Add R1 Pro robot model

.gitattributes

@@ -33,3 +33,40 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
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+urdf/r1_pro/meshes/camera_head_left_link.stl filter=lfs diff=lfs merge=lfs -text
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urdf/r1_pro/README.md

@@ -0,0 +1,37 @@
+# R1 Pro Model
+
+This self-contained R1 Pro model is vendored from the following pinned sources:
+
+- ROS URDF: https://github.com/userguide-galaxea/URDF.git, branch `main`,
+  commit `2e5d31e1784481a34d178006c0d0e18e0a84a82a`
+- MuJoCo Robot Zoo: git@gitlab.bj.sensetime.com:robotics/robot-zoo.git,
+  branch `main`, commit `818bf4ddac7b39df183ce694cf45bbde8646519a`
+
+The runtime URDF came from
+`R1Pro/urdf_r1pro_g1z_2026/urdf/r1pro_2026.urdf`.  Its mesh references were
+rewritten from the upstream package URI and uppercase STL filenames to
+`package://ace_description/urdf/r1_pro/meshes/<lowercase>.stl`.  The 43 mesh
+files are copied once from that upstream package and normalized to lowercase
+`.stl` filenames.  The modular MJCF descriptors come from
+`mobile/galaxyR1/mjcf`; both root descriptors use `meshdir="../meshes"`, so
+the upstream-style bare mesh filenames resolve to the same repository-owned
+copy. Mink loads the fixed-base descriptor, while the
+standalone simulator loads `scene/scene.xml` with the upstream floating-base
+contract. The scene exposes the three upstream chassis velocity actuators
+`vx`, `vy`, and `vyaw`; `galaxyR1_pinocchio.xml` is retained alongside the
+other upstream descriptors.
+
+The updated fixed-base MJCF has 28 joint positions and 20 actuators. Its six
+base joints are passive, its torso and arm joints use position actuators, and
+its four gripper finger slides are paired behind two gripper actuators. This
+teleoperation profile freezes the base and MJCF finger joints and continues to
+publish only the existing 18 torso-and-arm hardware targets. The vendored URDF
+retains the source package's zero-range G1Z finger joints for visualization.
+
+## License Status
+
+The upstream ROS package declares `BSD` in `package.xml` but contains no BSD
+license text. Robot Zoo marks `mobile/galaxyR1` as `VERIFY` and states that its
+root Apache-2.0 license does not cover upstream vendor descriptions or meshes.
+Verify redistribution rights before publishing these assets outside the
+authorized repository.

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urdf/r1_pro/mjcf/galaxyR1_actuators.xml

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+<mujoco model="galaxyR1_actuators">
+  <equality>
+    <joint joint1="left_gripper_finger1_joint" joint2="left_gripper_finger2_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+    <joint joint1="right_gripper_finger1_joint" joint2="right_gripper_finger2_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+  </equality>
+  <actuator>
+    <position name="torso_joint1" joint="torso_joint1" kp="10000" dampratio="0.8" ctrllimited="true" ctrlrange="-1.2735467075 1.8125467075" forcelimited="true" forcerange="-100 100"/>
+    <position name="torso_joint2" joint="torso_joint2" kp="10000" dampratio="0.8" ctrllimited="true" ctrlrange="-2.6703467075 2.6825467075" forcelimited="true" forcerange="-100 100"/>
+    <position name="torso_joint3" joint="torso_joint3" kp="10000" dampratio="0.8" ctrllimited="true" ctrlrange="-1.7095467075 1.5358467075" forcelimited="true" forcerange="-100 100"/>
+    <position name="torso_joint4" joint="torso_joint4" kp="10000" dampratio="0.8" ctrllimited="true" ctrlrange="-3.0193934150 3.0193934150" forcelimited="true" forcerange="-100 100"/>
+    <position name="left_arm_joint1" joint="left_arm_joint1" kp="600" dampratio="0.8" ctrllimited="true" ctrlrange="-4.4156934150 1.2740934150" forcelimited="true" forcerange="-55 55"/>
+    <position name="left_arm_joint2" joint="left_arm_joint2" kp="600" dampratio="0.8" ctrllimited="true" ctrlrange="-0.1395934150 3.1066934150" forcelimited="true" forcerange="-55 55"/>
+    <position name="left_arm_joint3" joint="left_arm_joint3" kp="400" dampratio="0.8" ctrllimited="true" ctrlrange="-2.3212894150 2.3212894150" forcelimited="true" forcerange="-25 25"/>
+    <position name="left_arm_joint4" joint="left_arm_joint4" kp="400" dampratio="0.8" ctrllimited="true" ctrlrange="-2.0594934150 0.3141934150" forcelimited="true" forcerange="-25 25"/>
+    <position name="left_arm_joint5" joint="left_arm_joint5" kp="400" dampratio="0.8" ctrllimited="true" ctrlrange="-2.3212894150 2.3212894150" forcelimited="true" forcerange="-18 18"/>
+    <position name="left_arm_joint6" joint="left_arm_joint6" kp="200" dampratio="0.8" ctrllimited="true" ctrlrange="-1.0122914150 1.0122914150" forcelimited="true" forcerange="-18 18"/>
