
+    def _get_flex_id(self, flex_name: str):
+        for id, name_adr in enumerate(self.model.name_flexadr):
+            name_binary: bytes = self.model.names[name_adr:]
+            name_decoded = name_binary.decode()
+            name_decoded = name_decoded[:name_decoded.index("\0")]
+            if name_decoded == flex_name:
+                return id
+        return None
+
+    def _fetch_finger_joints(self, hands: tuple[Hand, Hand]):
+        self.joint_ids ={}
+        for hand in filter(lambda h: h.tracking or h.haptics, hands):
+            for finger in ["Index_", "Middle_", "Annular_", "Pinky_", "Thumb_"]:
+                for joint in ["J1","J2","J3"]:
+                    name = hand.side.capitalize() + "_" + finger + joint
+                    self.joint_ids[name] = self.model.actuator(name + ".stl").id
+    
+    def _init_task(self):
+        self.middle_links = [0.030836556725044706, 0.007652464090533103, 0.021260243533355868, 0.00577589647566514, 0.008874814927647797, 0.002068895357431296]
+        self.annular_links = [0.028450942497569385, 0.00801985099612217, 0.018776141709360844, 0.005880719130344506, 0.008045547312644435, 0.002237504762006266] 
+        self.pinky_links = [0.019719324227772114, 0.00533552696553951, 0.013602577880681295, 0.003827636868878808, 0.005663897513197083, 0.0015979126384130552]
+        self.index_links = [0.02592721506448389, 0.006917977811470749, 0.017868637273446453, 0.005247156468983898, 0.0074581157647223475, 0.001764839822760083]
+        self.thumb_links = [0.0057328924064646465, 0.02297047222727691, 0.0016093799740583314, 0.007174085230947566, 0.064886404284719, 0.016350265551556033]
+        self.timestep = self.model.opt.timestep
+        self.maxForce = 0
+
+    def move_hand(self, hand_id: int, position: list[float], rotation: list[float]):
+        self.data.mocap_pos[self._hand_mocaps[hand_id]] = position
+        self.data.mocap_quat[self._hand_mocaps[hand_id]] = rotation
+
+    def nudge_hand(self, hand_id: int, delta_position: list[float]):
+        mocap_id = self._hand_mocaps[hand_id] if hand_id < len(self._hand_mocaps) else None
+        if mocap_id is None:
+            return
+        self.data.mocap_pos[mocap_id] = self.data.mocap_pos[mocap_id] + np.asarray(delta_position, dtype=float)
+
+    def _finger_value_mapping(self, closure, finger):
+        max_dist = 0
+        min_dist = 0
+        match finger:
+            case "index": 
+                max_dist = 0.11
+                min_dist = 0.04
+            case "middle": 
+                max_dist = 0.125
+                min_dist = 0.03
+            case "thumb":
+                max_dist = 0.1
+                min_dist = 0.064
+            case "thumb_abd":
+                max_dist = 0.0
+                min_dist = -0.07
+            case "annular": 
+                max_dist = 0.12
+                min_dist = 0.04
+            case "pinky": 
+                max_dist = 0.1
+                min_dist = 0.045
+        distance = max_dist - closure*(max_dist - min_dist)
+        return distance
+
+    def move_finger(self, hand_id: int, finger: str, closure: float, abduction: float):
+        if finger == "middle":
+            self.move_finger(hand_id, "annular", closure, abduction)
+            self.move_finger(hand_id, "pinky", closure, abduction)
+
+        if hand_id == 1:
+            hand_side = 1 
+            hand = "Right"
+        else: 
+            hand_side = -1 
+            hand = "Left"
+        palm = self.data.xpos[self.model.body(hand+"_Palm_"+hand).id]     
+        R = self.data.xmat[self.model.body(hand+"_Palm_"+hand).id]
+        R = np.reshape(R, [3, 3])
+        dr = self._finger_value_mapping(closure, finger)
+
+        hand = hand + "_"
+        match finger:
+            case "index":
+                index_sim.move_index(dr,self.data,self.model,self.joint_ids,palm,self.index_links,R,hand)
+            case "middle":
+                middle_sim.move_middle(dr,self.data,self.model,self.joint_ids,palm,self.middle_links,R,hand)
+            case "pinky":
+                pinky_sim.move_pinky(dr,self.data,self.model,self.joint_ids,palm,self.pinky_links,R,hand)
+            case "thumb":
+                abd = self._finger_value_mapping(abduction,"thumb_abd")
+                thumb_sim.move_thumb(dr,abd,self.data,self.model,self.joint_ids,palm,self.thumb_links,R, hand_side)
+            case "annular":
+                annular_sim.move_annular(dr,self.data,self.model,self.joint_ids,palm,self.annular_links,R,hand)
+
+    def get_contact(self, hand_id: int, finger: str) -> tuple[float, TextureType | None]:
+        sensor_name = "left" if hand_id == 0 else "right"
+        sensor_name += "_fingertip_" + finger
+        # e.g. left_fingertip_thumb
+
+        try:
+            data = self.data.sensor(sensor_name).data
+        except KeyError:
+            return (0.0, None)
+
+        force = float(data[0]) / 30.0
+        if force < 0:
+            force = 0.0
+
+
+        texture = None
+        site_id = self.model.sensor(sensor_name).objid[0]
+        sensor_body = self.model.body(self.model.site(site_id).bodyid[0])
+        body_first_geom = sensor_body.geomadr[0]
+        body_last_geom = body_first_geom + sensor_body.geomnum[0]
+
+        for contact in self.data.contact:
+            flex = -1
+            geom = -1
+            if contact.flex[0] != -1:
+                flex = contact.flex[0]
+                geom = contact.geom[1]
+            elif contact.flex[1] != -1:
+                flex = contact.flex[1]
+                geom = contact.geom[0]
+
+            if geom != -1:
+                # means we have a contact between a flex and a geom
+                if geom in range(body_first_geom, body_last_geom + 1):
+                    # contact with the body of the sensor
+                    if flex in self._flex_textures:
+                        texture = self._flex_textures[flex]
+    
+
+        return (force, texture)
+
+    def step_simulation(self, duration: float | None):
+        if self._should_reset:
+            mj.mj_resetData(self.model, self.data)
+            self._should_reset = False
+
+        if duration is None:
+            mj.mj_step(self.model, self.data)
+        else:
+            step_count = int(duration // self.model.opt.timestep)
+            mj.mj_step(self.model, self.data, nstep=step_count)
+    
+    def reset_simulation(self):
+        self._should_reset = True
+
+class MujocoSimpleVisualizer(Visualizer):
+    def __init__(self, mujoco: MujocoConnector, framerate: int | None = None):
+        self._mujoco = mujoco
+        self._scene = mj.MjvScene(mujoco.model, 1000)
+        self._framerate = framerate
+    
+    def start_visualization(self):
+        self._viewer = mj_viewer.launch_passive(self._mujoco.model, self._mujoco.data,
+                                                show_left_ui=False, show_right_ui=False)
+        self._viewer.cam.azimuth = 138
+        self._viewer.cam.distance = 3
+        self._viewer.cam.elevation = -16
+
+    def render_frame(self):
+        self._viewer.sync()
+
+    def should_exit(self):
+        return not self._viewer.is_running()
+    
+    def stop_visualization(self):
+        self._viewer.close()
diff --git a/tactile/undergraduat/code/mujoco_xr.py b/tactile/undergraduat/code/mujoco_xr.py
new file mode 100644
index 0000000..9a672c4
--- /dev/null
+++ b/tactile/undergraduat/code/mujoco_xr.py
@@ -0,0 +1,582 @@
+import xr
+import mujoco
+import glfw
+import platform
+import ctypes
+import numpy
+import time
+import threading
+from OpenGL import GL
+from typing import Optional
+
+from interfaces import Visualizer, HandPoseProvider
+from mujoco_connector import MujocoConnector
+
+from benchmarking import Benchmarker
+from datetime import datetime, timedelta
+
+APP_NAME = "Deformable Simulation"
+FRUSTUM_NEAR = 0.05
+FRUSTUM_FAR = 50
+BENCH_PER_FRAME = True
+BENCH_USE_PREDICTED_FPS = False
+BENCH_TIMEDELTA = timedelta(seconds=2)
+
+class MujocoXRVisualizer(Visualizer, HandPoseProvider):
+    def __init__(self, mj: MujocoConnector, mirror_window = False, debug = False, samples: Optional[int] = None, fps_counter = False):
+        self._mj_connector = mj
+        self._mirror_window = mirror_window
+        self._debug = debug
+        self._samples = samples
+        self._should_quit = False
+        self._wait_i = 0
+        self._event_not_rendering = threading.Event()
+        self._event_not_rendering.set()
+
+        if fps_counter:
+            self._fps_bench = Benchmarker("FPS counter")
+            self._benchmarkers = [self._fps_bench]
+        else:
+            self._fps_bench = None
+            self._benchmarkers = None
+    
+    def __enter__(self):
+        self._init_xr()
+        self._init_window()
+        self._prepare_xr_rendering()
+        self._prepare_xr_hand_tracking()
+        self._prepare_mujoco()
+        glfw.make_context_current(None) # To let other threads use the context if needed
+        return self
+
+    def _init_xr(self):
+        """
+        Initializes the OpenXR environment prior to session creation.
+
+        Also fetches informations about the setup, most importantly the render size.
