diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/Panda_RealSenseD435_Camera_Mount.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/Panda_RealSenseD435_Camera_Mount.obj
new file mode 120000
index 00000000..bcb794bc
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/Panda_RealSenseD435_Camera_Mount.obj
@@ -0,0 +1 @@
+../../../cameras/real_sense/obj/Panda_RealSenseD435_Camera_Mount.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/Panda_RealSenseD435_Camera_Mount.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/Panda_RealSenseD435_Camera_Mount.stl
new file mode 120000
index 00000000..c58e37f0
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/Panda_RealSenseD435_Camera_Mount.stl
@@ -0,0 +1 @@
+../../../cameras/real_sense/stl/Panda_RealSenseD435_Camera_Mount.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/bg_digit_240_320.jpg b/assets/scenes/fr3_digit_simple_pick_up/assets/bg_digit_240_320.jpg
new file mode 120000
index 00000000..8981fdc6
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/bg_digit_240_320.jpg
@@ -0,0 +1 @@
+../../../sensors/digit/./bg_digit_240_320.jpg
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/bird_eye_cam_realsense_mount.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/bird_eye_cam_realsense_mount.stl
new file mode 120000
index 00000000..aade4a49
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/bird_eye_cam_realsense_mount.stl
@@ -0,0 +1 @@
+../../../cameras/real_sense/stl/bird_eye_cam_realsense_mount.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_0.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_0.obj
new file mode 120000
index 00000000..764b871a
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_0.obj
@@ -0,0 +1 @@
+../../../cameras/real_sense/obj/d435i_0.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_1.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_1.obj
new file mode 120000
index 00000000..77840457
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_1.obj
@@ -0,0 +1 @@
+../../../cameras/real_sense/obj/d435i_1.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_2.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_2.obj
new file mode 120000
index 00000000..928d54f5
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_2.obj
@@ -0,0 +1 @@
+../../../cameras/real_sense/obj/d435i_2.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_3.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_3.obj
new file mode 120000
index 00000000..24897dfe
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_3.obj
@@ -0,0 +1 @@
+../../../cameras/real_sense/obj/d435i_3.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_4.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_4.obj
new file mode 120000
index 00000000..8243fe6a
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_4.obj
@@ -0,0 +1 @@
+../../../cameras/real_sense/obj/d435i_4.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_5.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_5.obj
new file mode 120000
index 00000000..24c3c4b1
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_5.obj
@@ -0,0 +1 @@
+../../../cameras/real_sense/obj/d435i_5.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_6.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_6.obj
new file mode 120000
index 00000000..93a98319
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_6.obj
@@ -0,0 +1 @@
+../../../cameras/real_sense/obj/d435i_6.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_7.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_7.obj
new file mode 120000
index 00000000..82396dd1
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_7.obj
@@ -0,0 +1 @@
+../../../cameras/real_sense/obj/d435i_7.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_8.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_8.obj
new file mode 120000
index 00000000..aa9a0467
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/d435i_8.obj
@@ -0,0 +1 @@
+../../../cameras/real_sense/obj/d435i_8.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/digit_finger.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/digit_finger.obj
new file mode 120000
index 00000000..9621357c
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/digit_finger.obj
@@ -0,0 +1 @@
+../../../sensors/digit/./digit_finger.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/digit_finger_attachment_collision.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/digit_finger_attachment_collision.stl
new file mode 120000
index 00000000..f06b88a8
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/digit_finger_attachment_collision.stl
@@ -0,0 +1 @@
+../../../sensors/digit/./digit_finger_attachment_collision.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/digit_finger_backplate_collision.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/digit_finger_backplate_collision.stl
new file mode 120000
index 00000000..a73d0557
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/digit_finger_backplate_collision.stl
@@ -0,0 +1 @@
+../../../sensors/digit/./digit_finger_backplate_collision.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/digit_sensor_no_backplate.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/digit_sensor_no_backplate.obj
new file mode 120000
index 00000000..4d83ca07
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/digit_sensor_no_backplate.obj
@@ -0,0 +1 @@
+../../../sensors/digit/./digit_sensor_no_backplate.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/digit_sensor_no_backplate_collision.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/digit_sensor_no_backplate_collision.stl
new file mode 120000
index 00000000..0fb83212
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/digit_sensor_no_backplate_collision.stl
@@ -0,0 +1 @@
+../../../sensors/digit/./digit_sensor_no_backplate_collision.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/digit_sensor_pad.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/digit_sensor_pad.obj
new file mode 120000
index 00000000..8596be4a
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/digit_sensor_pad.obj
@@ -0,0 +1 @@
+../../../sensors/digit/./digit_sensor_pad.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/finger_0.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/finger_0.obj
new file mode 120000
index 00000000..d7be52c8
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/finger_0.obj
@@ -0,0 +1 @@
+../../../fingers/obj/finger_0.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/finger_1.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/finger_1.obj
new file mode 120000
index 00000000..525864ac
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/finger_1.obj
@@ -0,0 +1 @@
+../../../fingers/obj/finger_1.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0.stl
new file mode 120000
index 00000000..d510caf1
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0.stl
@@ -0,0 +1 @@
+../../../fr3/stl/fr3_link0.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_0.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_0.obj
new file mode 120000
index 00000000..43127ef4
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_0.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link0_0.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_1.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_1.obj
new file mode 120000
index 00000000..2048aee7
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_1.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link0_1.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_2.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_2.obj
new file mode 120000
index 00000000..b7ab5823
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_2.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link0_2.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_3.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_3.obj
new file mode 120000
index 00000000..8aca1411
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_3.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link0_3.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_4.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_4.obj
new file mode 120000
index 00000000..3d0f7fa5
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_4.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link0_4.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_5.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_5.obj
new file mode 120000
index 00000000..49e606ee
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_5.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link0_5.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_6.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_6.obj
new file mode 120000
index 00000000..608e5fb4
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link0_6.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link0_6.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link1.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link1.obj
new file mode 120000
index 00000000..16c563cd
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link1.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link1.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link1.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link1.stl
new file mode 120000
index 00000000..17e4d804
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link1.stl
@@ -0,0 +1 @@
+../../../fr3/stl/fr3_link1.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link2.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link2.obj
new file mode 120000
index 00000000..a84c06e7
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link2.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link2.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link2.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link2.stl
new file mode 120000
index 00000000..cd8051c9
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link2.stl
@@ -0,0 +1 @@
+../../../fr3/stl/fr3_link2.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link3.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link3.stl
new file mode 120000
index 00000000..64de9b4e
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link3.stl
@@ -0,0 +1 @@
+../../../fr3/stl/fr3_link3.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link3_0.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link3_0.obj
new file mode 120000
index 00000000..576c35aa
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link3_0.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link3_0.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link3_1.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link3_1.obj
new file mode 120000
index 00000000..3a653088
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link3_1.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link3_1.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link4.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link4.stl
new file mode 120000
index 00000000..094b8a5d
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link4.stl
@@ -0,0 +1 @@
+../../../fr3/stl/fr3_link4.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link4_0.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link4_0.obj
new file mode 120000
index 00000000..f285626b
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link4_0.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link4_0.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link4_1.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link4_1.obj
new file mode 120000
index 00000000..1f4368a9
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link4_1.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link4_1.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link5.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link5.stl
new file mode 120000
index 00000000..ea38dcd7
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link5.stl
@@ -0,0 +1 @@
+../../../fr3/stl/fr3_link5.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link5_0.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link5_0.obj
new file mode 120000
index 00000000..765df164
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link5_0.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link5_0.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link5_1.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link5_1.obj
new file mode 120000
index 00000000..cd880faa
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link5_1.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link5_1.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link5_2.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link5_2.obj
new file mode 120000
index 00000000..b70efa30
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link5_2.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link5_2.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6.stl
new file mode 120000
index 00000000..af123358
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6.stl
@@ -0,0 +1 @@
+../../../fr3/stl/fr3_link6.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_0.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_0.obj
new file mode 120000
index 00000000..44acdeb5
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_0.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link6_0.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_1.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_1.obj
new file mode 120000
index 00000000..42241f68
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_1.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link6_1.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_2.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_2.obj
new file mode 120000
index 00000000..45c4e31e
