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dexbench (#39)

HaoranG +1: Fisher-Wang - [add] franka allegro (631c4768ddc92ebe156531bd093f2e01dfc65a7d)
- [fix] allegro joint limit (5649cd9d0ec36fd7ab6f9d10b6d581dda0ec414a)
- [add] usd for dexbench (a6953a925597ec44c370f8b36c080cd354dc0706)
- [add] usd asset and robot (8dd120074256f8b58838b3094e33649f4970d011)
- [fix] kettle door usd (49d96a0f02ca1d5d4b57e2520749119d1af62776)
- [fix] hand tranlation (b9a0ab7ce0c009eaff0e86a0b08b77ea3f74eb54)
- [add] asset material (9accd67883f5072b45d884ede14a9e23b5cd03ff)
Co-authored-by: Feishi Wang <Fisher-Wang@users.noreply.huggingface.co>