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diff --git a/urdf/r1_pro/README.md b/urdf/r1_pro/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..d5782a3e9878e227173e0ba29cd34f520c683683
--- /dev/null
+++ b/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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diff --git a/urdf/r1_pro/meshes/right_gripper_finger_link2.stl b/urdf/r1_pro/meshes/right_gripper_finger_link2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..7f382acf45e9387b1616cb2eae7ffc3265ddb346
--- /dev/null
+++ b/urdf/r1_pro/meshes/right_gripper_finger_link2.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0d70201e4d4b7116332500d3c8481c13bf49a43ac6485628aabe681a7de9cc3
+size 3623584
diff --git a/urdf/r1_pro/meshes/right_gripper_link.stl b/urdf/r1_pro/meshes/right_gripper_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..76d3d38cab92d3694f7dfc63d720b33efaaf7c65
--- /dev/null
+++ b/urdf/r1_pro/meshes/right_gripper_link.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10f427c2a7b7e7bcfdbe7472cd6b7c9d505369b43fff88ea163c4da321f62bcf
+size 1603584
diff --git a/urdf/r1_pro/meshes/steer_motor_link1.stl b/urdf/r1_pro/meshes/steer_motor_link1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..a215d7e485aa5fd4d869a65478afd7d9c48f6614
--- /dev/null
+++ b/urdf/r1_pro/meshes/steer_motor_link1.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d6222d27bb836dea357ca7fd2911bcd863e0e2069688ef43052e69fff7c547c
+size 408684
diff --git a/urdf/r1_pro/meshes/steer_motor_link2.stl b/urdf/r1_pro/meshes/steer_motor_link2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..828957432b788b9cd310ed68ad79f51e765c922c
--- /dev/null
+++ b/urdf/r1_pro/meshes/steer_motor_link2.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21ef963e21cfaed3c33933ea1c2b19b3a86dd064985b68d8b8b252e14f2b3590
+size 413284
diff --git a/urdf/r1_pro/meshes/steer_motor_link3.stl b/urdf/r1_pro/meshes/steer_motor_link3.stl
new file mode 100644
index 0000000000000000000000000000000000000000..b1143622655cdce95b41b07cf8ef4f0a184cb50f
--- /dev/null
+++ b/urdf/r1_pro/meshes/steer_motor_link3.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9763a16148a1c5e50185e2eb3c98e7b1547a0c6a8b0d5198e8b86e2dbe8e2e29
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diff --git a/urdf/r1_pro/meshes/torso_link1.stl b/urdf/r1_pro/meshes/torso_link1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..61895e345714dfc28ddfd9d2a8ceb2c50a3a541f
--- /dev/null
+++ b/urdf/r1_pro/meshes/torso_link1.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d4c88fa727f50f291d3496c886e97502ca9200891021fcd8dbf1a04a540a457
+size 1357584
diff --git a/urdf/r1_pro/meshes/torso_link2.stl b/urdf/r1_pro/meshes/torso_link2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0a8ec58e66eea6d04c281fe27b712ed8ceef580c
--- /dev/null
+++ b/urdf/r1_pro/meshes/torso_link2.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3153140413394da24d07e9f3b2f746253c4c2e0e812a9c2499c9b975085a724
+size 1763284
diff --git a/urdf/r1_pro/meshes/torso_link3.stl b/urdf/r1_pro/meshes/torso_link3.stl
new file mode 100644
index 0000000000000000000000000000000000000000..5d9e511b94c8d19ea01feda853552f95baa4a171
--- /dev/null
+++ b/urdf/r1_pro/meshes/torso_link3.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dfe16910e76d7ab05392e94439c2c6943ba4f3615d2c53804d52eee7f18c82c
+size 299184
diff --git a/urdf/r1_pro/meshes/torso_link4.stl b/urdf/r1_pro/meshes/torso_link4.stl
new file mode 100644
index 0000000000000000000000000000000000000000..14e3d329c049bc48ebbb8ac1694722f133be135f
--- /dev/null
+++ b/urdf/r1_pro/meshes/torso_link4.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93b8a950dbcb4badfdae429bcf1f70eb4dcc609022452b84e5969a50fc37fd29
+size 4626884
diff --git a/urdf/r1_pro/meshes/wheel_motor_link1.stl b/urdf/r1_pro/meshes/wheel_motor_link1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..3641dcedf3157eee8b4f13e8ca2da83d3e8272b4
--- /dev/null
+++ b/urdf/r1_pro/meshes/wheel_motor_link1.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e19ac7b0d0a05e42b0990807fafffe4e88e4151282ac5f62bf310114c6a9f4b
+size 288884
diff --git a/urdf/r1_pro/meshes/wheel_motor_link2.stl b/urdf/r1_pro/meshes/wheel_motor_link2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..a1100bc1d928239480f3934324d59af1d93fca5a
--- /dev/null
+++ b/urdf/r1_pro/meshes/wheel_motor_link2.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e43ef48375d5c0b9d567bda63ea2d1961a8794854e7f18852746093ed88e6c4
+size 325684
diff --git a/urdf/r1_pro/meshes/wheel_motor_link3.stl b/urdf/r1_pro/meshes/wheel_motor_link3.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4d026dae03898eb2a26457a855b327574559e707
--- /dev/null
+++ b/urdf/r1_pro/meshes/wheel_motor_link3.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e42304c918e0ff46a51b5b075cdd3751a26b7996d4e330eee36bf3a8655e032
+size 360284
diff --git a/urdf/r1_pro/mjcf/galaxyR1_actuators.xml b/urdf/r1_pro/mjcf/galaxyR1_actuators.xml
new file mode 100644
index 0000000000000000000000000000000000000000..16cc94059d62bd19e5d987b9645cc12b6464a479
--- /dev/null
+++ b/urdf/r1_pro/mjcf/galaxyR1_actuators.xml
@@ -0,0 +1,28 @@
+<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>
diff --git a/urdf/r1_pro/mjcf/galaxyR1_assets.xml b/urdf/r1_pro/mjcf/galaxyR1_assets.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a1d21e98ad7bb9e11008c5f30b479dbd0d1f297f
--- /dev/null
+++ b/urdf/r1_pro/mjcf/galaxyR1_assets.xml
@@ -0,0 +1,49 @@
+<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>
diff --git a/urdf/r1_pro/mjcf/galaxyR1_contacts.xml b/urdf/r1_pro/mjcf/galaxyR1_contacts.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4c318d0bee4df2bc911bb9cdc213d4a73be4b8ea
--- /dev/null
+++ b/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>
diff --git a/urdf/r1_pro/mjcf/galaxyR1_defaults.xml b/urdf/r1_pro/mjcf/galaxyR1_defaults.xml
new file mode 100644
index 0000000000000000000000000000000000000000..073bf7352dc65a6419a6cd50c9474f06ffda6eb9
--- /dev/null
+++ b/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>