+    <position name="left_arm_joint7" joint="left_arm_joint7" kp="200" dampratio="0.8" ctrllimited="true" ctrlrange="-1.5358934150 1.5358934150" forcelimited="true" forcerange="-18 18"/>
+    <general name="left_gripper" joint="left_gripper_finger1_joint" ctrllimited="true" ctrlrange="0 1" forcelimited="true" forcerange="-100 100" gainprm="50 0 0" biasprm="0 -1000 -100" biastype="affine"/>
+    <position name="right_arm_joint1" joint="right_arm_joint1" kp="600" dampratio="0.8" ctrllimited="true" ctrlrange="-4.4156934150 1.2740934150" forcelimited="true" forcerange="-55 55"/>
+    <position name="right_arm_joint2" joint="right_arm_joint2" kp="600" dampratio="0.8" ctrllimited="true" ctrlrange="-3.1066934150 0.1395934150" forcelimited="true" forcerange="-55 55"/>
+    <position name="right_arm_joint3" joint="right_arm_joint3" kp="400" dampratio="0.8" ctrllimited="true" ctrlrange="-2.3212894150 2.3212894150" forcelimited="true" forcerange="-25 25"/>
+    <position name="right_arm_joint4" joint="right_arm_joint4" kp="400" dampratio="0.8" ctrllimited="true" ctrlrange="-2.0594934150 0.3141934150" forcelimited="true" forcerange="-25 25"/>
+    <position name="right_arm_joint5" joint="right_arm_joint5" kp="400" dampratio="0.8" ctrllimited="true" ctrlrange="-2.3212894150 2.3212894150" forcelimited="true" forcerange="-18 18"/>
+    <position name="right_arm_joint6" joint="right_arm_joint6" kp="200" dampratio="0.8" ctrllimited="true" ctrlrange="-1.0122914150 1.0122914150" forcelimited="true" forcerange="-18 18"/>
+    <position name="right_arm_joint7" joint="right_arm_joint7" kp="200" dampratio="0.8" ctrllimited="true" ctrlrange="-1.5358934150 1.5358934150" forcelimited="true" forcerange="-18 18"/>
+    <general name="right_gripper" joint="right_gripper_finger1_joint" ctrllimited="true" ctrlrange="0 1" forcelimited="true" forcerange="-100 100" gainprm="50 0 0" biasprm="0 -1000 -100" biastype="affine"/>
+  </actuator>
+</mujoco>

urdf/r1_pro/mjcf/galaxyR1_assets.xml

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+<mujoco model="galaxyR1_assets">
+  <asset>
+    <material name="default_material" rgba="0.75 0.75 0.75 1"/>
+    <material name="collision_material" rgba="0 0.4 0.8 0.3"/>
+    <mesh name="base_link" file="base_link.stl"/>
+    <mesh name="steer_motor_link1" file="steer_motor_link1.stl"/>
+    <mesh name="wheel_motor_link1" file="wheel_motor_link1.stl"/>
+    <mesh name="steer_motor_link2" file="steer_motor_link2.stl"/>
+    <mesh name="wheel_motor_link2" file="wheel_motor_link2.stl"/>
+    <mesh name="steer_motor_link3" file="steer_motor_link3.stl"/>
+    <mesh name="wheel_motor_link3" file="wheel_motor_link3.stl"/>
+    <mesh name="lidar_chassis_left_link" file="lidar_chassis_left_link.stl"/>
+    <mesh name="imu_chassis_link" file="imu_chassis_link.stl"/>
+    <mesh name="torso_link1" file="torso_link1.stl"/>
+    <mesh name="torso_link2" file="torso_link2.stl"/>
+    <mesh name="torso_link3" file="torso_link3.stl"/>
+    <mesh name="torso_link4" file="torso_link4.stl"/>
+    <mesh name="imu_torso_link" file="imu_torso_link.stl"/>
+    <mesh name="head_link" file="head_link.stl"/>
+    <mesh name="camera_head_left_link" file="camera_head_left_link.stl"/>
+    <mesh name="camera_head_right_link" file="camera_head_right_link.stl"/>
+    <mesh name="left_arm_base_link" file="left_arm_base_link.stl"/>
+    <mesh name="left_arm_link1" file="left_arm_link1.stl"/>
+    <mesh name="left_arm_link2" file="left_arm_link2.stl"/>
+    <mesh name="left_arm_link3" file="left_arm_link3.stl"/>
+    <mesh name="left_arm_link4" file="left_arm_link4.stl"/>
+    <mesh name="left_arm_link5" file="left_arm_link5.stl"/>
+    <mesh name="left_arm_link6" file="left_arm_link6.stl"/>
+    <mesh name="left_arm_link7" file="left_arm_link7.stl"/>
+    <mesh name="left_gripper_link" file="left_gripper_link.stl"/>
+    <mesh name="left_gmsl_link" file="left_gmsl_link.stl"/>
+    <mesh name="left_gripper_finger_link1" file="left_gripper_finger_link1.stl"/>
+    <mesh name="left_gripper_finger_link2" file="left_gripper_finger_link2.stl"/>
+    <mesh name="left_d405_link" file="left_d405_link.stl"/>
+    <mesh name="right_arm_base_link" file="right_arm_base_link.stl"/>
+    <mesh name="right_arm_link1" file="right_arm_link1.stl"/>
+    <mesh name="right_arm_link2" file="right_arm_link2.stl"/>
+    <mesh name="right_arm_link3" file="right_arm_link3.stl"/>
+    <mesh name="right_arm_link4" file="right_arm_link4.stl"/>
+    <mesh name="right_arm_link5" file="right_arm_link5.stl"/>
+    <mesh name="right_arm_link6" file="right_arm_link6.stl"/>
+    <mesh name="right_arm_link7" file="right_arm_link7.stl"/>
+    <mesh name="right_d405_link" file="right_d405_link.stl"/>