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_2.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link6_2.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_3.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_3.obj
new file mode 120000
index 00000000..fbd51bd0
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_3.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link6_3.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_4.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_4.obj
new file mode 120000
index 00000000..953ad9e6
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_4.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link6_4.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_5.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_5.obj
new file mode 120000
index 00000000..b2a58f3f
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_5.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link6_5.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_6.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_6.obj
new file mode 120000
index 00000000..32042fe4
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_6.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link6_6.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_7.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_7.obj
new file mode 120000
index 00000000..e88427e6
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link6_7.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link6_7.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7.stl
new file mode 120000
index 00000000..ca848a16
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7.stl
@@ -0,0 +1 @@
+../../../fr3/stl/fr3_link7.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7_0.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7_0.obj
new file mode 120000
index 00000000..ef995169
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7_0.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link7_0.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7_1.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7_1.obj
new file mode 120000
index 00000000..2f2ee5db
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7_1.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link7_1.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7_2.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7_2.obj
new file mode 120000
index 00000000..3e1cb093
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7_2.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link7_2.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7_3.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7_3.obj
new file mode 120000
index 00000000..355b5c35
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/fr3_link7_3.obj
@@ -0,0 +1 @@
+../../../fr3/obj/fr3_link7_3.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand.stl b/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand.stl
new file mode 120000
index 00000000..65c89d81
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand.stl
@@ -0,0 +1 @@
+../../../grippers/franka_hand/stl/franka_hand.stl
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_0.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_0.obj
new file mode 120000
index 00000000..81a9343e
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_0.obj
@@ -0,0 +1 @@
+../../../grippers/franka_hand/obj/franka_hand_0.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_1.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_1.obj
new file mode 120000
index 00000000..fefd3003
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_1.obj
@@ -0,0 +1 @@
+../../../grippers/franka_hand/obj/franka_hand_1.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_2.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_2.obj
new file mode 120000
index 00000000..1cbe9e14
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_2.obj
@@ -0,0 +1 @@
+../../../grippers/franka_hand/obj/franka_hand_2.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_3.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_3.obj
new file mode 120000
index 00000000..2587a25f
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_3.obj
@@ -0,0 +1 @@
+../../../grippers/franka_hand/obj/franka_hand_3.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_4.obj b/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_4.obj
new file mode 120000
index 00000000..13606d10
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/assets/franka_hand_4.obj
@@ -0,0 +1 @@
+../../../grippers/franka_hand/obj/franka_hand_4.obj
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/fr3_0.xml b/assets/scenes/fr3_digit_simple_pick_up/fr3_0.xml
new file mode 100644
index 00000000..1b45e7f5
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/fr3_0.xml
@@ -0,0 +1,179 @@
+<mujoco>
+    <extension>
+        <plugin plugin="mujoco.sensor.touch_grid" />
+    </extension>
+    <worldbody>
+    <body name="base_0" childclass="fr3" gravcomp="1">
+        <body name="fr3_link0_0" gravcomp="1">
+            <geom mesh="fr3_link0_0" material="black" class="visual" />
+            <geom mesh="fr3_link0_1" material="white" class="visual" />
+            <geom mesh="fr3_link0_2" material="white" class="visual" />
+            <geom mesh="fr3_link0_3" material="white" class="visual" />
+            <geom mesh="fr3_link0_4" material="white" class="visual" />
+            <geom mesh="fr3_link0_5" material="red" class="visual" />
+            <geom mesh="fr3_link0_6" material="black" class="visual" />
+            <geom name="fr3_link0_collision_0" mesh="fr3_link0_coll" class="collision" />
+            <body name="fr3_link1_0" pos="0 0 0.333" gravcomp="1">
+                <inertial pos="4.128e-07 -0.0181251 -0.0386036" quat="0.999901 0.0021545 0.00429041 0.0132325" mass="2.92747" diaginertia="0.0186043 0.0181194 0.00538716" />
+                <joint name="fr3_joint1_0" axis="0 0 1" range="-2.7437 2.7437" actuatorfrcrange="-87 87" />
+                <geom name="fr3_link1_collision_0" class="collision" mesh="fr3_link1_coll" />
+                <geom material="white" mesh="fr3_link1" class="visual" />
+                <body name="fr3_link2_0" quat="1 -1 0 0" gravcomp="1">
+                    <inertial pos="0.00318289 -0.0743222 0.00881461" quat="0.356855 0.680818 -0.434812 0.469126" mass="2.93554" diaginertia="0.0299291 0.0299291 0.0299291" />
+                    <joint name="fr3_joint2_0" axis="0 0 1" range="-1.7837 1.7837" actuatorfrcrange="-87 87" />
+                    <geom material="white" mesh="fr3_link2" class="visual" />
+                    <geom name="fr3_link2_collision_0" class="collision" mesh="fr3_link2_coll" />
+                    <body name="fr3_link3_0" pos="0 -0.316 0" quat="1 1 0 0" gravcomp="1">
+                        <inertial pos="0.0407016 -0.00482006 -0.0289731" quat="0.950032 -0.148357 0.229935 0.150201" mass="2.2449" diaginertia="0.0140109 0.0140109 0.0140109" />
+                        <joint name="fr3_joint3_0" axis="0 0 1" range="-2.9007 2.9007" actuatorfrcrange="-87 87" />
+                        <geom mesh="fr3_link3_0" material="white" class="visual" />
+                        <geom mesh="fr3_link3_1" material="black" class="visual" />
+                        <geom name="fr3_link3_collision_0" class="collision" mesh="fr3_link3_coll" />
+                        <body name="fr3_link4_0" pos="0.0825 0 0" quat="1 1 0 0" gravcomp="1">
+                            <inertial pos="-0.0459101 0.0630493 -0.00851879" quat="0.23761 0.892458 -0.00078702 0.383484" mass="2.6156" diaginertia="0.0206104 0.0206104 0.0206104" />
+                            <joint name="fr3_joint4_0" axis="0 0 1" range="-3.0421 -0.1518" actuatorfrcrange="-87 87" />
+                            <geom mesh="fr3_link4_0" material="white" class="visual" />
+                            <geom mesh="fr3_link4_1" material="black" class="visual" />
+                            <geom name="fr3_link4_collision_0" class="collision" mesh="fr3_link4_coll" />
+                            <body name="fr3_link5_0" pos="-0.0825 0.384 0" quat="1 -1 0 0" gravcomp="1">
+                                <inertial pos="-0.00160396 0.0292536 -0.0972966" quat="0.922285 0.098826 0.0982562 -0.360514" mass="2.32712" diaginertia="0.0182879 0.0182879 0.0182879" />
+                                <joint name="fr3_joint5_0" axis="0 0 1" range="-2.8065 2.8065" actuatorfrcrange="-12 12" />
+                                <geom mesh="fr3_link5_0" material="white" class="visual" />
+                                <geom mesh="fr3_link5_1" material="white" class="visual" />
+                                <geom mesh="fr3_link5_2" material="black" class="visual" />
+                                <geom name="fr3_link5_collision_0" class="collision" mesh="fr3_link5_coll" />
+                                <body name="fr3_link6_0" quat="1 1 0 0" gravcomp="1">
+                                    <inertial pos="0.0597131 -0.0410295 -0.0101693" quat="0.593933 0.525442 0.520644 0.316361" mass="1.81704" diaginertia="0.00483538 0.00483538 0.00483538" />
+                                    <joint name="fr3_joint6_0" axis="0 0 1" range="0.5445 4.5169" actuatorfrcrange="-12 12" />
+                                    <geom mesh="fr3_link6_0" material="button_green" class="visual" />
+                                    <geom mesh="fr3_link6_1" material="white" class="visual" />
+                                    <geom mesh="fr3_link6_2" material="white" class="visual" />
+                                    <geom mesh="fr3_link6_3" material="gray" class="visual" />
+                                    <geom mesh="fr3_link6_4" material="button_red" class="visual" />
+                                    <geom mesh="fr3_link6_5" material="white" class="visual" />
+                                    <geom mesh="fr3_link6_6" material="black" class="visual" />
+                                    <geom mesh="fr3_link6_7" material="button_blue" class="visual" />
+                                    <geom name="fr3_link6_collision_0" class="collision" mesh="fr3_link6_coll" />
+                                    <body name="fr3_link7_0" pos="0.088 0 0" quat="1 1 0 0" gravcomp="1">
+                                        <inertial pos="0.00452258 0.00862619 -0.0161633" quat="0.120255 0.394761 -0.799132 0.437139" mass="0.627143" diaginertia="3.076e-07 3.076e-07 3.076e-07" />
+                                        <joint name="fr3_joint7_0" axis="0 0 1" range="-3.0159 3.0159" actuatorfrcrange="-12 12" />
+                                        <geom mesh="fr3_link7_0" material="black" class="visual" />
+                                        <geom mesh="fr3_link7_1" material="white" class="visual" />
+                                        <geom mesh="fr3_link7_2" material="white" class="visual" />
+                                        <geom mesh="fr3_link7_3" material="black" class="visual" />
+                                        <geom name="fr3_link7_collision_0" class="collision" mesh="fr3_link7_coll" />
+                                        <site name="attachment_site_0" pos="0 0 0.107" />
+                                        <body name="hand_0" pos="0 0 0.107" gravcomp="1">
+                                            <geom mesh="Panda_RealSenseD435_Camera_Mount" class="visual" pos="0.065 0.03 0" euler="1.57 3.142 0" />
+                                            <geom mesh="Panda_RealSenseD435_Camera_Mount" class="collision" />
+                                            <body name="d435i_0" childclass="d435i" pos="0.051 0 0.065" euler="0 0 -1.5707" gravcomp="1">
+                                                <geom mesh="d435i_0" material="IR_Lens" class="visual_d435i" />
+                                                <geom mesh="d435i_1" material="IR_Emitter_Lens" class="visual_d435i" />
+                                                <geom mesh="d435i_2" material="IR_Rim" class="visual_d435i" />
+                                                <geom mesh="d435i_3" material="IR_Lens" class="visual_d435i" />
+                                                <geom mesh="d435i_4" material="Cameras_Gray" class="visual_d435i" />
+                                                <geom mesh="d435i_5" material="Black_Acrylic" class="visual_d435i" />
+                                                <geom mesh="d435i_6" material="Black_Acrylic" class="visual_d435i" />
+                                                <geom mesh="d435i_7" material="RGB_Pupil" class="visual_d435i" />
+                                                <geom mesh="d435i_8" mass="0.072" material="Metal_Casing" class="visual_d435i" />
+                                                <geom class="collision_d435i" type="capsule" mesh="d435i_8" name="d435i_collision_0" />
+                                                <camera name="wrist_0" mode="fixed" pos="0.0325 0 0" euler="0 3.141592653589793 0" resolution="1920 1080"/>
+                                            </body>
+                                            <inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017" />
+                                            <geom mesh="franka_hand_0" material="white" class="visual" />
+                                            <geom mesh="franka_hand_1" material="black" class="visual" />
+                                            <geom mesh="franka_hand_2" material="black" class="visual" />
+                                            <geom mesh="franka_hand_3" material="white" class="visual" />
+                                            <geom mesh="franka_hand_4" material="white" class="visual" />
+                                            <geom mesh="franka_hand_coll" class="collision" name="hand_c_0" />
