diff --git a/mujoco_playground/_src/manipulation/tetheria_hand/rotate_z.py b/mujoco_playground/_src/manipulation/tetheria_hand/rotate_z.py
index a3913c6e5..a6820881b 100644
--- a/mujoco_playground/_src/manipulation/tetheria_hand/rotate_z.py
+++ b/mujoco_playground/_src/manipulation/tetheria_hand/rotate_z.py
@@ -270,29 +270,29 @@ def domain_randomize(model: mjx.Model, rng: jax.Array):
     hand_qids = mjx_env.get_qpos_ids(mj_model, consts.JOINT_NAMES)
     hand_body_names = [
         "palm",
-        "right_pinky_f_link",
-        "right_pinky_proximal_link",
-        "right_pinky_middle_link",
-        "right_pinky_distal_link",
-        "right_middle_f_link",
-        "right_middle_proximal_link",
-        "right_middle_middle_link",
-        "right_middle_distal_link",
         "right_index_f_link",
         "right_index_proximal_link",
         "right_index_middle_link",
         "right_index_distal_link",
+        "right_middle_f_link",
+        "right_middle_proximal_link",
+        "right_middle_middle_link",
+        "right_middle_distal_link",
         "right_ring_f_link",
         "right_ring_proximal_link",
         "right_ring_middle_link",
         "right_ring_distal_link",
+        "right_pinky_f_link",
+        "right_pinky_proximal_link",
+        "right_pinky_middle_link",
+        "right_pinky_distal_link",
         "right_t_link",
         "right_thumb_mcp_link",
         "right_thumb_proximal_link",
         "right_thumb_distal_link",
     ]
     hand_body_ids = np.array([mj_model.body(n).id for n in hand_body_names])
-    fingertip_geoms = ["th_tip", "if_tip", "mf_tip", "rf_tip", "pf_tip"]
+    fingertip_geoms = ["if_tip", "mf_tip", "rf_tip", "pf_tip", "th_tip"]
     fingertip_geom_ids = [mj_model.geom(g).id for g in fingertip_geoms]
 
     @jax.vmap
diff --git a/mujoco_playground/_src/manipulation/tetheria_hand/tetheria_hand_constants.py b/mujoco_playground/_src/manipulation/tetheria_hand/tetheria_hand_constants.py
index 25b31c8d2..451dcccef 100644
--- a/mujoco_playground/_src/manipulation/tetheria_hand/tetheria_hand_constants.py
+++ b/mujoco_playground/_src/manipulation/tetheria_hand/tetheria_hand_constants.py
@@ -25,32 +25,32 @@
 
 JOINT_NAMES = [
     # index
-    "right_index_mcp_flex",
     "right_index_mcp_abd",
+    "right_index_mcp_flex",
     "right_index_pip",
     "right_index_dip",
     # "if_dip",
     # middle
-    "right_middle_mcp_flex",
     "right_middle_mcp_abd",
+    "right_middle_mcp_flex",
     "right_middle_pip",
     "right_middle_dip",
     # "mf_dip",
     # ring
-    "right_ring_mcp_flex",
     "right_ring_mcp_abd",
+    "right_ring_mcp_flex",
     "right_ring_pip",
     "right_ring_dip",
     # "rf_dip",
     # pinky
-    "right_pinky_mcp_flex",
     "right_pinky_mcp_abd",
+    "right_pinky_mcp_flex",
     "right_pinky_pip",
     "right_pinky_dip",
     # "th_dip",
     # thumb
-    "right_thumb_cmc_flex",
     "right_thumb_cmc_abd",
+    "right_thumb_cmc_flex",
     "right_thumb_mcp",
     "right_thumb_ip",
     # "th_ipl",
@@ -99,32 +99,32 @@
 
 ACTUATOR_NAMES = [
     # index
-    "right_index_A_mcp_flex",
     "right_index_A_mcp_abd",
+    "right_index_A_mcp_flex",
     "right_index_A_pip",
     "right_index_A_dip",
     # "if_dip_act",
     # middle
-    "right_middle_A_mcp_flex",
     "right_middle_A_mcp_abd",
+    "right_middle_A_mcp_flex",
     "right_middle_A_pip",
     "right_middle_A_dip",
     # "mf_dip_act",
     # ring
-    "right_ring_A_mcp_flex",
     "right_ring_A_mcp_abd",
+    "right_ring_A_mcp_flex",
     "right_ring_A_pip",
     "right_ring_A_dip",
     # "rf_dip_act",
     # pinky
-    "right_pinky_A_mcp_flex",
     "right_pinky_A_mcp_abd",
+    "right_pinky_A_mcp_flex",
     "right_pinky_A_pip",
     "right_pinky_A_dip",
     # "th_dip_act",
     # thumb
+    "right_thumb_A_mcp_abd",
     "right_thumb_A_cmc_flex",
-    "right_thumb_A_cmc_abd",
     "right_thumb_A_pip",
     "right_thumb_A_dip",
     # "th_ipl_act",
@@ -133,9 +133,9 @@
 ]
 