+    <mesh name="right_gmsl_link" file="right_gmsl_link.stl"/>
+    <mesh name="right_gripper_finger_link1" file="right_gripper_finger_link1.stl"/>
+    <mesh name="right_gripper_finger_link2" file="right_gripper_finger_link2.stl"/>
+    <mesh name="right_gripper_link" file="right_gripper_link.stl"/>
+  </asset>
+</mujoco>

urdf/r1_pro/mjcf/galaxyR1_contacts.xml

@@ -0,0 +1,51 @@
+<mujoco model="galaxyR1_contacts">
+  <contact>
+    <exclude body1="base_link" body2="steer_motor_link1"/>
+    <exclude body1="base_link" body2="wheel_motor_link1"/>
+    <exclude body1="steer_motor_link1" body2="wheel_motor_link1"/>
+    <exclude body1="base_link" body2="steer_motor_link2"/>
+    <exclude body1="base_link" body2="wheel_motor_link2"/>
+    <exclude body1="steer_motor_link2" body2="wheel_motor_link2"/>
+    <exclude body1="base_link" body2="steer_motor_link3"/>
+    <exclude body1="base_link" body2="wheel_motor_link3"/>
+    <exclude body1="steer_motor_link3" body2="wheel_motor_link3"/>
+    <exclude body1="base_link" body2="lidar_chassis_left_link"/>
+    <exclude body1="base_link" body2="imu_chassis_link"/>
+    <exclude body1="base_link" body2="torso_link1"/>
+    <exclude body1="torso_link1" body2="torso_link2"/>
+    <exclude body1="torso_link2" body2="torso_link3"/>
+    <exclude body1="torso_link3" body2="torso_link4"/>
+    <exclude body1="torso_link4" body2="imu_torso_link"/>
+    <exclude body1="torso_link4" body2="head_link"/>
+    <exclude body1="head_link" body2="camera_head_left_link"/>
+    <exclude body1="head_link" body2="camera_head_right_link"/>
+    <exclude body1="torso_link4" body2="left_arm_base_link"/>
+    <exclude body1="left_arm_base_link" body2="left_arm_link1"/>
+    <exclude body1="left_arm_link1" body2="left_arm_link2"/>
+    <exclude body1="left_arm_link2" body2="left_arm_link3"/>
+    <exclude body1="left_arm_link3" body2="left_arm_link4"/>
+    <exclude body1="left_arm_link4" body2="left_arm_link5"/>
+    <exclude body1="left_arm_link5" body2="left_arm_link6"/>
+    <exclude body1="left_arm_link6" body2="left_arm_link7"/>
+    <exclude body1="left_arm_link7" body2="left_gripper_link"/>
+    <exclude body1="left_gripper_link" body2="left_gmsl_link"/>
+    <exclude body1="left_gripper_link" body2="left_gripper_finger_link1"/>
+    <exclude body1="left_gripper_link" body2="left_gripper_finger_link2"/>
+    <exclude body1="left_gripper_finger_link1" body2="left_gripper_finger_link2"/>
+    <exclude body1="left_gripper_link" body2="left_d405_link"/>
+    <exclude body1="torso_link4" body2="right_arm_base_link"/>
+    <exclude body1="right_arm_base_link" body2="right_arm_link1"/>
+    <exclude body1="right_arm_link1" body2="right_arm_link2"/>
+    <exclude body1="right_arm_link2" body2="right_arm_link3"/>
+    <exclude body1="right_arm_link3" body2="right_arm_link4"/>
+    <exclude body1="right_arm_link4" body2="right_arm_link5"/>
+    <exclude body1="right_arm_link5" body2="right_arm_link6"/>
+    <exclude body1="right_arm_link6" body2="right_arm_link7"/>
+    <exclude body1="right_arm_link7" body2="right_gripper_link"/>
+    <exclude body1="right_gripper_link" body2="right_gmsl_link"/>
+    <exclude body1="right_gripper_link" body2="right_gripper_finger_link1"/>
+    <exclude body1="right_gripper_link" body2="right_gripper_finger_link2"/>
+    <exclude body1="right_gripper_finger_link1" body2="right_gripper_finger_link2"/>
+    <exclude body1="right_gripper_link" body2="right_d405_link"/>
+  </contact>
+</mujoco>

urdf/r1_pro/mjcf/galaxyR1_defaults.xml

@@ -0,0 +1,15 @@
+<mujoco model="galaxyR1_defaults">
+  <default>
+    <default class="galaxyR1">
+      <joint armature="0.01" damping="0.1"/>
+      <motor ctrlrange="-200 200"/>
+      <default class="visual">
+        <geom material="default_material" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom condim="3" contype="1" conaffinity="1" friction="1 0.01 0.001" group="3"/>
+      </default>
+      <site size="0.01" rgba="1 0 0 1" group="4"/>
+    </default>
+  </default>
+</mujoco>

urdf/r1_pro/mjcf/galaxyR1_links.xml

@@ -0,0 +1,251 @@
+<mujoco model="galaxyR1_links">
+  <body name="base_link" pos="0 0 0" childclass="galaxyR1">
+    <inertial pos="-0.049262 -8.8054e-05 0.18255" mass="47.63" fullinertia="1.5812 1.4648 2.835 -1.0625E-05 0.053601 5.7054E-06"/>
+    <geom class="visual" mesh="base_link" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+    <geom class="collision" mesh="base_link" type="mesh"/>
+    <body name="steer_motor_link1" pos="0.16897 0.28 0.16415">
+      <inertial pos="5.31952e-05 -0.00624267 -0.0555396" mass="1.5" fullinertia="0.000212162349149489 0.000316954731393744 0.000162145991172289 -2.97520144470236E-07 -4.42683116038741E-08 1.69403784664349E-06"/>
