diff --git a/.gitmodules b/.gitmodules
index a9822ef..7c1d312 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,4 +1,4 @@
 [submodule "assets"]
 	path = assets
 	url = https://github.com/dexsuite/dex-urdf.git
-	branch = init_dev
+	branch = main
diff --git a/assets b/assets
index 0eccff9..e5ef022 160000
--- a/assets
+++ b/assets
@@ -1 +1 @@
-Subproject commit 0eccff98d4286d3f7602400efae92e22275ed8bf
+Subproject commit e5ef022c412461e2faa23e490dd3b5af933b0a5c
diff --git a/example/position_retargeting/visualize_hand_object.py b/example/position_retargeting/visualize_hand_object.py
index d8ebba9..464a249 100644
--- a/example/position_retargeting/visualize_hand_object.py
+++ b/example/position_retargeting/visualize_hand_object.py
@@ -29,7 +29,7 @@ def viz_hand_object(robots: Optional[Tuple[RobotName]], data_root: Path, fps: in
 def main(dexycb_dir: str, robots: Optional[List[RobotName]] = None, fps: int = 5):
     print(robots)
     data_root = Path(dexycb_dir).absolute()
-    robot_dir = Path(__file__).parent.parent.parent / "assets" / "robots"
+    robot_dir = Path(__file__).absolute().parent.parent.parent / "assets" / "robots" / "hands"
     RetargetingConfig.set_default_urdf_dir(robot_dir)
     if not data_root.exists():
         raise ValueError(f"Path to DexYCB dir: {data_root} does not exist.")
diff --git a/example/vector_retargeting/detect_from_video.py b/example/vector_retargeting/detect_from_video.py
index f7c81ab..f614402 100644
--- a/example/vector_retargeting/detect_from_video.py
+++ b/example/vector_retargeting/detect_from_video.py
@@ -76,7 +76,7 @@ def main(
     """
 
     config_path = get_default_config_path(robot_name, retargeting_type, hand_type)
-    robot_dir = Path(__file__).parent.parent.parent / "assets" / "robots"
+    robot_dir = Path(__file__).absolute().parent.parent.parent / "assets" / "robots" / "hands"
     RetargetingConfig.set_default_urdf_dir(str(robot_dir))
     retargeting = RetargetingConfig.load_from_file(config_path).build()
     retarget_video(retargeting, video_path, output_path, str(config_path))
diff --git a/example/vector_retargeting/render_robot_hand.py b/example/vector_retargeting/render_robot_hand.py
index 048e20b..e065f3f 100644
--- a/example/vector_retargeting/render_robot_hand.py
+++ b/example/vector_retargeting/render_robot_hand.py
@@ -124,7 +124,7 @@ def main(
             By default, it is set to None, implying no video will be saved.
         headless: Set to visualize the rendering on the screen by opening the viewer window.
     """
-    robot_dir = Path(__file__).parent.parent.parent / "assets" / "robots"
+    robot_dir = Path(__file__).absolute().parent.parent.parent / "assets" / "robots" / "hands"
     RetargetingConfig.set_default_urdf_dir(str(robot_dir))
     supported_renderer = ["sapien", "sim_web_visualizer", "trimesh"]
 
diff --git a/tests/test_retargeting_config.py b/tests/test_retargeting_config.py
index 8cc8f51..f8bf2ca 100644
--- a/tests/test_retargeting_config.py
+++ b/tests/test_retargeting_config.py
@@ -26,7 +26,7 @@
 
 class TestRetargetingConfig:
     config_dir = Path(__file__).parent.parent / "dex_retargeting" / "configs"
-    robot_dir = Path(__file__).parent.parent / "assets" / "robots"
+    robot_dir = Path(__file__).parent.parent / "assets" / "robots" / "hands"
     RetargetingConfig.set_default_urdf_dir(str(robot_dir.absolute()))
 
     config_paths = (
diff --git a/tests/test_sapien_optimizer.py b/tests/test_sapien_optimizer.py
index b1dafd7..c59e7b7 100644
--- a/tests/test_sapien_optimizer.py
+++ b/tests/test_sapien_optimizer.py
@@ -13,7 +13,7 @@
 class TestSapienOptimizer:
     np.set_printoptions(precision=4)
     config_dir = Path(__file__).parent.parent / "dex_retargeting" / "configs"
-    robot_dir = Path(__file__).parent.parent / "assets" / "robots"
+    robot_dir = Path(__file__).parent.parent / "assets" / "robots" / "hands"
     RetargetingConfig.set_default_urdf_dir(str(robot_dir.absolute()))
 
     @staticmethod