+                                            <site name="tcp_0" pos="0 0 0.1034" rgba="0 0 0 0.25" />
+                                            <body name="left_finger_0" pos="0 0.01 0.075" euler="0 3.141592653589793 3.141592653589793" gravcomp="1">
+                                                <geom mesh="digit_finger" class="visual" material="white" />
+                                                <geom mesh="digit_finger_attachment_collision" class="collision" name="finger_a_left_0" />
+                                                <geom mesh="digit_finger_backplate_collision" class="collision" name="finger_b_left_0" />
+
+                                                <geom mesh="digit_sensor_no_backplate" class="visual" material="black" />
+                                                <geom mesh="digit_sensor_no_backplate_collision" class="collision" name="finger_c_left_0" />
+
+                                                <body name="left_tacto">
+                                                    <geom mesh="digit_sensor_pad" class="visual" material="grey_material" />
+                                                    <geom mesh="digit_sensor_pad" class="collision" name="finger_1_left_0" friction="0.4"/>
+                                                    <geom class="fingertip_pad_collision_1" name="fingertip_pad_collision_1_left_0_0" friction="2 0.05 0.0001"/>
+                                                    <geom class="fingertip_pad_collision_2" name="fingertip_pad_collision_1_left_1_0" friction="2 0.05 0.0001"/>
+                                                    <geom class="fingertip_pad_collision_3" name="fingertip_pad_collision_1_left_2_0" friction="2 0.05 0.0001"/>
+                                                    <geom class="fingertip_pad_collision_4" name="fingertip_pad_collision_1_left_3_0" friction="2 0.05 0.0001"/>
+                                                    <site name="left_tacto_pad_0" pos="0 0.005 -0.075" euler="1.5707963267948966 0 3.141592653589793"/>
+                                                </body>
+
+                                                <joint name="finger_joint1_0" class="finger" />
+                                                <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7" />
+                                            </body>
+                                            <body name="right_finger_0" pos="0.00 -0.01 0.075" euler="0 3.141592653589793 0" gravcomp="1">
+                                                <geom mesh="digit_finger" class="visual" material="white" />
+                                                <geom mesh="digit_finger_attachment_collision" class="collision" name="finger_a_right_0" />
+                                                <geom mesh="digit_finger_backplate_collision" class="collision" name="finger_b_right_0" />
+                                                
+                                                <geom mesh="digit_sensor_no_backplate" class="visual" material="black" />
+                                                <geom mesh="digit_sensor_no_backplate_collision" class="collision" name="finger_c_right_0" />
+                                                
+                                                <body name="right_tacto">
+                                                    <geom mesh="digit_sensor_pad" class="visual" material="grey_material" />
+                                                    <geom mesh="digit_sensor_pad" class="collision" name="finger_1_right_0"/>
+                                                    <geom class="fingertip_pad_collision_1" name="fingertip_pad_collision_1_right_0_0" friction="2 0.05 0.0001"/>
+                                                    <geom class="fingertip_pad_collision_2" name="fingertip_pad_collision_1_right_1_0" friction="2 0.05 0.0001"/>
+                                                    <geom class="fingertip_pad_collision_3" name="fingertip_pad_collision_1_right_2_0" friction="2 0.05 0.0001"/>
+                                                    <geom class="fingertip_pad_collision_4" name="fingertip_pad_collision_1_right_3_0" friction="2 0.05 0.0001"/>
+                                                    <site name="right_tacto_pad_0" pos="0 0.005 -0.075" euler="1.5707963267948966 0 3.141592653589793"/>
+                                                </body>
+
+                                                <joint name="finger_joint2_0" class="finger" />
+                                                <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7" />
+                                            </body>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</worldbody>
+
+    <tendon>
+        <fixed name="split_0">
+            <joint joint="finger_joint1_0" coef="0.5"/>
+            <joint joint="finger_joint2_0" coef="0.5" />
+        </fixed>
+    </tendon>
+
+    <equality>
+        <joint joint1="finger_joint1_0" joint2="finger_joint2_0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    </equality>
+    <actuator>
+        <position class="fr3" name="fr3_joint1_0" joint="fr3_joint1_0" kp="4500" kv="450" />
+        <position class="fr3" name="fr3_joint2_0" joint="fr3_joint2_0" kp="4500" kv="450" />
+        <position class="fr3" name="fr3_joint3_0" joint="fr3_joint3_0" kp="3500" kv="350" />
+        <position class="fr3" name="fr3_joint4_0" joint="fr3_joint4_0" kp="3500" kv="350" />
+        <position class="fr3" name="fr3_joint5_0" joint="fr3_joint5_0" kp="2000" kv="200" />
+        <position class="fr3" name="fr3_joint6_0" joint="fr3_joint6_0" kp="2000" kv="200" />
+        <position class="fr3" name="fr3_joint7_0" joint="fr3_joint7_0" kp="2000" kv="200" />
+        
+        <general class="fr3" name="actuator8_0" tendon="split_0" forcerange="-100 100" ctrlrange="0 255" gainprm="0.01568627451 0 0" biasprm="0 -100 -10" />
+    </actuator>
+    <sensor>
+        <plugin name="left_tacto_pad_0" plugin="mujoco.sensor.touch_grid" objtype="site" objname="left_tacto_pad_0">
+            <config key="size" value="120 160" />
+            <config key="fov" value="60 70" />
+            <config key="gamma" value="0" />
+            <config key="nchannel" value="3" />
+        </plugin>
+        <plugin name="right_tacto_pad_0" plugin="mujoco.sensor.touch_grid" objtype="site" objname="right_tacto_pad_0">
+            <config key="size" value="120 160" />
+            <config key="fov" value="60 70" />
+            <config key="gamma" value="0" />
+            <config key="nchannel" value="3" />
+        </plugin>
+  </sensor>
+</mujoco>
diff --git a/assets/scenes/fr3_digit_simple_pick_up/fr3_common.xml b/assets/scenes/fr3_digit_simple_pick_up/fr3_common.xml
new file mode 100644
index 00000000..a2c836dd
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/fr3_common.xml
@@ -0,0 +1,138 @@
+<mujoco model="fr3">
+    <compiler angle="radian" meshdir="assets" />
+
+    <option integrator="implicitfast" impratio="20" noslip_iterations="5" cone="elliptic" />
+    <custom>
+		<numeric
+			name="tcp_offset"
+			data="0.0 0.0 0.0466"
+	    />
+    </custom>
+    <default>
+        <default class="fr3">
+            <joint armature="0.1" damping="1" />
+            <position inheritrange="1" />
+            <default class="finger">
+                <joint axis="0 -1 0" type="slide" range="0 0.04" />
+            </default>
+            <default class="visual">
+                <geom type="mesh" group="2" contype="0" conaffinity="0" />
+            </default>
+            <default class="tacto_visual">
+                <geom type="mesh" group="2" contype="0" conaffinity="0" friction="0.4" solimp="0.99 0.9999 0.000001" />
+            </default>
+            <default class="tacto_collision">
+                <geom type="mesh" group="3" mass="0" density="0" friction="0.4" solimp="0.99 0.9999 0.000001" />
+            </default>
+            <default class="collision">
+                <geom type="mesh" group="3" mass="0" density="0" />
+                <default class="fingertip_pad_collision_1">
+                    <geom type="box" size="0.0022 0.0005 0.0030875" pos="-0.009 -0.01 -0.06"/>
+                </default>
+                <default class="fingertip_pad_collision_2">
+                    <geom type="box" size="0.0022 0.0005 0.0030875" pos="-0.019 -0.01 -0.06"/>
+                </default>
+                <default class="fingertip_pad_collision_3">
+                    <geom type="box" size="0.0022 0.0005 0.0030875" pos="-0.019 -0.01 -0.068"/>
+                </default>
+                <default class="fingertip_pad_collision_4">
+                    <geom type="box" size="0.0022 0.0005 0.0030875" pos="-0.009 -0.01 -0.068"/>
+                </default>
+            </default>
+            <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4" />
+        </default>
+        <default class="d435i">
+            <material specular="0" shininess="0.25" />
+            <default class="visual_d435i">
+                <geom group="2" type="mesh" contype="0" conaffinity="0" mass="0" />
+            </default>
+            <default class="collision_d435i">
+                <geom group="3" type="mesh" mass="0" />
+            </default>
+        </default>
+
+    </default>
+
+    <asset>
+        <material name="black" rgba=".2 .2 .2 1" />
+        <material name="white" rgba="1 1 1 1" />
+        <material name="red" rgba="1 0.072272 0.039546 1" />
+        <material name="gray" rgba="0.863156 0.863156 0.863157 1" />
+        <material name="button_green" rgba="0.102241 0.571125 0.102242 1" />
+        <material name="button_red" rgba="0.520996 0.008023 0.013702 1" />
+        <material name="button_blue" rgba="0.024157 0.445201 0.737911 1" />
+
+        <mesh file="fr3_link0_0.obj" />
+        <mesh file="fr3_link0_1.obj" />
+        <mesh file="fr3_link0_2.obj" />
+        <mesh file="fr3_link0_3.obj" />
+        <mesh file="fr3_link0_4.obj" />
+        <mesh file="fr3_link0_5.obj" />
+        <mesh file="fr3_link0_6.obj" />
+        <mesh file="fr3_link1.obj" />
+        <mesh file="fr3_link2.obj" />
+        <mesh file="fr3_link3_0.obj" />
+        <mesh file="fr3_link3_1.obj" />
+        <mesh file="fr3_link4_0.obj" />
+        <mesh file="fr3_link4_1.obj" />
+        <mesh file="fr3_link5_0.obj" />
+        <mesh file="fr3_link5_1.obj" />
+        <mesh file="fr3_link5_2.obj" />
+        <mesh file="fr3_link6_0.obj" />
+        <mesh file="fr3_link6_1.obj" />
+        <mesh file="fr3_link6_2.obj" />
+        <mesh file="fr3_link6_3.obj" />
+        <mesh file="fr3_link6_4.obj" />
+        <mesh file="fr3_link6_5.obj" />
+        <mesh file="fr3_link6_6.obj" />
+        <mesh file="fr3_link6_7.obj" />
+        <mesh file="fr3_link7_0.obj" />
+        <mesh file="fr3_link7_1.obj" />
+        <mesh file="fr3_link7_2.obj" />
+        <mesh file="fr3_link7_3.obj" />
+        <mesh file="franka_hand_0.obj" />
+        <mesh file="franka_hand_1.obj" />
+        <mesh file="franka_hand_2.obj" />
+        <mesh file="franka_hand_3.obj" />
+        <mesh file="franka_hand_4.obj" />
+
+        <mesh name="fr3_link0_coll" file="fr3_link0.stl" />
+        <mesh name="fr3_link1_coll" file="fr3_link1.stl" />
+        <mesh name="fr3_link2_coll" file="fr3_link2.stl" />
+        <mesh name="fr3_link3_coll" file="fr3_link3.stl" />
+        <mesh name="fr3_link4_coll" file="fr3_link4.stl" />
+        <mesh name="fr3_link5_coll" file="fr3_link5.stl" />
+        <mesh name="fr3_link6_coll" file="fr3_link6.stl" />
+        <mesh name="fr3_link7_coll" file="fr3_link7.stl" />
+        <mesh name="franka_hand_coll" file="franka_hand.stl" />
+
+        
+        <material class="d435i" name="Black_Acrylic" rgba="0.070360 0.070360 0.070360 1" />
+        <material class="d435i" name="Cameras_Gray" rgba="0.296138 0.296138 0.296138 1" />
+        <material class="d435i" name="IR_Emitter_Lens" rgba="0.287440 0.665387 0.327778 1" />
+        <material class="d435i" name="IR_Lens" rgba="0.035601 0.035601 0.035601 1" />
+        <material class="d435i" name="IR_Rim" rgba="0.799102 0.806952 0.799103 1" />
+        <material class="d435i" name="Metal_Casing" rgba="1 1 1 1" />
+        <material class="d435i" name="RGB_Pupil" rgba="0.087140 0.002866 0.009346 1" />
+        <mesh file="d435i_0.obj" />
+        <mesh file="d435i_1.obj" />
+        <mesh file="d435i_2.obj" />
+        <mesh file="d435i_3.obj" />
+        <mesh file="d435i_4.obj" />
+        <mesh file="d435i_5.obj" />
+        <mesh file="d435i_6.obj" />
+        <mesh file="d435i_7.obj" />
+        <mesh file="d435i_8.obj" />
+        <mesh file="Panda_RealSenseD435_Camera_Mount.obj" scale="0.001 0.001 0.001" />
+
+        <mesh file="digit_finger.obj"/>
+        <mesh file="digit_finger_attachment_collision.stl"/>
+        <mesh file="digit_finger_backplate_collision.stl"/>
+        <mesh file="digit_sensor_no_backplate.obj"/>
+        <mesh file="digit_sensor_no_backplate_collision.stl"/>
+        <mesh file="digit_sensor_pad.obj"/>
+        
+        <material name="grey_material" specular="0.0" shininess="0.0" rgba="0.6471 0.6471 0.6471 1"/>
+        <material name="grey_material_tp" specular="0.0" shininess="0.0" rgba="0.6471 0.6471 0.6471 0.5"/>
+        <material name="green_material" specular="0.0" shininess="0.0" rgba="0.5137 0.7373 0.4078 1" /></asset>
+</mujoco>
\ No newline at end of file
diff --git a/assets/scenes/fr3_digit_simple_pick_up/robot.urdf b/assets/scenes/fr3_digit_simple_pick_up/robot.urdf
new file mode 100644
index 00000000..c2a869e8
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/robot.urdf
@@ -0,0 +1,276 @@
+<?xml version="1.0" ?>