+      <joint name="steer_motor_joint1" axis="0 0 1" actuatorfrcrange="-50 50" range="-3.1416 3.1416"/>
+      <geom class="visual" mesh="steer_motor_link1" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+      <geom class="collision" mesh="steer_motor_link1" type="mesh"/>
+      <body name="wheel_motor_link1" pos="0 0 -0.09415">
+        <inertial pos="-4.31648e-10 -0.00307552 -4.57242e-09" mass="1.5" fullinertia="0.000710603853748414 0.00127839921881604 0.000710603853749644 7.85189820792754E-11 1.11318268524093E-16 8.41061935635787E-10"/>
+        <joint name="wheel_motor_joint1" axis="0 1 0"/>
+        <geom class="visual" mesh="wheel_motor_link1" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+        <geom class="collision" mesh="wheel_motor_link1" type="mesh" priority="1" friction="0.01 0.005 0.0001"/>
+      </body>
+    </body>
+    <body name="steer_motor_link2" pos="0.16897 -0.28 0.16415">
+      <inertial pos="5.31952e-05 -0.00624267 -0.0555396" mass="1.5" fullinertia="0.00021216234914949 0.000316954731393744 0.000162145991172289 -2.97520144470226E-07 -4.42683116038049E-08 1.69403784664346E-06"/>
+      <joint name="steer_motor_joint2" axis="0 0 1" actuatorfrcrange="-50 50" range="-3.1416 3.1416"/>
+      <geom class="visual" mesh="steer_motor_link2" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+      <geom class="collision" mesh="steer_motor_link2" type="mesh"/>
+      <body name="wheel_motor_link2" pos="0 0 -0.09415">
+        <inertial pos="-1.46751e-11 0 -3.29134e-11" mass="1.5" fullinertia="0.000454213979130143 0.000833150371731175 0.000454213979130967 5.24020921496857E-11 7.75819367993004E-17 5.61309532097866E-10"/>
+        <joint name="wheel_motor_joint2" axis="0 1 0"/>
+        <geom class="visual" mesh="wheel_motor_link2" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+        <geom class="collision" mesh="wheel_motor_link2" type="mesh" priority="1" friction="0.01 0.005 0.0001"/>
+      </body>
+    </body>
+    <body name="steer_motor_link3" pos="-0.32703 0 0.16415">
+      <inertial pos="-5.31952e-05 0.00624284 -0.0555396" mass="1.5" fullinertia="0.000212162349149397 0.000316954741430712 0.000162145981135063 -2.97520275092032E-07 4.42674300884034E-08 -1.69357916386513E-06"/>
+      <joint name="steer_motor_joint3" axis="0 0 1" actuatorfrcrange="-50 50" range="-3.1416 3.1416"/>
+      <geom class="visual" mesh="steer_motor_link3" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+      <geom class="collision" mesh="steer_motor_link3" type="mesh"/>
+      <body name="wheel_motor_link3" pos="0 0 -0.09415">
+        <inertial pos="1.4675e-11 8.53576e-17 -3.29136e-11" mass="1.5" fullinertia="0.000454213979130143 0.000833150371731176 0.000454213979130968 5.24040985541527E-11 7.72042152127217E-17 5.6144107745668E-10"/>
+        <joint name="wheel_motor_joint3" axis="0 1 0"/>
+        <geom class="visual" mesh="wheel_motor_link3" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+        <geom class="collision" mesh="wheel_motor_link3" type="mesh" priority="1" friction="0.01 0.005 0.0001"/>
+      </body>
+    </body>
+    <body name="lidar_chassis_left_link" pos="0.15711 0.21215 0.29465">
+      <inertial pos="3.92075e-09 -2.05763e-09 0.00386838" mass="0.265" fullinertia="5.9772001346984E-06 5.97583972637199E-06 8.48663964320159E-06 9.00342621801529E-11 -2.25057605271765E-14 -3.78330752163267E-12"/>
+      <geom class="visual" mesh="lidar_chassis_left_link" type="mesh" rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      <geom class="collision" mesh="lidar_chassis_left_link" type="mesh"/>
+    </body>
+    <body name="imu_chassis_link" pos="0.003091 0.0012769 0.24824">
+      <inertial pos="-1.8922e-09 3.7565e-09 -0.0015967" mass="0.00069659" fullinertia="1.1719E-08 1.5994E-08 2.6571E-08 -5.088E-15 3.1796E-15 -1.8097E-14"/>
+      <geom class="visual" mesh="imu_chassis_link" type="mesh" rgba="1 1 1 1"/>
+      <geom class="collision" mesh="imu_chassis_link" type="mesh"/>
+      <site name="imu" pos="0 0 0"/>
+    </body>
+    <body name="torso_link1" pos="-0.079032 0 0.34865">
+      <inertial pos="0.00065636 0.0032244 0.23142" mass="5.72" fullinertia="0.10931 0.10736 0.0081222 7.7894E-06 -0.00017473 0.00013778"/>
+      <joint name="torso_joint1" axis="0 1 0" actuatorfrcrange="-100 100" range="-1.2735467075 1.8125467075"/>
+      <geom class="visual" mesh="torso_link1" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+      <geom class="collision" mesh="torso_link1" type="mesh"/>
+      <body name="torso_link2" pos="0 0 0.35">
+        <inertial pos="0.0052517 0.014411 0.15711" mass="3.5" fullinertia="0.026081 0.027574 0.0018515 -3.3436E-07 0.00024541 4.2283E-07"/>
