Importing Mano Hand Model and DexYCB dataset in Isaac Sim for Human Robot Object Handover

Hi, I want to train Franka for human to robot object handover simulation using reinforcement learning.
How can I import Mano hand model and dexYCB dataset in Isaac sim being used in the Handoversim project?
Project page for handover-sim: https://handover-sim.github.io/
The human-robot-object handover model has been implemented in Isaac Sim in this project (Learning Human to Robot handovers through Point Clouds) but I can’t find the implementation. Can you please direct me towards it?
Project page: https://handover-sim2real.github.io/