+<robot name="fr3">
+  <link name="fr3_link0">
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.075 0 0.06"/>
+      <geometry>
+        <cylinder length="0.03" radius="0.09"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.06 0 0.06"/>
+      <geometry>
+        <sphere radius="0.09"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.09 0 0.06"/>
+      <geometry>
+        <sphere radius="0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fr3_link1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.1915"/>
+      <geometry>
+        <cylinder length="0.2830" radius="0.09"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.333"/>
+      <geometry>
+        <sphere radius="0.09"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.05"/>
+      <geometry>
+        <sphere radius="0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fr3_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="fr3_link0"/>
+    <child link="fr3_link1"/>
+    <axis xyz="0 0 1"/>
+ <!-- Max angles:
+    <limit effort="87" lower="-2.7437" upper="2.7437" velocity="2.62"/>
+      Restricted angles:-->
+    <limit effort="87" lower="-2.3093" upper="2.3093" velocity="2"/>
+  </joint>
+  <link name="fr3_link2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.09"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.06"/>
+      <geometry>
+        <sphere radius="0.09"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.06"/>
+      <geometry>
+        <sphere radius="0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fr3_joint2" type="revolute">
+    <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="fr3_link1"/>
+    <child link="fr3_link2"/>
+    <axis xyz="0 0 1"/>
+ <!-- Max angles:
+    <limit effort="87" lower="-1.7837" upper="1.7837" velocity="2.62"/>
+      Restricted angles:-->
+    <limit effort="87" lower="-1.5133" upper="1.5133" velocity="1"/>
+  </joint>
+  <link name="fr3_link3">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.145"/>
+      <geometry>
+        <cylinder length="0.15" radius="0.09"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.22"/>
+      <geometry>
+        <sphere radius="0.09"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.07"/>
+      <geometry>
+        <sphere radius="0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fr3_joint3" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
+    <parent link="fr3_link2"/>
+    <child link="fr3_link3"/>
+    <axis xyz="0 0 1"/>
+ <!-- Max angles:
+    <limit effort="87" lower="-2.9007" upper="2.9007" velocity="2.62"/>
+      Restricted angles:-->
+    <limit effort="87" lower="-2.4937" upper="2.4937" velocity="1.5"/>
+  </joint>
+  <link name="fr3_link4">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.09"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.06"/>
+      <geometry>
+        <sphere radius="0.09"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.06"/>
+      <geometry>
+        <sphere radius="0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fr3_joint4" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
+    <parent link="fr3_link3"/>
+    <child link="fr3_link4"/>
+    <axis xyz="0 0 1"/>
+ <!-- Max angles:
+    <limit effort="87" lower="-3.0421" upper="-0.1518" velocity="2.62"/>
+      Restricted angles:-->
+    <limit effort="87" lower="-2.7478" upper="-0.4461" velocity="1.25"/>
+  </joint>
+  <link name="fr3_link5">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.26"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.09"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.31"/>
+      <geometry>
+        <sphere radius="0.09"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.21"/>
+      <geometry>
+        <sphere radius="0.09"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.08 -0.13"/>
+      <geometry>
+        <cylinder length="0.14" radius="0.055"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.08 -0.06"/>
+      <geometry>
+        <sphere radius="0.055"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.08 -0.20"/>
+      <geometry>
+        <sphere radius="0.055"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fr3_joint5" type="revolute">
+    <origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="fr3_link4"/>
+    <child link="fr3_link5"/>
+    <axis xyz="0 0 1"/>
+ <!-- Max angles:
+    <limit effort="12" lower="-2.8065" upper="2.8065" velocity="5.26"/>
+      Restricted angles:-->
+    <limit effort="12" lower="-2.4800" upper="2.4800" velocity="3"/>
+  </joint>
+  <link name="fr3_link6">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.03"/>
+      <geometry>
+        <cylinder length="0.08" radius="0.08"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <sphere radius="0.08"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.07"/>
+      <geometry>
+        <sphere radius="0.08"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fr3_joint6" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="fr3_link5"/>
+    <child link="fr3_link6"/>
+    <axis xyz="0 0 1"/>
+ <!-- Max angles:
+    <limit effort="12" lower="0.5445" upper="4.5169" velocity="4.18"/>
+      Restricted angles:-->
+    <limit effort="12" lower="0.8521" upper="4.2094" velocity="1.5"/>
+  </joint>
+  <link name="fr3_link7">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <cylinder length="0.14" radius="0.07"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.08"/>
+      <geometry>
+        <sphere radius="0.07"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.06"/>
+      <geometry>
+        <sphere radius="0.07"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fr3_joint7" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
+    <parent link="fr3_link6"/>
+    <child link="fr3_link7"/>
+    <axis xyz="0 0 1"/>
+ <!-- Max angles:
+    <limit effort="12" lower="-3.0159" upper="3.0159" velocity="5.26"/>
+      Restricted angles:-->
+    <limit effort="12" lower="-2.6895" upper="2.6895" velocity="3"/>
+  </joint>
+  <link name="fr3_link8">
+    <collision>
+      <origin rpy="3.141592653589793 1.5707963267948966 1.5707963267948966" xyz="0.0424 0.0424 -0.0250"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.06"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0424 0.0424 -0.02"/>
+      <geometry>
+        <sphere radius="0.06"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0424 0.0424 -0.03"/>
+      <geometry>
+        <sphere radius="0.06"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fr3_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="fr3_link7"/>
+    <child link="fr3_link8"/>
+  </joint>
+</robot>
diff --git a/assets/scenes/fr3_digit_simple_pick_up/scene.xml b/assets/scenes/fr3_digit_simple_pick_up/scene.xml
new file mode 100644
index 00000000..564fe576
--- /dev/null
+++ b/assets/scenes/fr3_digit_simple_pick_up/scene.xml
@@ -0,0 +1,40 @@
+<mujoco model="simple pick up task">
+  <include file="fr3_common.xml" />
+  <include file="fr3_0.xml" />
+
+  <statistic center="0.3 0 0.4" extent="1" />
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+    <rgba haze="0.15 0.25 0.35 1" />
+    <global azimuth="120" elevation="-20" />
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+    
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0 0 0" rgb2="0 0 0" markrgb="0.8 0.8 0.8" width="300" height="300" />
+    
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0" />
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" friction="1 0.005 0.0001" />
+    <!-- <body>
+      <geom type="box" name="isocube" size="0.2 0.2 0.2" rgba="0.153 0.961 0.329 0.2" pos="0.498 0.0 0.226" contype="0" conaffinity="0" group="2"/>
+    </body> -->
+    
+    <camera name="bird_eye_cam" pos="0.271 -0.000 2.080" xyaxes="0.001 -1.000 -0.000 1.000 0.001 0.017" />
+    <camera name="openvla_view" pos="1.535 -0.406 0.757" xyaxes="0.246 0.969 0.000 -0.468 0.119 0.876" />
+    <camera name="right_side" pos="0.217 -1.738 0.583" xyaxes="1.000 -0.010 0.000 0.001 0.143 0.990"/>
+    <camera name="front" pos="2.278 -0.020 0.931" xyaxes="0.003 1.000 0.000 -0.274 0.001 0.962"/>
+    <camera name="left_side" pos="0.266 1.832 0.434" xyaxes="-1.000 -0.021 0.000 0.002 -0.092 0.996"/>
+    <camera name="side_view" pos="1.760 -1.205 0.621" xyaxes="0.681 0.733 0.000 -0.105 0.097 0.990"/>
+    
+    <body name="yellow_box_geom" pos="0.44 0.1 0.03">
+      <geom type="cylinder" size="0.025 0.01" rgba="1 1 0 1" name="yellow_box_geom" friction="1 0.3 0.1" density="50" />
+      <joint type="free" name="yellow-box-joint" />
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/assets/sensors/digit/bg_digit_240_320.jpg b/assets/sensors/digit/bg_digit_240_320.jpg
new file mode 100755
index 00000000..6aa45888
Binary files /dev/null and b/assets/sensors/digit/bg_digit_240_320.jpg differ
diff --git a/assets/sensors/digit/digit_finger.obj b/assets/sensors/digit/digit_finger.obj
new file mode 100644
index 00000000..454f8607
--- /dev/null
+++ b/assets/sensors/digit/digit_finger.obj
@@ -0,0 +1,13132 @@
+# Blender 4.5.0
+# www.blender.org
+o digit_finger
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diff --git a/assets/sensors/digit/digit_finger_attachment_collision.stl b/assets/sensors/digit/digit_finger_attachment_collision.stl
new file mode 100644
index 00000000..6baf409f
Binary files /dev/null and b/assets/sensors/digit/digit_finger_attachment_collision.stl differ
diff --git a/assets/sensors/digit/digit_finger_backplate_collision.stl b/assets/sensors/digit/digit_finger_backplate_collision.stl
new file mode 100644
index 00000000..02547576
Binary files /dev/null and b/assets/sensors/digit/digit_finger_backplate_collision.stl differ
diff --git a/assets/sensors/digit/digit_sensor_no_backplate.obj b/assets/sensors/digit/digit_sensor_no_backplate.obj
new file mode 100644
index 00000000..cb5fd790
--- /dev/null
+++ b/assets/sensors/digit/digit_sensor_no_backplate.obj
@@ -0,0 +1,16341 @@
+# Blender 4.5.0
+# www.blender.org
+o digit_sensor_hand_1_1.002
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diff --git a/assets/sensors/digit/digit_sensor_no_backplate_collision.stl b/assets/sensors/digit/digit_sensor_no_backplate_collision.stl
new file mode 100644
index 00000000..f164cede
Binary files /dev/null and b/assets/sensors/digit/digit_sensor_no_backplate_collision.stl differ
diff --git a/assets/sensors/digit/digit_sensor_pad.obj b/assets/sensors/digit/digit_sensor_pad.obj
new file mode 100644
index 00000000..34ba7777
--- /dev/null
+++ b/assets/sensors/digit/digit_sensor_pad.obj
@@ -0,0 +1,4431 @@
+# Blender 4.5.0
+# www.blender.org
+o digit_sensor_hand_1_1.001
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diff --git a/examples/fr3/grasp_digit_demo.py b/examples/fr3/grasp_digit_demo.py
new file mode 100644
index 00000000..6ba56115
--- /dev/null
+++ b/examples/fr3/grasp_digit_demo.py
@@ -0,0 +1,97 @@
+import logging
+from typing import Any, cast
+
+import gymnasium as gym
+import mujoco
+import numpy as np
+from rcs._core.common import Pose
+from rcs.envs.base import GripperWrapper, RobotEnv
+from rcs_tacto.creators import FR3TactoSimplePickUpSimEnvCreator
+from tqdm import tqdm
+
+logger = logging.getLogger(__name__)
+logger.setLevel(logging.INFO)
+
+
+class PickUpDemo:
+    def __init__(self, env: gym.Env):
+        self.env = env
+        self.unwrapped: RobotEnv = cast(RobotEnv, self.env.unwrapped)
+        self.home_pose = self.unwrapped.robot.get_cartesian_position()
+
+    def _action(self, pose: Pose, gripper: float) -> dict[str, Any]:
+        return {"xyzrpy": pose.xyzrpy(), "gripper": gripper}
+
+    def get_object_pose(self, geom_name) -> Pose:
+        model = self.env.get_wrapper_attr("sim").model
+        data = self.env.get_wrapper_attr("sim").data
+
+        geom_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_GEOM, geom_name)
+        obj_pose_world_coordinates = Pose(
+            translation=data.geom_xpos[geom_id], rotation=data.geom_xmat[geom_id].reshape(3, 3)
+        )
+        return self.unwrapped.robot.to_pose_in_robot_coordinates(obj_pose_world_coordinates)
+
+    def generate_waypoints(self, start_pose: Pose, end_pose: Pose, num_waypoints: int) -> list[Pose]:
+        waypoints = []
+        for i in range(num_waypoints + 1):
+            t = i / (num_waypoints)
+            waypoints.append(start_pose.interpolate(end_pose, t))
+        return waypoints
+
+    def step(self, action: dict) -> dict:
+        return self.env.step(action)[0]
+
+    def plan_linear_motion(self, geom_name: str, delta_up: float, num_waypoints: int = 200) -> list[Pose]:
+        end_eff_pose = self.unwrapped.robot.get_cartesian_position()
+        goal_pose = self.get_object_pose(geom_name=geom_name)
+        goal_pose *= Pose(translation=np.array([0, 0, delta_up]), quaternion=np.array([1, 0, 0, 0]))  # type: ignore
+        return self.generate_waypoints(end_eff_pose, goal_pose, num_waypoints=num_waypoints)
+
+    def execute_motion(self, waypoints: list[Pose], gripper: float = GripperWrapper.BINARY_GRIPPER_OPEN) -> dict:
+        for i in range(len(waypoints)):
+            obs = self.step(self._action(waypoints[i], gripper))
+        return obs
+
+    def approach(self, geom_name: str):
+        waypoints = self.plan_linear_motion(geom_name=geom_name, delta_up=0.2, num_waypoints=5)
+        self.execute_motion(waypoints=waypoints, gripper=GripperWrapper.BINARY_GRIPPER_OPEN)
+
+    def grasp(self, geom_name: str):
+
+        waypoints = self.plan_linear_motion(geom_name=geom_name, delta_up=-0.01, num_waypoints=15)
+        self.execute_motion(waypoints=waypoints, gripper=GripperWrapper.BINARY_GRIPPER_OPEN)
+
+        self.step(self._action(Pose(), GripperWrapper.BINARY_GRIPPER_CLOSED))
+
+        waypoints = self.plan_linear_motion(geom_name=geom_name, delta_up=0.2, num_waypoints=15)