+        <joint name="torso_joint2" axis="0 1 0" actuatorfrcrange="-100 100" range="-2.6703467075 2.6825467075"/>
+        <geom class="visual" mesh="torso_link2" type="mesh" rgba="1 0.949019607843137 0.513725490196078 1"/>
+        <geom class="collision" mesh="torso_link2" type="mesh"/>
+        <body name="torso_link3" pos="0 0 0.35">
+          <inertial pos="-9.8337e-07 -0.0055146 0.020182" mass="3.4" fullinertia="0.0016099 0.0023011 0.0017027 3.5899E-07 2.5497E-07 1.367E-05"/>
+          <joint name="torso_joint3" axis="0 -1 0" actuatorfrcrange="-100 100" range="-1.7095467075 1.5358467075"/>
+          <geom class="visual" mesh="torso_link3" type="mesh" rgba="0.8 0.8 0.8 1"/>
+          <geom class="collision" mesh="torso_link3" type="mesh"/>
+          <body name="torso_link4" pos="-0 -0.0010063 0.075322">
+            <inertial pos="0.0049601 -1.2497e-05 0.21237" mass="5" fullinertia="0.026836 0.013023 0.021541 1.3048E-05 -0.00014074 4.6641E-07"/>
+            <joint name="torso_joint4" axis="0 0 1" actuatorfrcrange="-100 100" range="-3.0193934150 3.0193934150"/>
+            <geom class="visual" mesh="torso_link4" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+            <geom class="collision" mesh="torso_link4" type="mesh"/>
+            <body name="imu_torso_link" pos="0.038399 -0.00074199 0.23026">
+              <inertial pos="0.0015967 1.8922e-09 1.3911e-09" mass="0.00069659" fullinertia="2.6571E-08 1.1719E-08 1.5994E-08 3.1796E-15 2.4286E-15 5.6795E-15"/>
+              <geom class="visual" mesh="imu_torso_link" type="mesh" rgba="1 1 1 1"/>
+              <geom class="collision" mesh="imu_torso_link" type="mesh"/>
+            </body>
+            <body name="head_link" pos="-0.00028292 0 0.40644" quat="1 0 0.00016221 0">
+              <inertial pos="-0.012763 1.3354e-06 0.056558" mass="3.3054" fullinertia="0.012187 0.010358 0.014614 4.2003E-08 0.0001377 9.4374E-08"/>
+              <geom class="visual" mesh="head_link" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+              <geom class="collision" mesh="head_link" type="mesh"/>
+              <body name="camera_head_left_link" pos="0.064821 0.059919 0.093658" quat="0.405568 -0.579235 0.579237 -0.40557">
+                <inertial pos="0.00032328 -4.8468e-10 -0.021988" mass="0.05" fullinertia="4.5446E-06 4.61E-06 3.4117E-06 2.0395E-08 1.6743E-07 -2.5102E-13"/>
+                <geom class="visual" mesh="camera_head_left_link" type="mesh" rgba="1 1 1 1"/>
+                <geom class="collision" mesh="camera_head_left_link" type="mesh"/>
+                <camera name="head_camera" pos="0 0 0" quat="0 1 0 0"/>
+              </body>
+              <body name="camera_head_right_link" pos="0.064821 -0.060276 0.093658" quat="0.405568 -0.579235 0.579237 -0.40557">
+                <inertial pos="0.00032328 -4.8468e-10 -0.021988" mass="0.05" fullinertia="4.5446E-06 4.61E-06 3.4117E-06 2.0395E-08 1.6743E-07 -2.5102E-13"/>
+                <geom class="visual" mesh="camera_head_right_link" type="mesh" rgba="1 1 1 1"/>
+                <geom class="collision" mesh="camera_head_right_link" type="mesh"/>
+              </body>
+            </body>
+            <body name="left_arm_base_link" pos="-0.00047402 0.097235 0.32738" quat="1 0 0 -0.000352205">
+              <inertial pos="0.00026981 0.034587 1.3734e-08" mass="1.48" fullinertia="0.0010298 0.0014076 0.0010201 5.2194E-06 -1.2182E-07 -3.9334E-09"/>
+              <geom class="visual" mesh="left_arm_base_link" type="mesh" rgba="0.811764705882353 0.843137254901961 0.909803921568627 1"/>
+              <geom class="collision" mesh="left_arm_base_link" type="mesh"/>
+              <body name="left_arm_link1" pos="0 0.0735 0">
+                <inertial pos="0.00042258 0.074131 7.9156e-05" mass="1.135" fullinertia="0.00061603 0.00030259 0.00047136 -1.1635E-06 -6.9725E-07 -6.2894E-07"/>
+                <joint name="left_arm_joint1" axis="0 1 0" actuatorfrcrange="-55 55" range="-4.4156934150 1.2740934150"/>
+                <geom class="visual" mesh="left_arm_link1" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                <geom class="collision" mesh="left_arm_link1" type="mesh"/>
+                <body name="left_arm_link2" pos="0.025012 0.081265 0">
+                  <inertial pos="-0.026826 -0.0040392 -0.031835" mass="0.92" fullinertia="0.00037378 0.00033872 0.00032361 -7.5909E-07 2.9042E-06 1.2166E-05"/>
+                  <joint name="left_arm_joint2" axis="1 0 0" actuatorfrcrange="-55 55" range="-0.1395934150 3.1066934150"/>
+                  <geom class="visual" mesh="left_arm_link2" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                  <geom class="collision" mesh="left_arm_link2" type="mesh"/>