+        """
+        extensions = [xr.KHR_OPENGL_ENABLE_EXTENSION_NAME]
+        instance_create_info = xr.InstanceCreateInfo(
+            application_info=xr.ApplicationInfo(
+                application_name=APP_NAME,
+                engine_name="pyopenxr",
+                engine_version=xr.PYOPENXR_CURRENT_API_VERSION,
+                api_version=xr.Version(1, 0, xr.XR_VERSION_PATCH)
+            )
+        )
+
+        if self._debug:
+            def debug_callback_py(severity, _type, data, _user_data):
+                print(severity, f"{data.contents.function_name.decode()}: {data.contents.message.decode()}")
+                return True
+
+            debug_messenger = xr.DebugUtilsMessengerCreateInfoEXT(
+                message_severities=
+                    xr.DebugUtilsMessageSeverityFlagsEXT.VERBOSE_BIT
+                    | xr.DebugUtilsMessageSeverityFlagsEXT.INFO_BIT
+                    | xr.DebugUtilsMessageSeverityFlagsEXT.WARNING_BIT
+                    | xr.DebugUtilsMessageSeverityFlagsEXT.ERROR_BIT,
+                message_types=
+                    xr.DebugUtilsMessageTypeFlagsEXT.GENERAL_BIT
+                    | xr.DebugUtilsMessageTypeFlagsEXT.VALIDATION_BIT
+                    | xr.DebugUtilsMessageTypeFlagsEXT.PERFORMANCE_BIT
+                    | xr.DebugUtilsMessageTypeFlagsEXT.CONFORMANCE_BIT,
+                user_callback=xr.PFN_xrDebugUtilsMessengerCallbackEXT(debug_callback_py)
+            )
+            instance_create_info.next = ctypes.cast(ctypes.pointer(debug_messenger), ctypes.c_void_p)
+            extensions.append(xr.EXT_DEBUG_UTILS_EXTENSION_NAME)
+
+        instance_create_info.enabled_extension_names = extensions
+        self._xr_instance = xr.create_instance(instance_create_info)
+
+        # The following fetches important informations about the setup
+        # (mainly rendering size)
+        self._xr_system = xr.get_system(self._xr_instance, xr.SystemGetInfo(xr.FormFactor.HEAD_MOUNTED_DISPLAY))
+        assert xr.enumerate_view_configurations(self._xr_instance, self._xr_system)[0] == xr.ViewConfigurationType.PRIMARY_STEREO
+        
+        views_config = xr.enumerate_view_configuration_views(self._xr_instance, self._xr_system, xr.ViewConfigurationType.PRIMARY_STEREO)
+        assert len(views_config) == 2
+        assert views_config[0].recommended_image_rect_width == views_config[1].recommended_image_rect_width
+        assert views_config[0].recommended_image_rect_height == views_config[1].recommended_image_rect_height
+        
+        self._width, self._height = views_config[0].recommended_image_rect_width, views_config[0].recommended_image_rect_height
+        self._width_render = self._width * 2
+
+        pxrGetOpenGLGraphicsRequirementsKHR = ctypes.cast(
+            xr.get_instance_proc_addr(
+                self._xr_instance,
+                "xrGetOpenGLGraphicsRequirementsKHR",
+            ),
+            xr.PFN_xrGetOpenGLGraphicsRequirementsKHR
+        )
+        graphics_result = pxrGetOpenGLGraphicsRequirementsKHR(
+            self._xr_instance,
+            self._xr_system,
+            ctypes.byref(xr.GraphicsRequirementsOpenGLKHR())
+        )
+        graphics_result = xr.exception.check_result(xr.Result(graphics_result))
+        if graphics_result.is_exception():
+            raise graphics_result
+
+    def _init_window(self):
+        """
+        Initializes the GLFW window (and make it hidden if mirrored mode is disabled).
+
+        Creates the OpenGL context that will be used.
+        """
+        if not glfw.init():
+            raise RuntimeError("GLFW initialization failed")
+        glfw.window_hint(glfw.DOUBLEBUFFER, False)
+        glfw.window_hint(glfw.RESIZABLE, False)
+        glfw.window_hint(glfw.SAMPLES, 0) # no need for multisampling here, we will resolve ourselves
+        if not self._mirror_window:
+            glfw.window_hint(glfw.VISIBLE, False)
+        self._window_size = [self._width // 2, self._height // 2]
+        self._window = glfw.create_window(*self._window_size, APP_NAME + " loading...", None, None)
+        if self._window is None:
+            raise RuntimeError("Failed to create GLFW window")
+        glfw.make_context_current(self._window)
+        # Attempt to disable vsync on the desktop window or
+        # it will interfere with the OpenXR frame loop timing
+        glfw.swap_interval(0)
+    
+    def _prepare_xr_rendering(self):
+        """
+        Creates the OpenXR session and prepares everything to launch the frames loop.
+        """
+        if platform.system() == 'Windows':
+            from OpenGL import WGL
+            graphics_binding = xr.GraphicsBindingOpenGLWin32KHR()
+            graphics_binding.h_dc = WGL.wglGetCurrentDC()
+            graphics_binding.h_glrc = WGL.wglGetCurrentContext()
+        else:
+            from OpenGL import GLX
+            graphics_binding = xr.GraphicsBindingOpenGLXlibKHR()
+            graphics_binding.x_display = GLX.glXGetCurrentDisplay()
+            graphics_binding.glx_context = GLX.glXGetCurrentContext()
+            graphics_binding.glx_drawable = GLX.glXGetCurrentDrawable()
+
+        self._xr_session = xr.create_session(
+            self._xr_instance,
+            xr.SessionCreateInfo(
+                xr.SessionCreateFlags.NONE,
+                self._xr_system,
+                next=ctypes.cast(ctypes.pointer(graphics_binding), ctypes.c_void_p)
+            )
+        )
+        self._xr_session_state = xr.SessionState.IDLE
+
+        self._xr_swapchain = xr.create_swapchain(self._xr_session, xr.SwapchainCreateInfo(
+            usage_flags=xr.SwapchainUsageFlags.TRANSFER_DST_BIT | xr.SwapchainUsageFlags.COLOR_ATTACHMENT_BIT | xr.SwapchainUsageFlags.SAMPLED_BIT,
+            format=GL.GL_RGBA8,
+            sample_count=1 if self._samples is None else self._samples,
+            array_size=1,
+            face_count=1,
+            mip_count=1,
+            width=self._width_render,
+            height=self._height
+        ))
+        self._xr_swapchain_images = xr.enumerate_swapchain_images(self._xr_swapchain, xr.SwapchainImageOpenGLKHR)
+
+        self._xr_projection_layer = xr.CompositionLayerProjection(
+            # Default space params are okay: identity quaternion and zero vector. Let's use them.
+            space=xr.create_reference_space(self._xr_session, xr.ReferenceSpaceCreateInfo(
+                reference_space_type=xr.ReferenceSpaceType.LOCAL # We use the LOCAL space so our scene is in front of us when we start the simulation
+            )),
+            views = [xr.CompositionLayerProjectionView(
+                sub_image=xr.SwapchainSubImage(
+                    swapchain=self._xr_swapchain,
+                    image_rect=xr.Rect2Di(
+                        extent=xr.Extent2Di(self._width, self._height),
+                        offset=None if eye_index == 0 else xr.Offset2Di(x = self._width) # right eye offset
+                    )
+                )
+            ) for eye_index in range(2)]
+        )
+
+        self._xr_swapchain_fbo = GL.glGenFramebuffers(1)
+    
+    def _prepare_xr_hand_tracking(self):
+        subaction_paths = [xr.string_to_path(self._xr_instance, f"/user/hand/{side}") for side in ["left", "right"]]
+        self._action_set = xr.create_action_set(
+            instance=self._xr_instance,
+            create_info=xr.ActionSetCreateInfo(
+                action_set_name="default_action_set",
+                localized_action_set_name="Default Action Set",
+                priority=0,
+            ),
+        )
+        action = xr.create_action(self._action_set, xr.ActionCreateInfo(
+            action_type=xr.ActionType.POSE_INPUT,
+            action_name="hand_pose",
+            localized_action_name="Hand Pose",
+            subaction_paths=subaction_paths
+        ))
+        xr.suggest_interaction_profile_bindings(self._xr_instance, xr.InteractionProfileSuggestedBinding(
+            interaction_profile=xr.string_to_path(self._xr_instance, "/interaction_profiles/khr/simple_controller"),
+            suggested_bindings=[xr.ActionSuggestedBinding(
+                action=action,
+                binding=xr.string_to_path(self._xr_instance, f"/user/hand/{side}/input/grip/pose")
+            ) for side in ["left", "right"]]
+        ))
+        self._action_spaces = [xr.create_action_space(self._xr_session, xr.ActionSpaceCreateInfo(
+            action=action,
+            subaction_path=subaction_path
+        )) for subaction_path in subaction_paths]
+        xr.attach_session_action_sets(self._xr_session, xr.SessionActionSetsAttachInfo(action_sets=[self._action_set]))
+
+    def _prepare_mujoco(self):
+        """
+        Prepares the MuJoCo environment.
+        """
+        mj_model = self._mj_connector.model
+        self._mj_scene = mujoco.MjvScene(mj_model, 1000)
+        self._mj_scene.stereo = mujoco.mjtStereo.mjSTEREO_SIDEBYSIDE
+
+        # We want the visualization properties set BEFORE creation of the context,
+        # otherwise we would have to call mjr_resizeOffscreen.