+        self.execute_motion(waypoints=waypoints, gripper=GripperWrapper.BINARY_GRIPPER_CLOSED)
+
+    def move_home(self):
+        end_eff_pose = self.unwrapped.robot.get_cartesian_position()
+        waypoints = self.generate_waypoints(end_eff_pose, self.home_pose, num_waypoints=10)
+        self.execute_motion(waypoints=waypoints, gripper=GripperWrapper.BINARY_GRIPPER_CLOSED)
+
+    def pickup(self, geom_name: str):
+        self.approach(geom_name)
+        self.grasp(geom_name)
+        self.move_home()
+
+
+def main():
+    env_fact = FR3TactoSimplePickUpSimEnvCreator()
+    env = env_fact(
+        render_mode="human",
+        delta_actions=False,
+    )
+
+    for _ in tqdm(range(100)):
+        # reset the environment
+        env.reset()
+        controller = PickUpDemo(env)
+        controller.pickup("yellow_box_geom")
+    env.close()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/extensions/rcs_tacto/README.md b/extensions/rcs_tacto/README.md
new file mode 100644
index 00000000..3951f76e
--- /dev/null
+++ b/extensions/rcs_tacto/README.md
@@ -0,0 +1,8 @@
+# TACTO integration for RCS
+This package can be installed by running `pip install -e extensions/rcs_tacto` from the RCS repository root.
+
+An example on how to create the environment is found in `{REPO_ROOT}/examples/grasp_digit_demo.py`. 
+
+Particularly, take a look at `FR3TactoSimplePickUpSimEnvCreator` to understand how Tacto is inserted into the RCS stack.
+
+Note that it is rather tricky to get the correct contact simulation settings to allow for a robust grasping of objects, so when using it, you will need to play around with the simulation settings. We recommend taking a look at the corresponding [MuJoCo documentation](https://mujoco.readthedocs.io/en/stable/computation/index.html) for more tips.
\ No newline at end of file
diff --git a/extensions/rcs_tacto/pyproject.toml b/extensions/rcs_tacto/pyproject.toml
new file mode 100644
index 00000000..595f08ff
--- /dev/null
+++ b/extensions/rcs_tacto/pyproject.toml
@@ -0,0 +1,26 @@
+[build-system]
+requires = ["setuptools"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "rcs_tacto"
+version = "0.5.0"
+description="RCS integration of tacto"
+dependencies = [
+    "rcs>=0.5.0",
+    "mujoco-tacto@git+https://github.com/utn-air/mujoco-tacto.git@main"
+]
+readme = "README.md"
+maintainers = [
+  { name = "Seongjin Bien", email = "seongjin.bien@utn.de" },
+]
+authors = [
+  { name = "Seongjin Bien", email = "seongjin.bien@utn.de" },
+]
+requires-python = ">=3.10"
+classifiers = [
+  "Development Status :: 3 - Alpha",
+  "License :: OSI Approved :: GNU Affero General Public License v3 (AGPLv3)",
+  "Programming Language :: Python :: 3",
+]
+
diff --git a/extensions/rcs_tacto/src/rcs_tacto/creators.py b/extensions/rcs_tacto/src/rcs_tacto/creators.py
new file mode 100644
index 00000000..e78581ee
--- /dev/null
+++ b/extensions/rcs_tacto/src/rcs_tacto/creators.py
@@ -0,0 +1,110 @@
+import logging
+import typing
+
+import gymnasium as gym
+import numpy as np
+from gymnasium.envs.registration import EnvCreator
+from rcs._core.common import Pose
+from rcs._core.sim import CameraType
+from rcs.camera.sim import SimCameraConfig
+from rcs.envs.base import ControlMode
+from rcs.envs.creators import SimTaskEnvCreator
+from rcs.envs.utils import default_sim_robot_cfg
+from rcs.sim import SimGripperConfig
+from rcs_tacto.tacto_wrapper import TactoSimWrapper
+
+import rcs
+
+logger = logging.getLogger(__name__)
+logger.setLevel(logging.INFO)
+
+
+class FR3TactoSimplePickUpSimEnvCreator(EnvCreator):
+    def __call__(  # type: ignore
+        self,
+        render_mode: str = "human",
+        control_mode: ControlMode = ControlMode.CARTESIAN_TRPY,
+        resolution: tuple[int, int] | None = None,
+        frame_rate: int = 0,
+        delta_actions: bool = True,
+        cam_list: tuple[str, ...] = (
+            "wrist_0",
+            "bird_eye_cam",
+            "openvla_view",
+            "right_side",
+            "front",
+            "left_side",
+            "side_view",
+        ),
+        tacto_kwargs: dict[str, typing.Any] | None = None,
+        **kwargs,
+    ) -> gym.Env:
+        if resolution is None:
+            resolution = (256, 256)
+        cameras = {
+            cam: SimCameraConfig(
+                identifier=cam,
+                type=CameraType.fixed,
+                resolution_height=resolution[1],
+                resolution_width=resolution[0],
+                frame_rate=frame_rate,
+            )
+            for cam in cam_list
+        }
+        robot_cfg = default_sim_robot_cfg(scene="fr3_digit_simple_pick_up")  # id = 0 by default
+        # TODO: Figure out why feeding it the default doesn't work.
+        #       Probably because Pinocchio freaks out over all the weird tags?
+        robot_cfg.kinematic_model_path = rcs.scenes["fr3_empty_world"].mjcf_robot
+        robot_cfg.tcp_offset = Pose(
+            translation=np.array([0.0, 0.0, 0.15]),  # type: ignore
+            rotation=np.array([[0.707, 0.707, 0], [-0.707, 0.707, 0], [0, 0, 1]]),  # type: ignore
+        )
+        gripper_cfg = SimGripperConfig()
+
+        # the digit gripper has some custom finger collisions
+        # not seen in the defaults. These need to be configured properly.
+        gripper_cfg.collision_geoms = [
+            "hand_c",
+            "d435i_collision",
+            "finger_a_left",
+            "finger_b_left",
+            "finger_c_left",
+            "finger_a_right",
+            "finger_b_right",
+            "finger_c_right",
+        ]
+        gripper_cfg.collision_geoms_fingers = [
+            "finger_a_left",
+            "finger_b_left",
+            "finger_c_left",
+            "finger_a_right",
+            "finger_b_right",
+            "finger_c_right",
+        ]
+
+        # Append the id to keep it consistent with the model
+        gripper_cfg.add_id("0")
+        random_pos_args = {"joint_name": "yellow-box-joint"}
+
+        env = SimTaskEnvCreator()(
+            robot_cfg,
+            render_mode,
+            control_mode,
+            delta_actions,
+            cameras,
+            gripper_cfg=gripper_cfg,
+            random_pos_args=random_pos_args,
+            **kwargs,
+        )
+
+        # Here, we feed some default values for the tacto wrapper
+        # that aligns with what we have in the fr3_digit_simple_pick_up
+        if tacto_kwargs is None:
+            tacto_kwargs = {}
+            tacto_kwargs["tacto_sites"] = ["left_tacto_pad_0", "right_tacto_pad_0"]
+            tacto_kwargs["tacto_geoms"] = ["yellow_box_geom"]
+            tacto_kwargs["tacto_fps"] = 60
+            tacto_kwargs["enable_depth"] = True
+            tacto_kwargs["visualize"] = True
+
+        return TactoSimWrapper(env, **tacto_kwargs)
diff --git a/extensions/rcs_tacto/src/rcs_tacto/tacto_wrapper.py b/extensions/rcs_tacto/src/rcs_tacto/tacto_wrapper.py
new file mode 100644
index 00000000..e70eb2f4
--- /dev/null
+++ b/extensions/rcs_tacto/src/rcs_tacto/tacto_wrapper.py
@@ -0,0 +1,100 @@
+import logging
+import os
+from importlib.resources import files
+from typing import Any
+
+import cv2
+import gymnasium as gym
+import hydra
+import tacto
+
+logger = logging.getLogger(__name__)
+
+
+class TactoSimWrapper(gym.Wrapper):
+    """Wrapper to use Tacto with RCS Sim."""
+
+    def __init__(
+        self,
+        env: gym.Env,
+        tacto_sites: list[str],
+        tacto_geoms: list[str],
+        tacto_meshes: dict[str, str] | None = None,
+        tacto_config: str | None = None,
+        tacto_bg: str | None = None,
+        enable_depth: bool = False,
+        tacto_fps: int = 60,
+        visualize: bool = False,
+    ):
+        """
+        Initialize Tacto sensor with the given configuration.
+        Args:
+            env (gym.Env): The environment to wrap.
+            simulation (sim.Sim): The simulation instance.
+            tacto_sites (list[str]): List of sites to mount Tacto cameras.
+            tacto_geoms (list[str]): List of mjOBJ_GEOM names to add.
+            tacto_meshes (dict[str, str] | None): Dictionary mapping geom names to mesh names.
+                                                  Needed when geom names are not the same as the mesh name in the XML.
+            tacto_config (str)=None: Absolute path to the Tacto configuration folder containing "digit.yaml".
+                                     If None, package default is used.
+            tacto_bg (str)=None: Absolute path to the background image for Tacto, ending with ".jpg".
+                                 If None, package default is used.
+            enable_depth (bool)=False: Whether to enable depth rendering.
+            tacto_fps (int)=60: Frames per second for Tacto rendering.
+            visualize (bool)=False: Whether to visualize Tacto rendering in a separate window.
+        """
+        super().__init__(env)
+        self.env = env
+        if tacto_config is None:
+            tacto_config = os.path.dirname(str(files("tacto") / "cfg" / "digit.yaml"))
+            logger.warning(f"No tacto_config provided, using default from package: {tacto_config}/digit.yaml")
+        if tacto_bg is None:
+            tacto_bg = str(files("tacto") / "assets" / "bg_digit_240_320.jpg")
+            logger.warning(f"No tacto_bg provided, using default from package: {tacto_bg}")
+        hydra.initialize_config_dir(tacto_config)
+        t_config = hydra.compose("digit.yaml")
+        self.tacto_sensor = tacto.Sensor(**t_config.tacto, background=cv2.imread(tacto_bg))
+        self.tacto_fps = tacto_fps
+        self.tacto_last_render = -1
+        self.tacto_sites = tacto_sites
+        self.tacto_geoms = tacto_geoms
+        self.tacto_meshes = tacto_meshes if tacto_meshes is not None else {}
+        self.enable_depth = enable_depth
+        self.model = self.env.get_wrapper_attr("sim").model
+        self.data = self.env.get_wrapper_attr("sim").data
+        self.initialized = False
+        self.visualize = visualize
+
+    def reset(
+        self, seed: int | None = None, options: dict[str, Any] | None = None
+    ) -> tuple[dict[str, Any], dict[str, Any]]:
+        obs, info = super().reset(seed=seed, options=options)
+        if not self.initialized:
+            # Set up Tacto sensor with the simulation
+            for site in self.tacto_sites:
+                self.tacto_sensor.add_camera_mujoco(site, self.model, self.data)
+            for geom in self.tacto_geoms:
+                if geom in self.tacto_meshes:
+                    self.tacto_sensor.add_geom_mujoco(geom, self.model, self.data, self.tacto_meshes[geom])
+                else:
+                    self.tacto_sensor.add_geom_mujoco(geom, self.model, self.data)
+            self.initialized = True
+        self.tacto_last_render = -1  # Reset last render time
+        colors, depths = self.tacto_sensor.render(self.model, self.data)
+        for site, color, depth in zip(self.tacto_sites, colors, depths, strict=False):
+            obs.setdefault("tacto", {}).setdefault(site, {}).setdefault("rgb", {})["data"] = color
+            if self.enable_depth:
+                obs.setdefault("tacto", {}).setdefault(site, {}).setdefault("depth", {})["data"] = depth
+        return obs, info
+
+    def step(self, action: dict[str, Any]):
+        obs, reward, done, truncated, info = super().step(action)
+        if self.tacto_last_render + (1 / self.tacto_fps) < self.data.time:
+            colors, depths = self.tacto_sensor.render(self.model, self.data)
+            self.tacto_sensor.updateGUI(colors, depths) if self.visualize else None
+            self.tacto_last_render = self.data.time
+            for site, color, depth in zip(self.tacto_sites, colors, depths, strict=False):
+                obs.setdefault("tacto", {}).setdefault(site, {}).setdefault("rgb", {})["data"] = color
+                if self.enable_depth:
+                    obs.setdefault("tacto", {}).setdefault(site, {}).setdefault("depth", {})["data"] = depth
+        return obs, reward, done, truncated, info
diff --git a/pyproject.toml b/pyproject.toml
index 0a3abc83..24a5b86a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -14,7 +14,7 @@ dependencies = ["websockets>=11.0",
     "absl-py~=2.1",
     "etils[epath]>=1.7.0",
     "glfw~=2.7",
-    "pyopengl",
+    "pyopengl==3.1.9",
     "pynput~=1.7.7",
     "pillow~=10.3",
     "python-dotenv==1.0.1",
diff --git a/python/rcs/__init__.py b/python/rcs/__init__.py
index 3ed420b2..83e668f9 100644
--- a/python/rcs/__init__.py
+++ b/python/rcs/__init__.py
@@ -51,6 +51,13 @@ def get_scene_urdf(scene_name: str) -> str | None:
         urdf=get_scene_urdf("fr3_simple_pick_up"),
         robot_type=common.RobotType.FR3,
     ),
+    "fr3_digit_simple_pick_up": Scene(
+        mjb=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "fr3_digit_simple_pick_up", "scene.mjb"),
+        mjcf_scene=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "fr3_digit_simple_pick_up", "scene.xml"),
+        mjcf_robot=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "fr3_digit_simple_pick_up", "fr3_0.xml"),
+        urdf=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "fr3_digit_simple_pick_up", "robot.urdf"),
+        robot_type=common.RobotType.FR3,
+    ),
     "xarm7_empty_world": Scene(
         mjb=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "xarm7_empty_world", "scene.mjb"),
         mjcf_scene=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "xarm7_empty_world", "scene.xml"),
diff --git a/python/rcs/envs/creators.py b/python/rcs/envs/creators.py
index eaf7289d..4896525d 100644
--- a/python/rcs/envs/creators.py
+++ b/python/rcs/envs/creators.py
@@ -157,14 +157,28 @@ def __call__(  # type: ignore
             _hand_cfg = None
             logger.info("Using gripper configuration.")
 