 FINGERTIP_NAMES = [
-    "th_tip",
     "if_tip",
     "mf_tip",
     "rf_tip",
     "pf_tip",
+    "th_tip",
 ]
diff --git a/mujoco_playground/_src/manipulation/tetheria_hand/xmls/PreGen1_RightHand.xml b/mujoco_playground/_src/manipulation/tetheria_hand/xmls/PreGen1_RightHand.xml
index 7f66569af..8999a5151 100644
--- a/mujoco_playground/_src/manipulation/tetheria_hand/xmls/PreGen1_RightHand.xml
+++ b/mujoco_playground/_src/manipulation/tetheria_hand/xmls/PreGen1_RightHand.xml
@@ -105,8 +105,8 @@
         <position ctrlrange="-0.1 1.3" />
       </default>
       <default class="thumb_ipl">
-        <joint range="0 1.5708"/>
-        <position ctrlrange="-0.1 1.58" />
+        <joint range="0 1.2217"/>
+        <position ctrlrange="-0.1 1.3" />
       </default>
     </default>
 
@@ -358,32 +358,31 @@
 
   <actuator>
     <!-- <position name="rh_A_FFJ0" tendon="rh_FFJ0" class="dip" /> -->
-    <position name="right_index_A_dip" joint="right_index_dip" class="pip" />
-    <position name="right_index_A_pip" joint="right_index_pip" class="dip" />
     <position name="right_index_A_mcp_abd" joint="right_index_mcp_abd" class="mcp" />
     <position name="right_index_A_mcp_flex" joint="right_index_mcp_flex" class="rot" />
+    <position name="right_index_A_pip" joint="right_index_pip" class="dip" />
+    <position name="right_index_A_dip" joint="right_index_dip" class="pip" />
 
-    <position name="right_middle_A_dip" joint="right_middle_dip" class="pip" />
-    <position name="right_middle_A_pip" joint="right_middle_pip" class="dip" />
     <position name="right_middle_A_mcp_abd" joint="right_middle_mcp_abd" class="mcp" />
     <position name="right_middle_A_mcp_flex" joint="right_middle_mcp_flex" class="rot" />
+    <position name="right_middle_A_pip" joint="right_middle_pip" class="dip" />
+    <position name="right_middle_A_dip" joint="right_middle_dip" class="pip" />
 
-    <position name="right_ring_A_dip" joint="right_ring_dip" class="pip" />
-    <position name="right_ring_A_pip" joint="right_ring_pip" class="dip" />
     <position name="right_ring_A_mcp_abd" joint="right_ring_mcp_abd" class="mcp" />
     <position name="right_ring_A_mcp_flex" joint="right_ring_mcp_flex" class="rot" />
+    <position name="right_ring_A_pip" joint="right_ring_pip" class="dip" />
+    <position name="right_ring_A_dip" joint="right_ring_dip" class="pip" />
 
-    <position name="right_pinky_A_dip" joint="right_pinky_dip" class="pip" />
-    <position name="right_pinky_A_pip" joint="right_pinky_pip" class="dip" />
     <position name="right_pinky_A_mcp_abd" joint="right_pinky_mcp_abd" class="mcp" />
     <position name="right_pinky_A_mcp_flex" joint="right_pinky_mcp_flex" class="rot" />
+    <position name="right_pinky_A_pip" joint="right_pinky_pip" class="dip" />
+    <position name="right_pinky_A_dip" joint="right_pinky_dip" class="pip" />
 
     <!-- <position name="rh_A_TBJ0" tendon="rh_TBJ0" class="thumb_ipl" /> -->
-
-    <position name="right_thumb_A_dip" joint="right_thumb_ip" class="thumb_ipl" />
-    <position name="right_thumb_A_pip" joint="right_thumb_mcp" class="thumb_mcp" />
     <position name="right_thumb_A_mcp_abd" joint="right_thumb_cmc_abd" class="thumb_cmc" />
     <position name="right_thumb_A_cmc_flex" joint="right_thumb_cmc_flex" class="thumb_axl" />
+    <position name="right_thumb_A_pip" joint="right_thumb_mcp" class="thumb_mcp" />
+    <position name="right_thumb_A_dip" joint="right_thumb_ip" class="thumb_ipl" />
   </actuator>
 
   <!-- <equality> -->
diff --git a/mujoco_playground/_src/manipulation/tetheria_hand/xmls/scene_mjx_cube.xml b/mujoco_playground/_src/manipulation/tetheria_hand/xmls/scene_mjx_cube.xml
index 4d99658ff..78649832a 100644
--- a/mujoco_playground/_src/manipulation/tetheria_hand/xmls/scene_mjx_cube.xml
+++ b/mujoco_playground/_src/manipulation/tetheria_hand/xmls/scene_mjx_cube.xml
@@ -51,17 +51,17 @@
     <framezaxis name="cube_goal_upvector" objtype="body" objname="goal"/>
   </sensor>
   <keyframe>
-    <key name="home" qpos="0 0.8 0.8 0.8 
+    <key name="home" qpos="0 0.75 0.75 0.75 
       0 0.75 0.75 0.75 
       0 0.75 0.75 0.75 
       0 0.75 0.75 0.75 
-      0.75 0.2 0.2 0.75
+      0.75 0.2 0.6 0.6
       0.12 0.0 0.05 0.810967 -0.00262895 -0.585086 -0.000254303" ctrl="
-      0.75 0.75 0 0.75 
-      0.75 0.75 0 0.75 
-      0.75 0.75 0 0.75 
-      0.75 0.75 0 0.75
-      0.75 0.2 0.75 0.2 " mpos="0.25 0.16 0" mquat="1 0 0 0"/>
+      0 0.75 0.75 0.75 
+      0 0.75 0.75 0.75 
+      0 0.75 0.75 0.75 
+      0 0.75 0.75 0.75
+      0.75 0.2 0.6 0.6 " mpos="0.25 0.16 0" mquat="1 0 0 0"/>
   </keyframe>
   <!-- <keyframe>
     <key name="home" qpos="