+        mj_model.vis.global_.offwidth = self._width_render
+        mj_model.vis.global_.offheight = self._height
+        mj_model.vis.quality.offsamples = 0 if self._samples is None else self._samples
+
+        self._mj_context = mujoco.MjrContext(mj_model, mujoco.mjtFontScale.mjFONTSCALE_100)
+        self._mj_camera = mujoco._structs.MjvCamera()
+        self._mj_option = mujoco.MjvOption()
+        # We do NOT want to call mjv_defaultFreeCamera
+
+        mujoco.mjv_defaultOption(self._mj_option)
+
+        self._mj_camera_offset = numpy.zeros(3)
+    
+    def _update_mujoco(self):
+        """
+        Updates MuJoCo for one frame.
+        """
+        # The simulation is being stepped outside
+        mujoco.mjv_updateScene(self._mj_connector.model, self._mj_connector.data, self._mj_option, None, self._mj_camera, mujoco.mjtCatBit.mjCAT_ALL, self._mj_scene)
+
+    def _wait_xr_frame(self):
+        """
+        Starts a frame in the OpenXR environment.
+
+        Returns:
+            bool: whether or not we should update the scene and maybe render it.
+        """
+        if self._xr_session_state in [
+            xr.SessionState.READY,
+            xr.SessionState.FOCUSED,
+            xr.SessionState.SYNCHRONIZED,
+            xr.SessionState.VISIBLE,
+        ]:
+            if self._xr_session_state == xr.SessionState.FOCUSED:
+                self._fetch_actions()
+            
+            self._xr_frame_state = xr.wait_frame(self._xr_session, xr.FrameWaitInfo())
+            self._wait_i += 1
+            return True
+        return False
+
+    def _end_xr_frame(self):
+        xr.end_frame(self._xr_session, xr.FrameEndInfo(
+            self._xr_frame_state.predicted_display_time,
+            xr.EnvironmentBlendMode.OPAQUE,
+            layers=[ctypes.byref(self._xr_projection_layer)] if self._xr_frame_state.should_render else []
+        ))
+
+    def _poll_xr_events(self):
+        while True:
+            try:
+                event_buffer = xr.poll_event(self._xr_instance)
+                event_type = xr.StructureType(event_buffer.type)
+                if event_type == xr.StructureType.EVENT_DATA_SESSION_STATE_CHANGED:
+                    event = ctypes.cast(
+                        ctypes.byref(event_buffer),
+                        ctypes.POINTER(xr.EventDataSessionStateChanged)).contents
+                    self._xr_session_state = xr.SessionState(event.state)
+                    # see https://registry.khronos.org/OpenXR/specs/1.0/html/xrspec.html#session-lifecycle
+                    match self._xr_session_state:
+                        case xr.SessionState.READY:
+                            if not self._should_quit:
+                                xr.begin_session(self._xr_session, xr.SessionBeginInfo(xr.ViewConfigurationType.PRIMARY_STEREO))
+                        case xr.SessionState.STOPPING:
+                            # Means the session should end BUT it can start again later,
+                            # this happens for instance when the user removes the headset.
+                            # However, due to rendering being done in another thread, we could
+                            # call end_session while a frame is about to be rendered (or is in
+                            # the process of being rendered). We must use some sort of synchronization
+                            # mechanism: here, an Event, which internally uses a Lock and a Condition. 
+                            self._event_not_rendering.wait()
+                            xr.end_session(self._xr_session)
+                        case xr.SessionState.EXITING | xr.SessionState.LOSS_PENDING:
+                            self._should_quit = True
+            except xr.EventUnavailable:
+                break # We got all events
+
+    def _update_views(self):
+        _, view_states = xr.locate_views(self._xr_session, xr.ViewLocateInfo(
+            xr.ViewConfigurationType.PRIMARY_STEREO,
+            self._xr_frame_state.predicted_display_time,
+            self._xr_projection_layer.space,
+        ))
+        for eye_index, view_state in enumerate(view_states):
+            self._xr_projection_layer.views[eye_index].fov = view_state.fov
+            self._xr_projection_layer.views[eye_index].pose = view_state.pose
+
+            cam = self._mj_scene.camera[eye_index]
+            cam.pos = self._mj_camera_offset + list(view_state.pose.position)
+            cam.frustum_near = FRUSTUM_NEAR
+            cam.frustum_far = FRUSTUM_FAR
+            cam.frustum_bottom = numpy.tan(view_state.fov.angle_down) * FRUSTUM_NEAR
+            cam.frustum_top = numpy.tan(view_state.fov.angle_up) * FRUSTUM_NEAR
+            cam.frustum_center = 0.5 * (numpy.tan(view_state.fov.angle_left) + numpy.tan(view_state.fov.angle_right)) * FRUSTUM_NEAR
+            # no need to set left/right as it will be computed using center
+
+            rot_quat = list(view_state.pose.orientation)
+            # Guess what? OpenXR quaternions are in form (x, y, z, w)
+            # while MuJoCo quaternions are in form (w, x, y, z)...
+            rot_quat = quat_xr2mj(rot_quat)
+
+            forward, up = numpy.zeros(3), numpy.zeros(3)
+            mujoco.mju_rotVecQuat(forward, [0, 0, -1], rot_quat)
+            mujoco.mju_rotVecQuat(up, [0, 1, 0], rot_quat)
+            cam.forward, cam.up = forward.tolist(), up.tolist()
+        
+        self._mj_scene.enabletransform = True
+        self._mj_scene.rotate[0] = numpy.cos(0.25 * numpy.pi)
+        self._mj_scene.rotate[1] = numpy.sin(-0.25 * numpy.pi)
+        self._mj_scene.translate[1] = -2
+
+    def _fetch_actions(self):
+        xr.sync_actions(self._xr_session, xr.ActionsSyncInfo(active_action_sets = ctypes.pointer(xr.ActiveActionSet(
+            action_set=self._action_set,
+            subaction_path=xr.NULL_PATH # wildcard to get all actions
+        ))))
+
+    def _render(self):
+        """
+        Renders the scene in the swapchain and eventually mirrors it on the window if needed.
+        """
+        # We first ask to acquire a swapchain image to render onto
+        image_index = xr.acquire_swapchain_image(self._xr_swapchain, xr.SwapchainImageAcquireInfo())
+        xr.wait_swapchain_image(self._xr_swapchain, xr.SwapchainImageWaitInfo(timeout=xr.INFINITE_DURATION))
+
+        if self._fps_bench:
+            self._fps_bench.begin_mark()
+        # Once we acquired it, we bind the image to our framebuffer object
+        glfw.make_context_current(self._window)
+        GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, self._xr_swapchain_fbo)
+        GL.glFramebufferTexture2D(
+            GL.GL_FRAMEBUFFER,
+            GL.GL_COLOR_ATTACHMENT0,
+            GL.GL_TEXTURE_2D if self._samples == None else GL.GL_TEXTURE_2D_MULTISAMPLE,
+            self._xr_swapchain_images[image_index].image,
+            0
+        )
+        
+        # We ask MuJoCo to render on its own offscreen framebuffer
+        mujoco.mjr_setBuffer(mujoco.mjtFramebuffer.mjFB_OFFSCREEN, self._mj_context)
+        mujoco.mjr_render(mujoco.MjrRect(0, 0, self._width_render, self._height), self._mj_scene, self._mj_context)
+
+        # We should display the benchmarks OUTSIDE the timed rendering, but doing so fucks up the bound buffers
+        # and the counters will not be blit to the mirror window
+        if self._benchmarkers:
+            self._render_benchmarkers()
+
+        # We copy what MuJoCo rendered on our framebuffer object
+        GL.glBindFramebuffer(GL.GL_READ_FRAMEBUFFER, self._mj_context.offFBO)
+        GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, self._xr_swapchain_fbo)
+        GL.glBlitFramebuffer(
+            0, 0,
+            self._width_render, self._height,
+            0, 0,
+            self._width_render, self._height,
+            GL.GL_COLOR_BUFFER_BIT,
+            GL.GL_NEAREST
+        )
+
+        if self._mirror_window:
+            # We copy the data from the MuJoCo buffer to the window one (0 is the default window fbo)
+            if self._samples is not None:
+                # We first resolve multi-sample if needed
+                GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, self._mj_context.offFBO_r)
+                GL.glBlitFramebuffer(
+                    0, 0,
+                    self._width_render, self._height,
+                    0, 0,
+                    self._width_render, self._height,
+                    GL.GL_COLOR_BUFFER_BIT,
+                    GL.GL_NEAREST
+                )
+                GL.glBindFramebuffer(GL.GL_READ_FRAMEBUFFER, self._mj_context.offFBO_r)
+
+            # We then copy the data to the window
+            GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, 0)
+            GL.glBlitFramebuffer(
+                0, 0,
+                self._width, self._height, # one eye only (left)
+                0, 0,
+                *self._window_size,
+                GL.GL_COLOR_BUFFER_BIT,
+                0x90BA # EXT_framebuffer_multisample_blit_scaled, SCALED_RESOLVE_FASTEST_EXT
+            )
+        
+        if self._fps_bench:
+            self._fps_bench.mark("Pure rendering")
+
+        xr.release_swapchain_image(self._xr_swapchain, xr.SwapchainImageReleaseInfo())
+
+        if self._fps_bench:
+            self._fps_bench.plot(1, "FPS")
+    
+    def _render_benchmarkers(self):
+        string = ""
+
+        now = datetime.now()
+        from_date = now - BENCH_TIMEDELTA
+        
+        for bench in self._benchmarkers:
+            bench_string = f"{bench.title} | "
+            if len(string) != 0:
+                bench_string = "\n" + bench_string
+
+            data, time = bench.get_data(from_date)
+            data_time = (now - time).total_seconds()
+
+            for i, (label, data_row) in enumerate(data.items()):
+                if i != 0:
+                    bench_string += ", "
+
+                if BENCH_PER_FRAME and label != "FPS":
+                    average_frame_duration = self._xr_frame_state.predicted_display_period / 1000000000 if BENCH_USE_PREDICTED_FPS else data_time / len(data_row)
+                    mean_data = numpy.sum(data_row) / average_frame_duration
+                    bench_string += f"{label}: {mean_data:.3f}%"
+                else:
+                    mean_data = numpy.sum(data_row) / data_time
+                    bench_string += f"{label}: {mean_data:.3f}/s"
+                
+            string += bench_string
+
+        # It would be better to use a composition layer, but then we should implement characters writing ourselves
+        # which is a gigantic mess. It's better to let MuJoCo take care of that.