+                  <body name="left_arm_link3" pos="-0.025012 0 -0.1155">
+                    <inertial pos="0.0053849 -0.00086892 -0.1126" mass="1.245" fullinertia="0.00072339 0.00073856 0.00037352 -3.3477E-06 -0.00012824 -8.3574E-06"/>
+                    <joint name="left_arm_joint3" axis="0 0 1" actuatorfrcrange="-25 25" range="-2.3212894150 2.3212894150"/>
+                    <geom class="visual" mesh="left_arm_link3" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                    <geom class="collision" mesh="left_arm_link3" type="mesh"/>
+                    <body name="left_arm_link4" pos="0 0.035065 -0.1945">
+                      <inertial pos="-0.0011018 -0.036243 -0.042164" mass="0.827" fullinertia="0.00013884 0.00019751 0.00010229 7.8394E-08 3.5926E-06 1.4227E-06"/>
+                      <joint name="left_arm_joint4" axis="0 1 0" actuatorfrcrange="-25 25" range="-2.0594934150 0.3141934150"/>
+                      <geom class="visual" mesh="left_arm_link4" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                      <geom class="collision" mesh="left_arm_link4" type="mesh"/>
+                      <body name="left_arm_link5" pos="0 -0.035065 -0.095">
+                        <inertial pos="3.7881e-07 -0.0028035 -0.062981" mass="0.939" fullinertia="0.00070496 0.00067006 0.00032998 1.4329E-08 -2.9036E-09 -5.1951E-05"/>
+                        <joint name="left_arm_joint5" axis="0 0 1" actuatorfrcrange="-18 18" range="-2.3212894150 2.3212894150"/>
+                        <geom class="visual" mesh="left_arm_link5" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                        <geom class="collision" mesh="left_arm_link5" type="mesh"/>
+                        <body name="left_arm_link6" pos="0 -0.028 -0.16305">
+                          <inertial pos="0.0017919 0.027487 0.00025471" mass="0.527" fullinertia="8.5442E-05 8.1186E-05 8.2736E-05 -1.5351E-07 8.3797E-07 -2.1972E-08"/>
+                          <joint name="left_arm_joint6" axis="0 1 0" actuatorfrcrange="-18 18" range="-1.0122914150 1.0122914150"/>
+                          <geom class="visual" mesh="left_arm_link6" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                          <geom class="collision" mesh="left_arm_link6" type="mesh"/>
+                          <body name="left_arm_link7" pos="0.0295 0.028 0">
+                            <inertial pos="-0.022945 8.4007e-07 -0.056525" mass="0.185" fullinertia="4.2564E-05 4.5515E-05 4.7946E-05 -2.1577E-09 -6.9368E-06 -1.9389E-09"/>
+                            <joint name="left_arm_joint7" axis="1 0 0" actuatorfrcrange="-18 18" range="-1.5358934150 1.5358934150"/>
+                            <geom class="visual" mesh="left_arm_link7" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                            <geom class="collision" mesh="left_arm_link7" type="mesh"/>
+                            <body name="left_gripper_link" pos="-0.0295 0 -0.1637">
+                              <inertial pos="4.05353e-05 -4.03178e-05 0.025359" mass="0.0934809943288547" fullinertia="9.24209557781847E-05 5.16704214959303E-05 0.000122569412854759 -8.98061725689484E-07 8.24766582709023E-08 -3.17272363110333E-08"/>
+                              <geom class="visual" mesh="left_gripper_link" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+                              <geom class="collision" mesh="left_gripper_link" type="mesh"/>
+                              <site name="EE_0" pos="0 0 0"/>
+                              <body name="left_gmsl_link" pos="0.06129 0 0.0082885" quat="-2.59734e-06 -0.707105 0.707108 2.59735e-06">
+                                <inertial pos="-3.53876e-06 0.00952645 -0.0193719" mass="0.0230739846089694" fullinertia="4.92288959423237E-06 4.3213638594574E-06 4.37204196127736E-06 1.6786116612382E-08 1.64117264604509E-10 1.02602423053323E-06"/>
+                                <geom class="visual" mesh="left_gmsl_link" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+                                <geom class="collision" mesh="left_gmsl_link" type="mesh"/>
+                              </body>
+                              <body name="left_gripper_finger_link1" pos="0.017997 -0.024503 0.0122">
+                                <inertial pos="-0.0148299 0.0333458 -0.0372998" mass="0.0640306062005943" fullinertia="2.55669525766253E-05 3.02434295092103E-05 1.59485358475258E-05 -9.30090861226148E-07 6.96040886913313E-08 1.11370785868741E-06"/>
+                                <joint name="left_gripper_finger1_joint" type="slide" axis="0 1 0" range="0 0.05"/>