+        ## TODO: This code is messy
         random_env = RandomCubePos
+        obj_joint_name = "box_joint"
+        with_RCP = True
         if random_pos_args is not None:
             # check that all the keys are there
             required_keys = ["joint_name", "init_object_pose"]
             if not all(key in random_pos_args for key in required_keys):
                 missing_keys = [key for key in required_keys if key not in random_pos_args]
                 logger.warning(f"Missing random position arguments: {missing_keys}; Defaulting to RandomCubePos")
-            random_env = partial(RandomObjectPos, **random_pos_args)  # type: ignore
+            else:
+                logger.info(f"Initializing RandomObjectPos with joint name {random_pos_args['joint_name']}")
+                random_env = partial(RandomObjectPos, **random_pos_args)  # type: ignore
+                with_RCP = False
+
+            if "joint_name" in random_pos_args:
+                obj_joint_name = random_pos_args["joint_name"]
+
+        if with_RCP:
+            print(f"Initializing RandomCubePos with joint name {obj_joint_name}")
+            logger.warning(f"Initializing RandomCubePos with joint name {obj_joint_name}")
+            random_env = partial(RandomCubePos, cube_joint_name=obj_joint_name)  # type: ignore
 
         env_rel = SimEnvCreator()(
             control_mode=control_mode,
@@ -176,10 +190,10 @@ def __call__(  # type: ignore
             cameras=cameras,
             max_relative_movement=(0.2, np.deg2rad(45)) if delta_actions else None,
             relative_to=RelativeTo.LAST_STEP,
-            sim_wrapper=random_env,
+            sim_wrapper=random_env,  # type: ignore
         )
         if mode == "gripper":
-            env_rel = PickCubeSuccessWrapper(env_rel)
+            env_rel = PickCubeSuccessWrapper(env_rel, cube_joint_name=obj_joint_name)
 