+        mujoco.mjr_overlay(mujoco.mjtFont.mjFONT_BIG, mujoco.mjtGridPos.mjGRID_TOP,
+                            mujoco.MjrRect(0, 0, self._width, self._height // 2), string, '', self._mj_context)
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        if self._window is not None:
+            glfw.make_context_current(self._window)
+            if self._xr_swapchain_fbo is not None:
+                GL.glDeleteFramebuffers(1, [self._xr_swapchain_fbo])
+                self._xr_swapchain_fbo = None
+            glfw.terminate()
+        if self._xr_swapchain is not None:
+            xr.destroy_swapchain(self._xr_swapchain)
+        if self._xr_session is not None:
+            xr.destroy_session(self._xr_session)
+        if self._xr_instance is not None:
+            # # may break on Linux SteamVR
+            # xr.destroy_instance(self._xr_instance)
+            pass # does not seem to work
+        glfw.terminate()
+
+    def _render_loop(self):
+        glfw.make_context_current(self._window)
+
+        while self._render_running and not self._should_quit:
+            sema_res = self._render_semaphore.acquire(timeout=1)
+            if self._should_quit or not self._render_running:
+                break
+            
+            if sema_res:
+                self._render_frame(self._render_i)
+            
+        glfw.make_context_current(None)
+
+    def _render_frame(self, index: int):
+        # Clearing the event here might not be the best option, TODO investigate possible race conditions.
+        self._event_not_rendering.clear()
+
+        if self._fps_bench:
+            self._fps_bench.new_iteration()
+        
+        self._update_mujoco() # almost instantaneous
+
+        if self._fps_bench:
+            self._fps_bench.begin_mark()
+        self._update_views()
+        if self._fps_bench:
+            self._fps_bench.mark("Views update")
+        
+        xr.begin_frame(self._xr_session, None)
+        if self._xr_frame_state.should_render:
+            self._render()
+        elif self._fps_bench:
+            self._fps_bench.plot(0, "Pure rendering")
+            self._fps_bench.plot(0, "FPS")
+
+        self._end_xr_frame()
+
+        if self._fps_bench:
+            self._fps_bench.end_iteration()
+
+        self._event_not_rendering.set()
+
+    def start_visualization(self):
+        if self._mirror_window:
+            glfw.set_window_title(self._window, APP_NAME)
+
+        self._render_running = True
+        self._render_semaphore = threading.Semaphore(0)
+        self._render_thread = threading.Thread(target=self._render_loop, name="OpenXR rendering")
+        self._render_thread.start()
+
+    def stop_visualization(self):
+        self._render_running = False
+        self._render_thread.join()
+
+    def wait_frame(self):
+        glfw.poll_events()
+        self._poll_xr_events()
+        if glfw.window_should_close(self._window):
+            self._should_quit = True
+
+        if self._should_quit:
+            return (False, None)
+        
+        if not self._wait_xr_frame():
+            return (False, None)
+        
+        return (True, self._xr_frame_state.predicted_display_period / 1000000000)
+
+    def render_frame(self):
+        self._render_i = self._wait_i
+        self._render_semaphore.release()
+
+    def should_exit(self):
+        return self._should_quit
+    
+    def get_hand_pose(self, hand_id: int):
+        space_location = xr.locate_space(
+            space=self._action_spaces[hand_id],
+            base_space=self._xr_projection_layer.space,
+            time=self._xr_frame_state.predicted_display_time
+        )
+        if (space_location.location_flags & xr.SPACE_LOCATION_POSITION_VALID_BIT
+            and space_location.location_flags & xr.SPACE_LOCATION_ORIENTATION_VALID_BIT):
+            
+            hand_pos = numpy.zeros(3)
+            hand_rot = numpy.zeros(4)
+            mujoco.mjv_room2model(hand_pos, hand_rot, self._mj_camera_offset + list(space_location.pose.position), quat_xr2mj(space_location.pose.orientation), self._mj_scene)
+            return hand_pos, hand_rot
+        else:
+            return None
+        
+    def add_perf_counters(self, *benchmarkers: Benchmarker):
+        if self._benchmarkers is not None:
+            self._benchmarkers += benchmarkers
+    
+    def offset_origin(self, position: list[float]):
+        self._mj_camera_offset = position
+
+@staticmethod
+def quat_xr2mj(xr_quat):
+    return [xr_quat[3], *xr_quat[0:3]]
\ No newline at end of file
diff --git a/tactile/undergraduat/code/mujocoxr-paper/MuJoCoXR.pdf b/tactile/undergraduat/code/mujocoxr-paper/MuJoCoXR.pdf
new file mode 100644
index 0000000..b07791e
Binary files /dev/null and b/tactile/undergraduat/code/mujocoxr-paper/MuJoCoXR.pdf differ
diff --git a/tactile/undergraduat/code/mujocoxr-paper/MuJoCoXR.typ b/tactile/undergraduat/code/mujocoxr-paper/MuJoCoXR.typ
new file mode 100644
index 0000000..4346ecd
--- /dev/null
+++ b/tactile/undergraduat/code/mujocoxr-paper/MuJoCoXR.typ
@@ -0,0 +1,307 @@
+#import "@preview/bubble:0.1.0": *
+#import "@local/codelst:2.0.2": sourcecode, sourcefile
+
+
+#show: bubble.with(
+  title: "MuJoCoXR",
+  subtitle: "Linking MuJoCo and a VR environment",
+  author: "Youenn Le Jeune",
+  affiliation: "INSA Rennes / DIAG Sapienza",
+  date: datetime.today().display(),
+  year: none,
+  class: none,
+  logo: {
+    image("../assets/logo-insa.png")
+    image("../assets/logo-sapienza.png")
+  }
+) 
+#set text(lang: "en")
+// #set par(first-line-indent: 1em)
+#set heading(numbering: (..nums) => {
+  let num-format
+  if nums.pos().len() == 1{
+    num-format = "I."
+  } else {
+    num-format = "I - 1.1."
+  }
+  numbering(num-format, ..nums)
+})
+
+= Introduction and State of the Art
+
+The MuJoCo physics engine is a great tool that contains many useful features that are nowhere to be found in other engines. Such features are, for instance, realistic soft body simulation. Making interactive simulations is possible through the provided API, in C or in Python. It is easy to integrate motion-capture devices and to get feedback from sensors.
+
+However, the rendering pipeline can be difficult to comprehend. There are multiple pre-made visualization solutions: an interactive one for your MJCF files via the "Simulate" #footnote[https://mujoco.readthedocs.io/en/stable/programming/samples.html#sasimulate] code sample, a passive one that you can use in your Python application to show your interactive simulation in real-time #footnote[https://mujoco.readthedocs.io/en/stable/python.html#passive-viewer], a full Renderer Python class #footnote[https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/renderer.py] that can be really useful for notebooks and, if nothing else is suitable, API functions to render directly in an OpenGL context #footnote[https://mujoco.readthedocs.io/en/stable/programming/visualization.html].
+
+As we can see, there is no built-in way to visualize a MuJoCo simulation in a Virtual Reality environment. At the time of writing, some work is being done to add VR support to the #box["Simulate"] application #footnote[https://github.com/google-deepmind/mujoco/pull/1452]. Nevertheless, it is still not the best choice if you want to fully immerse people in your simulation #footnote()[The "Simulate" application contains a lot of UI elements to control the simulation and visualization, which breaks immersion.]. One possible solution is to use the Unity Plug-in for MuJoCo #footnote[https://mujoco.readthedocs.io/en/stable/unity.html] and configure the Unity application to display in VR (_not tested_), but again that is not ideal: we do not necessarily need a whole game engine to run a simple simulation. Thus, we will program our own solution to display a MuJoCo simulation in a VR headset.
+
+Regarding the VR part, there are multiple solutions to render to a headset:
+- Directly use the vendor-specific API (Meta Quest, HTC Vive...). This require code to be remade for each new device we want to support.