+                                <geom class="visual" mesh="left_gripper_finger_link1" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+                                <geom class="collision" mesh="left_gripper_finger_link1" type="mesh"/>
+                              </body>
+                              <body name="left_gripper_finger_link2" pos="-0.017997 0.024503 0.0122">
+                                <inertial pos="0.0148078 -0.0334046 -0.0367975" mass="0.063607579375099" fullinertia="2.55630045231858E-05 3.02345110758392E-05 1.59432280556192E-05 -9.30108540466786E-07 -6.95175812829485E-08 -1.113541795756E-06"/>
+                                <joint name="left_gripper_finger2_joint" type="slide" axis="0 -1 0" range="0 0.05"/>
+                                <geom class="visual" mesh="left_gripper_finger_link2" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+                                <geom class="collision" mesh="left_gripper_finger_link2" type="mesh"/>
+                              </body>
+                              <body name="left_d405_link" pos="0.074676 0.009 0.022183" quat="0.241831 0.664467 -0.664469 -0.241832">
+                                <inertial pos="0.00904753 0.013691 -0.00853047" mass="0.0674054673338197" fullinertia="2.44622496510173E-05 2.02869016745121E-05 1.88161703014415E-05 4.16070671801075E-10 -1.49033897860268E-08 2.03088899511244E-06"/>
+                                <geom class="visual" mesh="left_d405_link" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+                                <geom class="collision" mesh="left_d405_link" type="mesh"/>
+                                <camera name="left_hand_camera" pos="0 0 0" quat="0 1 0 0"/>
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_arm_base_link" pos="-0.00061101 -0.097235 0.32738" quat="1 0 0 -0.000352205">
+              <inertial pos="-0.00026981 -0.034587 -3.669e-08" mass="1.48" fullinertia="0.0010298 0.0014076 0.0010201 5.2194E-06 1.2188E-07 5.1015E-09"/>
+              <geom class="visual" mesh="right_arm_base_link" type="mesh" rgba="0.811764705882353 0.843137254901961 0.909803921568627 1"/>
+              <geom class="collision" mesh="right_arm_base_link" type="mesh"/>
+              <body name="right_arm_link1" pos="0 -0.0735 0">
+                <inertial pos="-0.00042261 -0.074132 7.8365e-05" mass="1.135" fullinertia="0.00061603 0.00030259 0.00047135 -1.1635E-06 6.9785E-07 6.2359E-07"/>
+                <joint name="right_arm_joint1" axis="0 1 0" actuatorfrcrange="-55 55" range="-4.4156934150 1.2740934150"/>
+                <geom class="visual" mesh="right_arm_link1" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                <geom class="collision" mesh="right_arm_link1" type="mesh"/>
+                <body name="right_arm_link2" pos="0.023988 -0.081265 0">
+                  <inertial pos="-0.022361 0.0049527 -0.032732" mass="0.92" fullinertia="0.00038179 0.00034188 0.00032895 2.6532E-07 -3.6367E-06 -8.4407E-06"/>
+                  <joint name="right_arm_joint2" axis="1 0 0" actuatorfrcrange="-55 55" range="-3.1066934150 0.1395934150"/>
+                  <geom class="visual" mesh="right_arm_link2" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                  <geom class="collision" mesh="right_arm_link2" type="mesh"/>
+                  <body name="right_arm_link3" pos="-0.023988 0 -0.1155">
+                    <inertial pos="0.0053839 -0.00087109 -0.11261" mass="1.245" fullinertia="0.00072336 0.00073854 0.00037348 -3.3628E-06 -0.00012821 -8.3749E-06"/>
+                    <joint name="right_arm_joint3" axis="0 0 1" actuatorfrcrange="-25 25" range="-2.3212894150 2.3212894150"/>
+                    <geom class="visual" mesh="right_arm_link3" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                    <geom class="collision" mesh="right_arm_link3" type="mesh"/>
+                    <body name="right_arm_link4" pos="0 0.035058 -0.1945">
+                      <inertial pos="-0.00058877 -0.035687 -0.057422" mass="0.827" fullinertia="0.00016157 0.00022024 0.00012683 7.8184E-08 3.5925E-06 1.4211E-06"/>
+                      <joint name="right_arm_joint4" axis="0 1 0" actuatorfrcrange="-25 25" range="-2.0594934150 0.3141934150"/>
+                      <geom class="visual" mesh="right_arm_link4" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                      <geom class="collision" mesh="right_arm_link4" type="mesh"/>
+                      <body name="right_arm_link5" pos="0 -0.035058 -0.095">
+                        <inertial pos="-2.2815e-07 0.0031762 -0.07334" mass="0.63" fullinertia="0.00069134 0.00065644 0.00031157 1.4191E-08 3.837E-09 5.1952E-05"/>
+                        <joint name="right_arm_joint5" axis="0 0 1" actuatorfrcrange="-18 18" range="-2.3212894150 2.3212894150"/>