         if render_mode == "human":
             env_rel.get_wrapper_attr("sim").open_gui()
diff --git a/python/rcs/envs/sim.py b/python/rcs/envs/sim.py
index 30360d91..565d8f90 100644
--- a/python/rcs/envs/sim.py
+++ b/python/rcs/envs/sim.py
@@ -309,12 +309,20 @@ def __init__(
         init_object_pose: rcs.common.Pose,
         include_position: bool = True,
         include_rotation: bool = False,
+        x_scale: float = 0.2,
+        y_scale: float = 0.2,
+        x_offset: float = 0.1,
+        y_offset: float = 0.1,
     ):
         super().__init__(env, simulation)
         self.joint_name = joint_name
         self.init_object_pose = init_object_pose
         self.include_position = include_position
         self.include_rotation = include_rotation
+        self.x_scale = x_scale
+        self.y_scale = y_scale
+        self.x_offset = x_offset
+        self.y_offset = y_offset
 
     def reset(
         self, seed: int | None = None, options: dict[str, Any] | None = None
@@ -332,22 +340,23 @@ def reset(
 
         pos_z = self.init_object_pose.translation()[2]
         if self.include_position:
-            pos_x = self.init_object_pose.translation()[0] + np.random.random() * 0.2 - 0.1
-            pos_y = self.init_object_pose.translation()[1] + np.random.random() * 0.2 - 0.1
+            pos_x = self.init_object_pose.translation()[0] + np.random.random() * self.x_scale + self.x_offset
+            pos_y = self.init_object_pose.translation()[1] + np.random.random() * self.y_scale + self.y_offset
         else:
             pos_x = self.init_object_pose.translation()[0]
             pos_y = self.init_object_pose.translation()[1]
 