+- Use OpenVR, which contains support for VR headsets from multiple vendors but it is tied to Steam. #footnote[https://github.com/ValveSoftware/openvr]
+- Use OpenXR, which is a free standard not tied to any VR company and implemented by all major VR headsets on the market. #footnote[https://www.khronos.org/openxr/]
+
+We have chosen to use OpenXR because it seems to be the standard that will be mainly used in the future. There are Python bindings available #footnote[https://github.com/cmbruns/pyopenxr]. It supports multiple graphics API including OpenGL that we will use because it is what MuJoCo can render to.
+
+To sum up, our solution will render MuJoCo on a VR headset using OpenGL via the OpenXR standard, all of that in Python.
+
+#pagebreak()
+
+= Theory
+== Graphics 101
+To render something on a screen or a VR headset, computers use graphic cards (GPUs). Those graphic cards receive orders through Graphic APIs such as OpenGL, Direct3D or more recently, Vulkan. Each GPU supports different versions of those APIs, and old GPUs do not even support some APIs.
+
+A Graphic API consists of a large set of instructions related to graphics: draw a line from here to there, clear the screen with this color, draw this texture. OpenGL instructions are all prefixed with `gl` and make heavy use of constants. For instance, a possible instruction is `glClear(GL_COLOR_BUFFER_BIT)`.
+
+Graphic APIs instructions are not only used to _draw_: with the support of _framebuffers_, it is possible for instance to draw on some in-memory texture and then read it to draw on top of another buffer with a different scale. Framebuffers are a "collection" of renderbuffers and textures and can have multiple _attachements_: colors, depth and stencil.
+
+OpenGL is built on the principle of _extensions_.
+
+Graphic APIs work with a _context_: to use their functions, a context must be bound to the thread. It contains references to all GL objects created within it. A context is usually tied to a window. To create those contexts, we usually use dedicated libraries such as GLFW which allows to create a window and attach the associated context to the calling thread.
+
+In Python, there exist a binding for OpenGL: `pyopengl` #footnote[https://pyopengl.sourceforge.net/].
+
+== OpenXR
+OpenXR is a standard implemented by pretty much all VR devices. It provides methods for most of the features: displaying images, getting head position in the room, getting controller positions, rendering haptic feedback, enable passthrough for compatible headsets, and so on. For vendor-specific features, extensions are present in OpenXR to use them.
+
+To render images to the eyes, OpenXR uses the concept of _swapchains_. A swapchain is a collection of framebuffers that display sequentially to a screen. It allows to draw on a "back" framebuffer while another "front" one is being displayed on the screen. #footnote[https://raphlinus.github.io/ui/graphics/gpu/2021/10/22/swapchain-frame-pacing.html]\
+In this project, we will make use of only one "stereo" swapchain, which will contain one image for both eyes at the same time. It is also possible to have multiple swapchains, e.g. one per eye.
+
+In order to create an OpenXR-compatible application, a precise suite of operations must be followed (see @XR-app-lifecycle for details):
+
+#figure(image("xr-instance-lifecycle.jpg", width: 110%), caption: [Lifecycle of an OpenXR application #footnote[Extract of the #link("https://www.khronos.org/files/openxr-10-reference-guide.pdf")[OpenXR Reference Guide]] <xr-ref-guide>\
+#text(size: 0.9em)[_Not all functions are necessarily used._]], placement: auto) <XR-app-lifecycle>
+
++ Available extensions are fetched to see if the ones needed are present (for instance, the extension that tells OpenXR to use the OpenGL graphics API, the debug utils extension...)
++ An "instance" is created with the application informations and extensions list. Future methods will use this instance.
++ System information is fetched. At this point, we can use various methods to get configuration information about the view system (for instance, the "screen" size).
++ At this point, a graphic context must be created, although there is no need to have a window (unless we want to mirror what the user will see).
++ OpenXR is told which graphics API to use.
++ A "session" is created within the instance, with binding to the graphic context. Future methods will use this session.
++ The swapchain is created with specific color format, size, samples count ...
++ A reference space is created to be used in head and controllers tracking.
++ A projection layer is created for the swapchain, containing the size and offset of the rectangles associated with each eye.
++ If needed, actions are created to interact with controllers.
+
+At this point, the session is ready. We can enter the main loop:
+
+#figure(image("xr-session-lifecycle.png", width: 80%), caption: [Lifecycle of an OpenXR session @xr-ref-guide], placement: auto) <XR-session-lifecycle>
+
++ Poll events from OpenXR. Update session according to the new state (see @XR-session-lifecycle for details).
++ If the session is in state `READY`, `SYNCHRONIZED`, `FOCUSED` or `VISIBLE`:
+  + Wait for the next frame and when ready, begin it.
+  + Locate the views to get the eyes positions and update the projection accordingly.
+  + Acquire the swapchain image and render to it.
+  + Release the image and end the frame.
+
+== MuJoCo
+MuJoCo has a whole #link("https://mujoco.readthedocs.io/en/3.2.0/programming/visualization.html")[documentation chapter] dedicated on visualization and rendering that is worth reading. It also contains tips for rendering to a VR headset.
+Other than what is explained in this chapter, there is not much knowledge of MuJoCo required to succeed in this project.
+
+#pagebreak()
+= Implementation
+Most of the OpenXR / OpenGL related code has been inspired by the #link("https://github.com/cmbruns/pyopenxr_examples/blob/main/xr_examples/gl_example.py")[gl_example] pyopenxr example.
+
+A Python file containing the whole source code is available in a #link("https://gist.github.com/SkytAsul/b1a48a31c4f86b65d72bc8edcb122d3f")[Gist on GitHub]. You can also find a version in the @source_code
+
+#let code = read("../mjxr_tests/mujoco_openxr.py")
+#let sourcecode-o = sourcecode
+#let sourcecode(..args) = {
+  set par(justify: false)
+  show raw.where(block: false) : it => it.text
+  sourcecode-o(..args)
+}
+#let show-code(..args) = {
+  set par(justify: false)
+  show raw.where(block: false) : it => it.text
+  sourcefile(code, lang: "python", ..args)
+}
+
+We will now see step by step how everything work.
+
+== OpenXR initialization
+_The related method is `_init_xr`._
+
+The first part of the method is about creating the OpenXR instance with the required extension. A lot of lines (from line 44 to line 63) are dedicated to make debugging work; this is not interesting. Without it, we can re-write most of the method using one single method call:
+#sourcecode(numbers-start: 34)[```py
+self._xr_instance = xr.create_instance(xr.InstanceCreateInfo(
+    enabled_extension_names: [xr.KHR_OPENGL_ENABLE_EXTENSION_NAME],
+    application_info=xr.ApplicationInfo(
+        application_name=APP_NAME,
+        engine_name="pyopenxr",
+        engine_version=xr.PYOPENXR_CURRENT_API_VERSION,
+        api_version=xr.Version(1, 0, xr.XR_VERSION_PATCH)
+    )
+))
+```]
+
+`xr.KHR_OPENGL_ENABLE_EXTENSION_NAME` is a constant describing the name of the `XR_KHR_opengl_enable` extension. #footnote[https://registry.khronos.org/OpenXR/specs/1.1-khr/html/xrspec.html#XR_KHR_opengl_enable]
+`APP_NAME` is a constant holding the name of our application that should be displayed to the user. It is defined at the beginning of the file.
+There is nothing really fancy here.
+
+#show-code(showrange: (71, 80))
+Here we do a bunch of checks to ensure everything is fine and avoid weird errors when rendering afterwards. The `enumerate_view_configuration_views` call at line 73 allows to get the image width and height, that we store. We also store an additional `_width_render` field that is simply the double of the normal width: it is the total width of our stereo render target.
+
+The last part of this method is an ugly mixture of Python and C code to tell OpenXR to use OpenGL. We check that it contains no exception, and then we exit the method.
+
+== OpenGL context and window
+_The related method is `_init_window`._
+
+#show-code(showrange: (104, 115))
+
+We use GLFW to create a window. This window is not neccessarily visible (see line 109) but even without it, an OpenGL context will be created.\
+The `glfw.window_hint` calls are to set the parameters of the window/context to be created. Notably, we disable double-buffering (a swapchain of two images) because we do not really care about the window rendering quality and it can save us the time of image swapping.\
+The window is created with half the size of one eye, so it can fit on the screen (because most VR headset have huge resolutions).\
+On line 114, we tell glfw to make the OpenGL context current in the current thread.
+
+It is worth noting that we do not give any information on the OpenGL version and profile we want. This is because MuJoCo specifically requires the _Compatibility profile_ (see #link("https://mujoco.readthedocs.io/en/3.2.0/programming/index.html#using-opengl")[this MuJoCo page] and @ctx_obj).
+
+== OpenXR configuration <prepare_xr>
+_The related method is `_prepare_xr`._
+
+The first part of the method has nothing really worth noting: it first creates the `graphics_binding` object that must be passed to the OpenXR session and then it creates the actual session using some C/Python code.
+
+#show-code(showrange: (146, 156))
+
+At line 145 we create the swapchain for our stereo image, hence its width being `_width_render` (which is twice one eye's image width). The format has been selected arbitrarily, the best practice would be to enumerate the available formats and select the best one from here. The usage flags #footnote[https://registry.khronos.org/OpenXR/specs/1.1/man/html/XrSwapchainUsageFlagBits.html] contains:
+- `TRANSFER_DST` because the swapchain image will be the destination of a pixel transfer operation (seen later)
+- `COLOR_ATTACHMENT` because the swapchain image will have colored pixels on it (in most OpenXR applications this is the case)
+- `SAMPLED` because the image can be multisampled
+
+The line 155 is there to retrieve the list of images contained in the swapchain: we do it here once instead of doing it for each frame.
