diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 64ebf3c..51ecaea 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -26,6 +26,7 @@ jobs:
         run: |
           git submodule update --init
           python -m pip install --upgrade pip
+          pip install torch --index-url https://download.pytorch.org/whl/cpu
           pip install --upgrade -e .[dev]
       - name: Run Black
         run: |
diff --git a/assets b/assets
index d1eaa79..80fad41 160000
--- a/assets
+++ b/assets
@@ -1 +1 @@
-Subproject commit d1eaa79003150bdb4cbfa0368574ee0c9c43cd5d
+Subproject commit 80fad41cad75fb3bfed5504a14efc29fa6f83688
diff --git a/dex_retargeting/configs/teleop/schunk_svh_hand_left.yml b/dex_retargeting/configs/teleop/schunk_svh_hand_left.yml
index d056aed..14fe149 100644
--- a/dex_retargeting/configs/teleop/schunk_svh_hand_left.yml
+++ b/dex_retargeting/configs/teleop/schunk_svh_hand_left.yml
@@ -1,14 +1,14 @@
 retargeting:
   type: vector
   urdf_path: schunk_hand/schunk_svh_hand_left.urdf
-  wrist_link_name: "right_hand_base_link"
+  wrist_link_name: "left_hand_base_link"
 
   # Target refers to the retargeting target, which is the robot hand
-  target_joint_names: [ 'right_hand_Thumb_Opposition', 'right_hand_Thumb_Flexion', 'right_hand_Index_Finger_Proximal',
-                        'right_hand_Index_Finger_Distal', 'right_hand_Finger_Spread', 'right_hand_Pinky',
-                        'right_hand_Ring_Finger', 'right_hand_Middle_Finger_Proximal', 'right_hand_Middle_Finger_Distal' ]
-  target_origin_link_names: [ "right_hand_base_link","right_hand_base_link", "right_hand_base_link", "right_hand_base_link", "right_hand_base_link", ]
-  target_task_link_names: [ "right_hand_c", "right_hand_t", "right_hand_s", "right_hand_r", "right_hand_q" ]
+  target_joint_names: [ 'left_hand_Thumb_Opposition', 'left_hand_Thumb_Flexion', 'left_hand_Index_Finger_Proximal',
+                        'left_hand_Index_Finger_Distal', 'left_hand_Finger_Spread', 'left_hand_Pinky',
+                        'left_hand_Ring_Finger', 'left_hand_Middle_Finger_Proximal', 'left_hand_Middle_Finger_Distal' ]
+  target_origin_link_names: [ "left_hand_base_link","left_hand_base_link", "left_hand_base_link", "left_hand_base_link", "left_hand_base_link", ]
+  target_task_link_names: [ "thtip", "fftip", "mftip", "rftip", "lftip" ]
   scaling_factor: 1.2
 
 
diff --git a/dex_retargeting/configs/teleop/schunk_svh_hand_left_dexpilot.yml b/dex_retargeting/configs/teleop/schunk_svh_hand_left_dexpilot.yml
index bf1de27..ca70d88 100644
--- a/dex_retargeting/configs/teleop/schunk_svh_hand_left_dexpilot.yml
+++ b/dex_retargeting/configs/teleop/schunk_svh_hand_left_dexpilot.yml
@@ -1,13 +1,13 @@
 retargeting:
   type: DexPilot
   urdf_path: schunk_hand/schunk_svh_hand_left.urdf
-  wrist_link_name: "right_hand_base_link"
+  wrist_link_name: "left_hand_base_link"
 
   # Target refers to the retargeting target, which is the robot hand
-  target_joint_names: [ 'right_hand_Thumb_Opposition', 'right_hand_Thumb_Flexion', 'right_hand_Index_Finger_Proximal',
-                        'right_hand_Index_Finger_Distal', 'right_hand_Finger_Spread', 'right_hand_Pinky',
-                        'right_hand_Ring_Finger', 'right_hand_Middle_Finger_Proximal', 'right_hand_Middle_Finger_Distal' ]
-  finger_tip_link_names: [ "right_hand_c", "right_hand_t", "right_hand_s", "right_hand_r", "right_hand_q" ]
+  target_joint_names: [ 'left_hand_Thumb_Opposition', 'left_hand_Thumb_Flexion', 'left_hand_Index_Finger_Proximal',
+                        'left_hand_Index_Finger_Distal', 'left_hand_Finger_Spread', 'left_hand_Pinky',
+                        'left_hand_Ring_Finger', 'left_hand_Middle_Finger_Proximal', 'left_hand_Middle_Finger_Distal' ]
+  finger_tip_link_names: [ "thtip", "fftip", "mftip", "rftip", "lftip" ]
   scaling_factor: 1.2
 
   # Source refers to the retargeting input, which usually corresponds to the human hand
diff --git a/dex_retargeting/configs/teleop/schunk_svh_hand_right.yml b/dex_retargeting/configs/teleop/schunk_svh_hand_right.yml
index 2e83997..fb2691e 100644
--- a/dex_retargeting/configs/teleop/schunk_svh_hand_right.yml
+++ b/dex_retargeting/configs/teleop/schunk_svh_hand_right.yml
@@ -8,7 +8,7 @@ retargeting:
                         'right_hand_Index_Finger_Distal', 'right_hand_Finger_Spread', 'right_hand_Pinky',
                         'right_hand_Ring_Finger', 'right_hand_Middle_Finger_Proximal', 'right_hand_Middle_Finger_Distal' ]
   target_origin_link_names: [ "right_hand_base_link","right_hand_base_link", "right_hand_base_link", "right_hand_base_link", "right_hand_base_link", ]
-  target_task_link_names: [ "right_hand_c", "right_hand_t", "right_hand_s", "right_hand_r", "right_hand_q" ]
+  target_task_link_names: [ "thtip", "fftip", "mftip", "rftip", "lftip" ]
   scaling_factor: 1.2
 
 
diff --git a/dex_retargeting/configs/teleop/schunk_svh_hand_right_dexpilot.yml b/dex_retargeting/configs/teleop/schunk_svh_hand_right_dexpilot.yml
index 1e23bc8..8bb47ca 100644
--- a/dex_retargeting/configs/teleop/schunk_svh_hand_right_dexpilot.yml
+++ b/dex_retargeting/configs/teleop/schunk_svh_hand_right_dexpilot.yml
@@ -7,7 +7,7 @@ retargeting:
   target_joint_names: [ 'right_hand_Thumb_Opposition', 'right_hand_Thumb_Flexion', 'right_hand_Index_Finger_Proximal',
                         'right_hand_Index_Finger_Distal', 'right_hand_Finger_Spread', 'right_hand_Pinky',
                         'right_hand_Ring_Finger', 'right_hand_Middle_Finger_Proximal', 'right_hand_Middle_Finger_Distal' ]
-  finger_tip_link_names: [ "right_hand_c", "right_hand_t", "right_hand_s", "right_hand_r", "right_hand_q" ]
+  finger_tip_link_names: [ "thtip", "fftip", "mftip", "rftip", "lftip" ]
   scaling_factor: 1.2
 
   # Source refers to the retargeting input, which usually corresponds to the human hand