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How to automatically merge two 3D models into one, with specific distance?

Greetings,

I want to automatically merge two 3D models. Inputs are two models and distance(ex. 3cm or 0cm).
For example, model X is man with right hand streched out, model Y is man with left hand streched out and distance is 0cm.
Output is model with X+Y merged - two people shaking hands.

is there anyway to do this with some software, or new one must be created? This is just short description, this will need a lot more functionality, but it must start from somewhere.

I am developer but I am not familiar with modelling at all, so it is hard for me to know if thing I am trying to make already exists.

Thank you in advance.

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