+
+#show-code(showrange: (158, 172))
+
+Here we create the projection layer for the swapchain. It is the object that instructs the runtime where to put the rendered image in the virtual user space. It is done in 3 parts:
++ The reference space for the projection is created with the default options (the `STAGE` space type #footnote[https://registry.khronos.org/OpenXR/specs/1.1/man/html/XrReferenceSpaceType.html] and default orientation and position).
++ One view per eye is created. Both views are attached to the same swapchain (the one we created earlier) but the `image_rect` of the right eye (which defines which part of the swapchain image is displayed) is offset to the right.
++ Finally, the whole projection layer is created.
+
+Finally at line 171, we create an empty OpenGL framebuffer for the swapchain. We will use it later.
+
+== MuJoCo preparation
+_The related method is `_prepare_mujoco`._
+
+#show-code(showrange: (178, 194))
+
+The lines 177 and 178 are basic MuJoCo initialization. This can be done somewhere else in the code, even far sooner.
+
+In this method, we mainly initialize the options of the MuJoCo scene and visualization objects so it can create its render context accordingly. This is done at line 190: when initializing the `MjrContext` object, it internally creates the offscreen framebuffer with the parameters we set at lines 184 to 186.
+
+At this point, everything is ready to start the main loop.
+
+== Frame loop - first part
+_The related methods are `loop`, `frame`, `_poll_xr_events` and `_wait_xr_frame`._
+
+The main loop structure looks like this:
+#sourcecode(numbering: none)[```py
+loop:
+    poll_events
+    if should_quit:
+        stop
+    
+    if try_start_frame:
+        make_a_frame
+```]
+
+The `poll_events` part is made of this:
+#show-code(showrange: (362, 365))
+The `poll_events` method of glfw allows to know if the user wants to close the application on the desktop part (for instance, by closing the mirror window). We update the `_should_quit` field accordingly at line 366.\
+The `_poll_xr_events` method is fetching all events from the OpenXR instance and, if the event is a `SESSION_STATE_CHANGED` event, it does the following:
+#show-code(showrange: (237, 246))
+If this is not clear to you, see the Session lifecycle at @XR-session-lifecycle.
+
+If everything is fine and the visualization should not quit, we wait for the next XR frame:
+#show-code(showrange: (210, 218))
+If the session is in the right state to render a frame, it waits for the frame to be ready (so we do not render faster than the device refresh rate) and _then_ it returns `True`. We do _not_ start the frame now: it's better to do it the moment right before we will actually render something.
+
+== Frame loop - second part
+_The related methods are `frame`, `_update_mujoco`, `_update_views`, `render`, `_end_xr_frame`._
+
+This only happens if the session is in the state to render a frame. This is how it goes:
+#show-code(showrange: (371, 377))
+
+The `_update_mujoco` method is really simple:
+#show-code(showrange: (200, 201))
+The line 199 could be done externally, it is not tied to the visualization: it only steps the physics. On the contrary, the call to `mjv_updateScene` at line 200 fetches geometries from the simulation data and stores it in the scene.
+
+The `_update_views` method is the one that takes care of the head tracking. It goes in 3 parts: first, it fetches the `view_states` which contains, for each eye, its position, orientation and field of view. Then, it updates the projection layer accordingly and the two cameras in the MuJoCo scene to follow the eyes. Finally, it tells MuJoCo that all coordinates should be transformed in a certain way (otherwise, the world is tilted to the right).
+
+The `_render` function is important and complex:
+#show-code(showrange: (287, 299))
+This first part prepares the framebuffer we created at the end of @prepare_xr by attaching the current swapchain image.\
+`glBindFramebuffer(GL_FRAMEBUFFER, fbo)` sets the framebuffer object as the one which will receive the read and draw operations.\
+`glFramebufferTexture2D` attaches the image as the first color attachement of the framebuffer object.
+
+#show-code(showrange: (302, 303))
+The _real_ rendering is done in the line 304. Afterwards, all is left is to copy the final image from MuJoCo's offscreen framebuffer to our own framebuffer, which has the swapchain image attached.
+
+#show-code(showrange: (305, 315))
+The first two instructions are to set which framebuffer will be read from and which one will be drawn on.\
+`glBlitFramebuffer` is an instruction to "copy" the pixels (the color ones in our case) from the read framebuffer to the draw one. Both framebuffers color attachements have the same size, so we put the same rectangle twice.
+
+The rest of the method is made to downsample the rendered image and then copy it to our mirror window (if needed).
+
+#pagebreak()
+= Enhancements
+== Real-time simulation
+For now, the code does 1 simulation step per render frame. However, due to synchronization made by OpenXR, one frame cannot be _shorter_ than what it is supposed to be, so the framerate does not exceed the refresh rate of the device (for instance, 80Hz for the Oculus Rift S). This means that the simulation will update 80 times per second, no more. If the timestep set in the MuJoCo is not set to 1/80 of a second, the simulation will not be in "real-time".
+
+To fix that, there are two options:
+- The easy one is to change the timestep of your MuJoCo model to match the refresh rate. For the Oculus Rift S, you would set the timestep to $1 slash 80 = 0.0125 s$. This however is not ideal because some simulations will not be stable at such a large timestep.
+- The harder one is to change the code to do, for each frame, the amount of simulation steps needed to advance the same amount of time the frame should durate. For a frame duration of $Delta t_"frame" = 1 slash f$ and a timestep of $Delta t_"sim"$, you would advance for $ n_"steps" = floor((Delta t_"frame") / (Delta t_"sim")) $
+  You can get the frame duration using `_xr_frame_state.predicted_display_period` (in nanoseconds).
+
+== Performance
+For now, everything is single-threaded. If the simulation time is long, it can reduce drastically the framerate and lead to uncomfortable VR experience. It is however possible to split our main loop in two different threads: a "simulation" thread and a "render" thread (see @threading-slide).
+#figure(box(stroke: black, image("threading-slide.svg")), caption: [How to multithread an OpenXR application #footnote[Extract of the #link("https://www.khronos.org/assets/uploads/developers/library/2018-gdc-webgl-and-gltf/OpenXR-GDC_Mar18.pdf")[OpenXR presentation at GDC 2018]]]) <threading-slide>
+As you can see, the two threads will not be entirely parallel but some of their work will definitely be.
+
+To implement this, we first need to define which work will be given to which thread:
+- *Simulation thread:* event polling, frame waiting and simulation stepping.
+- *Render thread:* view update, frame begin/end, rendering.
+*Beware:* until now, we have grouped the simulation stepping and rendering preparation in one single step (`_update_mujoco`). This should now be split: `mj_step` will be kept in the simulation thread, while `mjv_updateScene` will be put in the rendering thread. This is because `mj_step` can be called while the simulation is being rendered, whereas `mjv_updateScene` cannot (because it contains the geometry data to be rendered).
+
+Now we know where to put which work, the only thing left to do is to split the original `frame` function in two different threads, and use a synchronization structure to signal to the render thread to do its work when simulation is over (a `threading.Semaphore` is suited for this).
+
+A race condition might happen when you remove the headset in this multithreaded setup: `xr.end_session` might be called by the simulation thread while a frame is still being rendered by the other thread. To avoid this, use another synchronization structure (a `threading.Condition` is fine).
+
+== Hand tracking
+Hand tracking is not included in the demo file, because it is tied in how the hand is represented in the MJCF. However, here are the basic steps to implement it:
+- In the MuJoCo model, add a mocap body that will receive the hand position.
+- For OpenXR, we have to create an _action_ that will receive data from the controller. To do that, in the Python program after the `_prepare_xr` step, add another step which follow the same steps as in #link("https://github.com/cmbruns/pyopenxr_examples/blob/9c678b89cf5821730b88a7f3f8145572d536e119/xr_examples/track_controller.py#L20-L89")[this example].
+- To get the position and orientation in each frame, use thie code:
+#sourcecode[```py
+xr.sync_actions(self._xr_session, xr.ActionsSyncInfo(active_action_sets = ctypes.pointer(xr.ActiveActionSet(
+    action_set=self._action_set,
+    subaction_path=xr.NULL_PATH # wildcard to get all actions
+))))
+space_location = xr.locate_space(
+    space=self._action_space,
+    base_space=self._xr_projection_layer.space,
+    time=self._xr_frame_state.predicted_display_time
+)
+if (space_location.location_flags & xr.SPACE_LOCATION_POSITION_VALID_BIT
+    and space_location.location_flags & xr.SPACE_LOCATION_ORIENTATION_VALID_BIT):
+    
+    hand_pos = numpy.zeros(3)
+    hand_rot = numpy.zeros(4)
+    orientation = [space_location.pose.orientation[3], *space_location.pose.orientation[0:3]]
+    mujoco.mjv_room2model(hand_pos, hand_rot, list(space_location.pose.position), orientation, self._mj_scene)
+    return hand_pos, hand_rot
+```]
+The important part here is to remember to change the quaternion format to the MuJoCo one $(w, x, y, z)$ and to call `mjv_room2model` to automatically apply the transformations defined in `_update_views` to the pose.
