PandaWithHand is Panda.Variants.ScenePandaWithTool:
    panda becomes Panda.Variants.PlxPandaDetachedTool:
        local_transform.position: {0, 0, 0}

    hand is Panda.Assets.ThreeFingerGripper

    hand_lock is Physics3D.Interactions.Lock:
        connectors: [panda.panda_link7.panda_joint8_mc, hand.connector]

    collision_group is Simulation.CollisionGroup:
        systems: [hand]
        bodies: [panda.panda_link7]

    disable_collisions is Simulation.DisableCollisionPair:
        group1: collision_group
        group2: collision_group

PandaWithHandTorqueControl is PandaWithHand:
    panda becomes Panda.Variants.PlxPandaDetachedToolTorqueControl