+                        <geom class="visual" mesh="right_arm_link5" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                        <geom class="collision" mesh="right_arm_link5" type="mesh"/>
+                        <body name="right_arm_link6" pos="0 0.028001 -0.16305">
+                          <inertial pos="0.0017914 -0.027486 0.00025485" mass="0.527" fullinertia="8.5442E-05 8.1185E-05 8.2736E-05 1.5357E-07 8.3693E-07 2.2221E-08"/>
+                          <joint name="right_arm_joint6" axis="0 1 0" actuatorfrcrange="-18 18" range="-1.0122914150 1.0122914150"/>
+                          <geom class="visual" mesh="right_arm_link6" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                          <geom class="collision" mesh="right_arm_link6" type="mesh"/>
+                          <body name="right_arm_link7" pos="0.0295 -0.028001 0">
+                            <inertial pos="-0.022945 2.2938e-07 -0.056523" mass="0.185" fullinertia="7.8535E-05 9.467E-05 6.1128E-05 -9.5509E-10 -2.8712E-05 9.104E-11"/>
+                            <joint name="right_arm_joint7" axis="1 0 0" actuatorfrcrange="-18 18" range="-1.5358934150 1.5358934150"/>
+                            <geom class="visual" mesh="right_arm_link7" type="mesh" rgba="0.82353 0.82353 1 1"/>
+                            <geom class="collision" mesh="right_arm_link7" type="mesh"/>
+                            <body name="right_gripper_link" pos="-0.0295 0 -0.1637">
+                              <inertial pos="-2.2589e-07 -5.2175e-08 0.031107" mass="0.24625" fullinertia="0.00016511 9.8651E-05 0.00017588 9.5318E-07 5.0942E-10 -1.8604E-10"/>
+                              <geom class="visual" mesh="left_gripper_link" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+                              <geom class="collision" mesh="left_gripper_link" type="mesh"/>
+                              <site name="EE_1" pos="0 0 0"/>
+                              <body name="right_gmsl_link" pos="0.06129 0 0.0082885" quat="-2.59734e-06 -0.707105 0.707108 2.59735e-06">
+                                <inertial pos="-3.53876e-06 0.00952645 -0.0193719" mass="0.0230739846089694" fullinertia="4.92288959423237E-06 4.3213638594574E-06 4.37204196127736E-06 1.6786116612382E-08 1.64117264604509E-10 1.02602423053323E-06"/>
+                                <geom class="visual" mesh="left_gmsl_link" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+                                <geom class="collision" mesh="left_gmsl_link" type="mesh"/>
+                              </body>
+                              <body name="right_gripper_finger_link1" pos="0.017997 -0.024503 0.0122">
+                                <inertial pos="0.0056571 -0.015027 0.01959" mass="0.027" fullinertia="6.4827E-06 5.7129E-06 2.4057E-06 7.3969E-08 -4.4977E-08 -3.9973E-07"/>
+                                <joint name="right_gripper_finger1_joint" type="slide" axis="0 1 0" range="0 0.05"/>
+                                <geom class="visual" mesh="left_gripper_finger_link1" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+                                <geom class="collision" mesh="left_gripper_finger_link1" type="mesh"/>
+                              </body>
+                              <body name="right_gripper_finger_link2" pos="-0.017997 0.024503 0.0122">
+                                <inertial pos="-0.0056573 0.015027 0.01959" mass="0.027" fullinertia="6.4827E-06 5.7129E-06 2.4057E-06 7.3965E-08 4.5014E-08 3.9974E-07"/>
+                                <joint name="right_gripper_finger2_joint" type="slide" axis="0 -1 0" range="0 0.05"/>
+                                <geom class="visual" mesh="left_gripper_finger_link2" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+                                <geom class="collision" mesh="left_gripper_finger_link2" type="mesh"/>
+                              </body>
+                              <body name="right_d405_link" pos="0.074676 0.009 0.022183" quat="0.241831 0.664467 -0.664469 -0.241832">
+                                <inertial pos="0.00904753 0.013691 -0.00853047" mass="0.0674054673338197" fullinertia="2.44622496510173E-05 2.02869016745121E-05 1.88161703014415E-05 4.16070671801075E-10 -1.49033897860268E-08 2.03088899511244E-06"/>
+                                <geom class="visual" mesh="left_d405_link" type="mesh" rgba="0.611764705882353 0.658823529411765 0.670588235294118 1"/>
+                                <geom class="collision" mesh="left_d405_link" type="mesh"/>
+                                <camera name="right_hand_camera" pos="0 0 0" quat="0 1 0 0"/>
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </body>
+</mujoco>