         quat = self.init_object_pose.rotation_q()  # xyzw format
         if self.include_rotation:
+            random_z_rotation = (np.random.random() - 0.5) * (0.7071068 * 2)
             self.sim.data.joint(self.joint_name).qpos = [
                 pos_x,
                 pos_y,
                 pos_z,
-                2 * np.random.random() - quat[3],
+                quat[3] + random_z_rotation,
                 quat[0],
                 quat[1],
-                quat[2],
+                quat[2] + random_z_rotation,
             ]
         else:
             self.sim.data.joint(self.joint_name).qpos = [pos_x, pos_y, pos_z, quat[3], quat[0], quat[1], quat[2]]
@@ -358,9 +367,10 @@ def reset(
 class RandomCubePos(SimWrapper):
     """Wrapper to randomly place cube in the lab environments."""
 
-    def __init__(self, env: gym.Env, simulation: sim.Sim, include_rotation: bool = True):
+    def __init__(self, env: gym.Env, simulation: sim.Sim, include_rotation: bool = False, cube_joint_name="box_joint"):
         super().__init__(env, simulation)
         self.include_rotation = include_rotation
+        self.cube_joint_name = cube_joint_name
 
     def reset(
         self, seed: int | None = None, options: dict[str, Any] | None = None
@@ -376,9 +386,9 @@ def reset(
         pos_y = iso_cube[1] + np.random.random() * 0.2 - 0.1
 
         if self.include_rotation:
-            self.sim.data.joint("box_joint").qpos = [pos_x, pos_y, pos_z, 2 * np.random.random() - 1, 0, 0, 1]
+            self.sim.data.joint(self.cube_joint_name).qpos = [pos_x, pos_y, pos_z, 2 * np.random.random() - 1, 0, 0, 1]
         else:
-            self.sim.data.joint("box_joint").qpos = [pos_x, pos_y, pos_z, 0, 0, 0, 1]
+            self.sim.data.joint(self.cube_joint_name).qpos = [pos_x, pos_y, pos_z, 0, 0, 0, 1]
 
         return obs, info
 
@@ -388,17 +398,18 @@ class PickCubeSuccessWrapper(gym.Wrapper):
 
     EE_HOME = np.array([0.34169773, 0.00047028, 0.4309004])
 
-    def __init__(self, env):
+    def __init__(self, env, cube_joint_name="box_joint"):
         super().__init__(env)
         self.unwrapped: RobotEnv
         assert isinstance(self.unwrapped.robot, sim.SimRobot), "Robot must be a sim.SimRobot instance."
         self.sim = env.get_wrapper_attr("sim")
+        self.cube_joint_name = cube_joint_name
 
     def step(self, action: dict[str, Any]):
         obs, reward, _, truncated, info = super().step(action)
 
         success = (
-            self.sim.data.joint("box_joint").qpos[2] > 0.15 + 0.852
+            self.sim.data.joint(self.cube_joint_name).qpos[2] > 0.15 + 0.852
             and obs["gripper"] == GripperWrapper.BINARY_GRIPPER_CLOSED
         )
         info["success"] = success
@@ -406,9 +417,10 @@ def step(self, action: dict[str, Any]):
             reward = 5
         else:
             tcp_to_obj_dist = np.linalg.norm(
-                self.sim.data.joint("box_joint").qpos[:3] - self.unwrapped.robot.get_cartesian_position().translation()
+                self.sim.data.joint(self.cube_joint_name).qpos[:3]
+                - self.unwrapped.robot.get_cartesian_position().translation()
             )
-            obj_to_goal_dist = np.linalg.norm(self.sim.data.joint("box_joint").qpos[:3] - self.EE_HOME)
+            obj_to_goal_dist = np.linalg.norm(self.sim.data.joint(self.cube_joint_name).qpos[:3] - self.EE_HOME)
 
             # old reward
             # reward = -obj_to_goal_dist - tcp_to_obj_dist
diff --git a/requirements_dev.txt b/requirements_dev.txt
index 25a38953..f74222ca 100644
--- a/requirements_dev.txt
+++ b/requirements_dev.txt
@@ -2,6 +2,7 @@ ruff==0.3.2
 black==24.1.1
 isort==5.13.2
 mypy==1.10.1
+pyopengl==3.1.9
 types-requests~=2.31
 pybind11-stubgen==2.5.1
 build