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index e70c33d51f214d8b5db6587200f69b0fa6f452ef..f09edb5352056328583fc238641b66cba75afa80 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -60,4 +60,6 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.webp filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
-*.webm filter=lfs diff=lfs merge=lfs -text
\ No newline at end of file
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+    <collision>
+      <origin xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="scan.ply" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/data/train_sample/h2o1/0028/left_hand.pkl b/data/train_sample/h2o1/0028/left_hand.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3acd735c1416bf068c962c04a12718de6eda4a44
--- /dev/null
+++ b/data/train_sample/h2o1/0028/left_hand.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc030aa96938d15d3cb1f3c0b0c29a67ea4972f65d1e4b37f969603e831f27fc
+size 31541
diff --git a/data/train_sample/h2o1/0028/obj.pkl b/data/train_sample/h2o1/0028/obj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d4514dd6f14f1a1242f0103dd6dd4b287dd3d7e2
--- /dev/null
+++ b/data/train_sample/h2o1/0028/obj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d531caa66558b39cec7afaa3e6998f5896b9eceac3c2df4291cf7fcf544d7fff
+size 20231
diff --git a/data/train_sample/h2o1/0028/right_hand.pkl b/data/train_sample/h2o1/0028/right_hand.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0885fe0a5171db6d0731f417217d271d1ef82c78
--- /dev/null
+++ b/data/train_sample/h2o1/0028/right_hand.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45be99d913b9bdc6d69ff03450f772179584ddbd6a603d40afdd74769fae6391
+size 31541
diff --git a/data/train_sample/h2o1/0028/urdf/scan.ply b/data/train_sample/h2o1/0028/urdf/scan.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5c2f4b2e42b14e3dd2f112829c8b2ada692328d9
--- /dev/null
+++ b/data/train_sample/h2o1/0028/urdf/scan.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95f1e3f173e303172be2b7cb36f29e43494bddd838f57a14bebbe8bd869ac184
+size 369574
diff --git a/data/train_sample/h2o1/0028/urdf/scan.urdf b/data/train_sample/h2o1/0028/urdf/scan.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..732e103ee7bbb8fe8e0c156fee5429c70a8b39fa
--- /dev/null
+++ b/data/train_sample/h2o1/0028/urdf/scan.urdf
@@ -0,0 +1,23 @@
+
+<?xml version="1.0"?>
+<robot name="scan">
+  <material name="obj_color">
+      <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <link name="base">
+    <visual>
+      <origin xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="scan.ply" scale="1 1 1"/>
+      </geometry>
+      <material name="obj_color"/>
+    </visual>
+    <collision>
+      <origin xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="scan.ply" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/data/train_sample/h2o1/0029/left_hand.pkl b/data/train_sample/h2o1/0029/left_hand.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..31286abf9fc0d3344e7196c32e27636d81ee0d9c
--- /dev/null
+++ b/data/train_sample/h2o1/0029/left_hand.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3e341f638a40f026df6c160cb26eb372346fc1e29c699c5feb976ffa1889b42
+size 24597
diff --git a/data/train_sample/h2o1/0029/obj.pkl b/data/train_sample/h2o1/0029/obj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..69d93d454935ba2bf136190c8a1c3adafe75fd43
--- /dev/null
+++ b/data/train_sample/h2o1/0029/obj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31d7385fd5816e33a20e9ccbf7842f52d16af9f4b914c6546f9d84f5c19d038b
+size 15779
diff --git a/data/train_sample/h2o1/0029/right_hand.pkl b/data/train_sample/h2o1/0029/right_hand.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7d3a76e3fb0a32f56b7763c0db9d09e6b252074d
--- /dev/null
+++ b/data/train_sample/h2o1/0029/right_hand.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46f465b177402d758a1802f30dd713f852f9dcb8e0c6914ed755e0fe5d85e804
+size 24597
diff --git a/data/train_sample/h2o1/0029/urdf/scan.ply b/data/train_sample/h2o1/0029/urdf/scan.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2096b66814bc83b46814ddde258ea003c8dfe82b
--- /dev/null
+++ b/data/train_sample/h2o1/0029/urdf/scan.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc67304a80947d256e60bf6a8a5138283ce92eadbeae82a439eeb528162e1058
+size 411387
diff --git a/data/train_sample/h2o1/0029/urdf/scan.urdf b/data/train_sample/h2o1/0029/urdf/scan.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..732e103ee7bbb8fe8e0c156fee5429c70a8b39fa
--- /dev/null
+++ b/data/train_sample/h2o1/0029/urdf/scan.urdf
@@ -0,0 +1,23 @@
+
+<?xml version="1.0"?>
+<robot name="scan">
+  <material name="obj_color">
+      <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <link name="base">
+    <visual>
+      <origin xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="scan.ply" scale="1 1 1"/>
+      </geometry>
+      <material name="obj_color"/>
+    </visual>
+    <collision>
+      <origin xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="scan.ply" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/vis_demo.py b/vis_demo.py
index 5eae6709dda5d7d52810f957c3222ff5f46fe6ad..ad477891cee0cd9945df2299513b0614c18b6c14 100644
--- a/vis_demo.py
+++ b/vis_demo.py
@@ -17,13 +17,13 @@ class VisDemo:
         self.demo_list = sorted(self.demo_list)
 
         self.mano_layer_right = ManoLayer(
-            flat_hand_mean=True,
+            flat_hand_mean=True if self.dtype != "h2o1" else False
             side="right",
             center_idx=0,
             mano_assets_root="data/mano_v1_2",
         )
         self.mano_layer_left = ManoLayer(
-            flat_hand_mean=True,
+            flat_hand_mean=True if self.dtype != "h2o1" else False
             side="left",
             center_idx=0,
             mano_assets_root="data/mano_v1_2",