+
+== Note on the `ContextObject` provided by _pyopenxr_ <ctx_obj>
+The _pyopenxr_ bindings provide a pre-made class to handle most of the instance, session and swapchain work and let us focus on the interesting parts. This class is named `ContextObject`. However, it is not suitable for use in our case for two reasons:
+- `ContextObject` creates one swapchain per eye, whereas we want one big swapchain containing both eyes (because this is how we want MuJoCo to render).
+  - This issue could have been bypassed by creating a new swapchain ourselves and not using the premade ones. However, we loose a big part of the advantage of using this class in the first hand: simplicity.
+- `ContextObject` uses an internal `OpenGLGraphics` class that handles a lot of rendering-related code. However, this class initializes the OpenGL context with the version 4.5 and _Core profile_. As we saw earlier, MuJoCo requires the _Compatibility profile_.
+  - This is not bypassable without recompiling all of _pyopenxr_.
+For those reasons, we made every OpenXR-related code from the ground up.
+
+
+#pagebreak()
+= Annex - Source Code <source_code>
+#set text(size: 9pt)
+#show: it => align(center, block(width: 120%, breakable: true, it))
+#show-code(frame: none)
\ No newline at end of file
diff --git a/tactile/undergraduat/code/mujocoxr-paper/threading-slide.svg b/tactile/undergraduat/code/mujocoxr-paper/threading-slide.svg
new file mode 100644
index 0000000..35aa4e3
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diff --git a/tactile/undergraduat/code/mujocoxr-paper/xr-instance-lifecycle.jpg b/tactile/undergraduat/code/mujocoxr-paper/xr-instance-lifecycle.jpg
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diff --git a/tactile/undergraduat/code/mujocoxr-paper/xr-session-lifecycle.png b/tactile/undergraduat/code/mujocoxr-paper/xr-session-lifecycle.png
new file mode 100644
index 0000000..ce972cf
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diff --git a/tactile/undergraduat/code/requirements.txt b/tactile/undergraduat/code/requirements.txt
new file mode 100644
index 0000000..b205774
--- /dev/null
+++ b/tactile/undergraduat/code/requirements.txt
@@ -0,0 +1,8 @@
+# coppeliasim_zmqremoteapi_client==2.0.4
+matplotlib==3.8.2
+pynput==1.7.7
+weartsdk-sky>=1.0.4
+pyopenxr==1.1.3601
+mujoco>=3.4.0
+colorama>=0.4.6
+numpy==1.26.4
\ No newline at end of file
diff --git a/tactile/undergraduat/code/simulator.py b/tactile/undergraduat/code/simulator.py
new file mode 100644
index 0000000..8bd3a04
--- /dev/null
+++ b/tactile/undergraduat/code/simulator.py
@@ -0,0 +1,184 @@
+# local code
+from interfaces import *
+from mujoco_connector import MujocoConnector, MujocoSimpleVisualizer
+from mujoco_xr import MujocoXRVisualizer
+from weart import WeartConnector, HAPTIC_FINGERS
+from guis import TUI
+from benchmarking import Benchmarker, Plotter
+from hand import Hand
+
+# libraries
+from contextlib import nullcontext
+from threading import Thread
+from colorama import just_fix_windows_console, Fore, Style
+
+just_fix_windows_console()
+
+def simulation(engine: Engine,
+                weart: WeartConnector | None,
+                visualizer: Visualizer,
+                hand_provider: HandPoseProvider | None,
+                gui: GUI,
+                hands: tuple[Hand, Hand]):
+    print("Starting simulation.")
+    engine.start_simulation()
+
+    # frame_bench = Benchmarker(title="Performance profiler")
+    # perf_bench = Benchmarker(title="Performance profiler")
+    # force_plot = Plotter(title="Applied force graph")
+
+    def loop():
+        print("Starting visualization...")
+        visualizer.start_visualization()
+        gui.start_gui(engine, visualizer)
+        # if isinstance(visualizer, MujocoXRVisualizer):
+        #     visualizer.add_perf_counters(perf_bench, frame_bench)
+
+        print(Style.BRIGHT + Fore.GREEN, f"Done!{Style.NORMAL} Everything is up and running.{Fore.RESET}\n")
+        try:
+            while not visualizer.should_exit() and not gui.should_exit():
+                # frame_bench.new_iteration()
+                frame_continue, frame_duration = visualizer.wait_frame()
+                # frame_bench.mark("Wait frame")
+                # frame_bench.end_iteration()
+                if visualizer.should_exit():
+                    break
+                if not frame_continue:
+                    continue
+                # perf_bench.new_iteration()
+                # force_plot.new_iteration()
+
+                if hand_provider is not None:
+                    for hand in filter(lambda h: h.tracking, hands):
+                        hand_pose = hand_provider.get_hand_pose(hand.id)
+                        if hand_pose is not None:
+                            engine.move_hand(hand.id, *hand_pose)
+
+                if weart is not None:
+                    for hand in filter(lambda h: h.haptics, hands):
+                        for finger in HAPTIC_FINGERS:
+                            closure, abduction = weart.get_finger_data(hand.id, finger)
+                            engine.move_finger(hand.id, finger, closure, abduction)
+
+                engine.step_simulation(frame_duration)
+                # perf_bench.mark("Step simulation")
+
+                visualizer.render_frame()
+                # perf_bench.mark("Render")
+
+                for hand in filter(lambda h: h.haptics, hands):
+                    for finger in HAPTIC_FINGERS:
+                        force, texture = engine.get_contact(hand.id, finger)
+                        # perf_bench.mark("Contact force")
+                        # force_plot.plot(force, f"{finger} hand {hand}")
+                        
+                        print(force, texture)
+                        if weart is not None:
+                            weart.apply_finger(hand.id, finger, force, texture)
+                            # perf_bench.mark("Apply force to finger")
+
+                # force_plot.end_iteration()
+                # perf_bench.end_iteration()
+        except KeyboardInterrupt:
+            pass # To exit gracefully. Even though we swallow the error, we still exit the loop.
+        finally:
+            # force_plot.stop()
+            # perf_bench.stop()
+            #perf_bench.export_csv("benchmark.csv", include_time=True)
+
+            print("\nStopping visualization...")
+            gui.stop_gui()
+            visualizer.stop_visualization()
+
+            print("Stopping simulation...")
+            engine.stop_simulation()
+
+            print("\nCiao!\n")
+
+    threaded = False
+    if threaded:
+        t = Thread(target=loop)
+        t.start()
+        # we must run the loop in another thread because the graph can only be visualized in the main thread...
+        #perf_bench.graph_viz(max_points=1000, use_time=True)
+        #force_plot.graph_viz(max_points=10000, y_axis="Force")
+        t.join()
+    else:
+        loop()
+
+if __name__ == "__main__":
+    # CHANGEABLE PARAMETERS
+
+    used_engine = "mujoco"
+    used_viz = "simple"
+    use_weart = False
+    used_gui = "tui"
+
+    # scene_path = "assets/MuJoCo scene simple.xml"
+    # scene_path = "assets/MuJoCo phantom.xml"
+    # scene_path = "assets/MuJoCo hands.xml"
+    scene_path = "assets/MuJoCo hands and phantom.xml"
+
+    # It seems like we can keep tracking and haptics enabled
+    # even if not both hands are connected (WEART and Oculus).
+    # Disabling tracking and haptics for an unused hand is
+    # still useful as it hides the hand in MuJoCo.
+    hands = (
+        Hand(id = 0, side = "left", tracking = True, haptics = True, controller_rotation=0),
+        Hand(id = 1, side = "right", tracking = True, haptics = True, controller_rotation=0)
+    )
+
+    # SCRIPT
+    print("Starting script...\n")
+
+    engine = mujoco = visualizer = weart = hand = gui = None
+
+    match used_engine:
+        case "mujoco":
+            print("Loading MuJoCo...")
+            engine = mujoco = MujocoConnector(scene_path, hands)
+            print("Loaded.\n")
+        case "coppelia":
+            from coppelia import CoppeliaConnector
+            print("Connecting to CoppeliaSim...")
+            engine = CoppeliaConnector()
+            print("Connected.\n")
+            used_viz = None
+        case _:
+            raise RuntimeError("Invalid engine name")
+
+    match used_viz:
+        case None:
+            visualizer_ctx = nullcontext(Visualizer())
+        case "simple":
+            assert mujoco is not None
+            visualizer_ctx = nullcontext(MujocoSimpleVisualizer(mujoco))
+        case "openxr":
+            assert mujoco is not None
+            print("Loading Virtual Reality...")
+            visualizer_ctx = hand = MujocoXRVisualizer(mujoco, mirror_window=True, samples=8, fps_counter=False)
+        case _:
+            raise RuntimeError("Invalid visualizer name")
+
+    match used_gui:
+        case "tui":
+            gui = TUI()
+        # TODO: add another GUI, maybe a TK window?
+        case _:
+            raise RuntimeError("Invalid GUI name")
+
+    with visualizer_ctx as visualizer:
+        print("Visualizer created.\n")
+
+        if use_weart:
+            print("Connecting to WEART...")
+            enabled_hands_haptic = [hand.id for hand in hands if hand.haptics]
+            weart_ctx = WeartConnector(enabled_hands_haptic)
+        else:
+            weart_ctx = nullcontext()
+            print(Fore.RED + Style.BRIGHT, "WARNING:", Style.NORMAL + "You have not enabled WEART.\n", Style.RESET_ALL)
+
+        with weart_ctx as weart:
+            # everything is initialized at this point
+            
+            simulation(engine, weart, visualizer, hand, gui, hands)
diff --git a/tactile/undergraduat/code/start_simulation.bat b/tactile/undergraduat/code/start_simulation.bat
new file mode 100644
index 0000000..18b4cbc
--- /dev/null
+++ b/tactile/undergraduat/code/start_simulation.bat
@@ -0,0 +1,24 @@
+@echo off
+cd /d "%~dp0"
+
+if not exist .venv (
+    echo Creating virtual environment...
+    python -m venv .venv
+)
+
+echo Installing/Updating dependencies...
+.venv\Scripts\python -m pip install -r requirements.txt
+
+echo.
+echo Starting Simulator...
+.venv\Scripts\python simulator.py
+
+if %errorlevel% neq 0 (
+    echo.
+    echo Simulation exited with error code %errorlevel%
+    pause
+) else (
+    echo.
+    echo Simulation finished successfully.
+    pause
+)
diff --git a/tactile/undergraduat/code/weart.py b/tactile/undergraduat/code/weart.py
new file mode 100644
index 0000000..dce2ef8
--- /dev/null
+++ b/tactile/undergraduat/code/weart.py
@@ -0,0 +1,204 @@
+from enum import Enum
+import time
+import logging
+from threading import Thread
+from dataclasses import dataclass
+from colorama import Fore, Style
+
+try:
+    from weartsdk import *
+    from weartsdk.WeArtCommon import HandSide, ActuationPoint, MiddlewareStatus, TextureType
+    WEART_SDK_AVAILABLE = True
+except ModuleNotFoundError:
+    WEART_SDK_AVAILABLE = False
+
+    class TextureType(Enum):
+        ProfiledRubberSlow = 1
+        CrushedRock = 2
+        VenetianGranite = 3
+
+HAPTIC_FINGERS = ["thumb", "index", "middle"]
+
+def error(*values: object):
+    print(Fore.RED + Style.BRIGHT, "WEART:" + Style.NORMAL, *values, Fore.RESET)
+
+def info(*values: object):
+    print(Fore.YELLOW + Style.BRIGHT, "WEART:" + Style.NORMAL, *values, Fore.RESET)
+
+if WEART_SDK_AVAILABLE:
+    @dataclass
+    class Finger:
+        hand: int
+        finger: str
+        haptic_object: WeArtHapticObject
+        touch_effect: TouchEffect
+        thimble_tracking: WeArtThimbleTrackingObject
+
+    class WeartConnector(object):
+        def __init__(self, enabled_hands: list[int], ip_address=WeArtCommon.DEFAULT_IP_ADDRESS, port=WeArtCommon.DEFAULT_TCP_PORT):
+            self._client = WeArtClient(ip_address, port, log_level=logging.INFO)
+
+            self._fingers: dict[str, Finger] = {}
+            for hand in enabled_hands:
+                hand_side = HandSide.Left if hand == 0 else HandSide.Right
+                for finger in HAPTIC_FINGERS:
+                    match finger:
+                        case "thumb":
+                            actuation_point = ActuationPoint.Thumb
+                        case "index":
+                            actuation_point = ActuationPoint.Index
+                        case "middle":
+                            actuation_point = ActuationPoint.Middle
+                        case _:
+                            raise RuntimeError()
+
+                    haptic_object = WeArtHapticObject(self._client)
+                    haptic_object.handSideFlag = hand_side.value
+                    haptic_object.actuationPointFlag = actuation_point
+
+                    touch_effect = TouchEffect(WeArtTemperature(), WeArtForce(), WeArtTexture())
+                    haptic_object.AddEffect(touch_effect)
+
+                    thimble_tracking = WeArtThimbleTrackingObject(hand_side, actuation_point)
+
+                    self._fingers[WeartConnector.get_finger_id(hand, finger)] = Finger(hand, finger, haptic_object, touch_effect, thimble_tracking)
+
+        def __enter__(self):
+            self._status_manager = WeartStatusManager(self)
+            self._client.Run()
+            self._status_manager.start()
+            return self
+
+        def __exit__(self, exc_type, exc_value, traceback):
+            self._status_manager.stop()
+            self._client.Close()
+
+        def _start_finger_listeners(self):
+            for finger in self._fingers.values():
+                self._client.AddThimbleTracking(finger.thimble_tracking)
+
+        def _stop_finger_listeners(self):
+            for finger in self._fingers.values():
+                self._client.RemoveMessageListener(finger.thimble_tracking)
+
+        def get_finger_data(self, hand_id: int, finger: str) -> tuple[float, float]:
+            thimble_tracking = self._fingers[WeartConnector.get_finger_id(hand_id, finger)].thimble_tracking
+            return thimble_tracking.GetClosure(), thimble_tracking.GetAbduction()
+
+        def apply_finger(self, hand_id: int, finger: str, force_value: float, texture: TextureType | None):
+            finger_obj = self._fingers[WeartConnector.get_finger_id(hand_id, finger)]
+
+            texture_obj = finger_obj.touch_effect.getTexture()
+            if texture is None:
+                texture_obj.active = False
+            else:
+                texture_obj.active = True
+                texture_obj.volume = 0.8
+                texture_obj.textureType = texture
+
+            finger_obj.touch_effect.Set(finger_obj.touch_effect.getTemperature(), WeArtForce(True, force_value), texture_obj)
+            finger_obj.haptic_object.UpdateEffects()
+
+        @staticmethod
+        def get_finger_id(hand_id: int, finger: str):
+            return f"{finger}{hand_id}"
+
+    class WeartSimulationStatus(Enum):
+        NOT_STARTED = 0
+        FULLY_STARTED = 2
+        STOP_TO_RESTART = 3
+        STOP_TO_EXIT = 4
+
+    class WeartStatusManager(Thread):
+        def __init__(self, connector: WeartConnector):
+            super().__init__()
+
+            self._connector = connector
+            self._no_data = True
+
+            self._listener = MiddlewareStatusListener()
+            self._listener.AddStatusCallback(self._status_changed)
+            self._connector._client.AddMessageListener(self._listener)
+
+        def _status_changed(self, data: MiddlewareStatusUpdate):
+            self._no_data = False
+            if data.statusCode != 0:
+                error(f"{data.errorDesc} (error {data.statusCode})")
+
+        def run(self):
+            self._status = WeartSimulationStatus.NOT_STARTED
+
+            while True:
+                weart_status = self._listener.lastStatus().status
+
+                match self._status, weart_status:
+                    case WeartSimulationStatus.STOP_TO_EXIT, MiddlewareStatus.IDLE:
+                        break
+                    case WeartSimulationStatus.STOP_TO_EXIT, MiddlewareStatus.DISCONNECTED:
+                        break
+                    case WeartSimulationStatus.STOP_TO_EXIT, _:
+                        info("Waiting for stop...")
+                    case _, MiddlewareStatus.DISCONNECTED if not self._no_data:
+                        error("USB dongle is not connected")
+                    case _, MiddlewareStatus.CALIBRATION:
+                        error("In calibration mode but should not.")
+                    case WeartSimulationStatus.NOT_STARTED, MiddlewareStatus.STARTING:
+                        info("In starting...")
+                    case WeartSimulationStatus.NOT_STARTED, MiddlewareStatus.RUNNING:
+                        self._calibrate()
+                    case WeartSimulationStatus.NOT_STARTED, _:
+                        self._try_start()
+                    case WeartSimulationStatus.FULLY_STARTED, MiddlewareStatus.RUNNING:
+                        pass
+                    case WeartSimulationStatus.FULLY_STARTED, _:
+                        self._stopped_working(weart_status)
+                    case WeartSimulationStatus.STOP_TO_RESTART, MiddlewareStatus.IDLE:
+                        self._status = WeartSimulationStatus.NOT_STARTED
+                        self._try_start()
+                    case WeartSimulationStatus.STOP_TO_RESTART, _:
+                        info("Waiting before restart...")
+
+                time.sleep(1)
+            info("Stopped.")
+
+        def stop(self):
+            self._status = WeartSimulationStatus.STOP_TO_EXIT
+            self._connector._client.Stop()
+            self.join()
+
+        def _try_start(self):
+            if not self._no_data and len(self._listener.lastStatus().devices) == 0:
+                error("No device connected.")
+            else:
+                info("Starting...")
+                self._connector._client.Start()
+
+        def _finished_starting(self):
+            self._status = WeartSimulationStatus.FULLY_STARTED
+            self._connector._start_finger_listeners()
+
+        def _stopped_working(self, status: MiddlewareStatus):
+            error(f"Stopped. Status: {status}. Trying to restart...")
+            self._status = WeartSimulationStatus.STOP_TO_RESTART
+            self._connector._client.Stop()
+
+        def _calibrate(self):
+            info("Starting calibration. Stand still...")
+
+            calibration = WeArtTrackingCalibration()
+            self._connector._client.AddMessageListener(calibration)
+            self._connector._client.StartCalibration()
+
+            while not calibration.getResult():
+                time.sleep(1)
+
+            self._connector._client.StopCalibration()
+            self._connector._client.RemoveMessageListener(calibration)
+
+            info("Calibration is done.")
+
+            self._finished_starting()
+else:
+    class WeartConnector(object):
+        def __init__(self, *args, **kwargs):
+            raise RuntimeError("weartsdk is not installed. Install weartsdk-sky or set use_weart=False.")