diff --git a/urdf/r1_pro/mjcf/galaxyR1_links.xml b/urdf/r1_pro/mjcf/galaxyR1_links.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9e152b7f2ad1984738bc0455ecc04aba221a19bb
--- /dev/null
+++ b/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>
diff --git a/urdf/r1_pro/mjcf/galaxyR1_pinocchio.xml b/urdf/r1_pro/mjcf/galaxyR1_pinocchio.xml
new file mode 100644
index 0000000000000000000000000000000000000000..81123cecc2f53242194c7d3c421071b597bfd78c
--- /dev/null
+++ b/urdf/r1_pro/mjcf/galaxyR1_pinocchio.xml
@@ -0,0 +1,195 @@
+<mujoco model="galaxyR1">
+  <compiler angle="radian"/>
+  <default>
+    <joint armature="0.01" damping="0.1"/>
+  </default>
+  <worldbody>
+    <body name="base_link" pos="0 0 0">
+      <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"/>
+      <body name="steer_motor_link1" pos="0.16897 0.28 0.16415" quat="1 0 0 0">
+        <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"/>
+        <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"/>
+        </body>
+      </body>
+      <body name="steer_motor_link2" pos="0.16897 -0.28 0.16415" quat="1 0 0 0">
+        <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"/>
+        <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"/>
+        </body>
+      </body>
+      <body name="steer_motor_link3" pos="-0.32703 0 0.16415" quat="1 0 0 0">
+        <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"/>
+        <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"/>
+        </body>
+      </body>
+      <body name="lidar_chassis_left_link" pos="0.15711 0.21215 0.29465" quat="1 0 0 0">
+        <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"/>
+      </body>
+      <body name="imu_chassis_link" pos="0.003091 0.0012769 0.24824" quat="1 0 0 0">
+        <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"/>
+        <site name="imu" pos="0 0 0"/>
+      </body>
+      <body name="torso_link1" pos="-0.079032 0 0.34865" quat="1 0 0 0">
+        <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"/>
+        <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"/>
+          <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"/>
+            <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"/>
+              <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"/>
+              </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"/>
+                <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"/>
+                </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"/>
+                </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"/>
+                <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"/>
+                  <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"/>
+                    <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"/>
+                      <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"/>
+                        <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"/>
+                          <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"/>
+                            <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"/>
+                              <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"/>
+                                <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"/>
+                                </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"/>
+                                </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"/>
+                                </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"/>
+                                </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"/>
+                <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"/>
+                  <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"/>
+                    <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"/>
+                      <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"/>
+                        <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"/>
+                          <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"/>
+                            <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"/>
+                              <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"/>
+                                <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"/>
+                                </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"/>
+                                </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"/>
+                                </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"/>
+                                </body>
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor name="steer_motor_joint1" joint="steer_motor_joint1"/>
+    <motor name="wheel_motor_joint1" joint="wheel_motor_joint1"/>
+    <motor name="steer_motor_joint2" joint="steer_motor_joint2"/>
+    <motor name="wheel_motor_joint2" joint="wheel_motor_joint2"/>
+    <motor name="steer_motor_joint3" joint="steer_motor_joint3"/>
+    <motor name="wheel_motor_joint3" joint="wheel_motor_joint3"/>
+    <motor name="torso_joint1" joint="torso_joint1"/>
+    <motor name="torso_joint2" joint="torso_joint2"/>
+    <motor name="torso_joint3" joint="torso_joint3"/>
+    <motor name="torso_joint4" joint="torso_joint4"/>
+    <motor name="left_arm_joint1" joint="left_arm_joint1"/>
+    <motor name="left_arm_joint2" joint="left_arm_joint2"/>
+    <motor name="left_arm_joint3" joint="left_arm_joint3"/>
+    <motor name="left_arm_joint4" joint="left_arm_joint4"/>
+    <motor name="left_arm_joint5" joint="left_arm_joint5"/>
+    <motor name="left_arm_joint6" joint="left_arm_joint6"/>
+    <motor name="left_arm_joint7" joint="left_arm_joint7"/>
+    <motor name="right_arm_joint1" joint="right_arm_joint1"/>
+    <motor name="right_arm_joint2" joint="right_arm_joint2"/>
+    <motor name="right_arm_joint3" joint="right_arm_joint3"/>
+    <motor name="right_arm_joint4" joint="right_arm_joint4"/>
+    <motor name="right_arm_joint5" joint="right_arm_joint5"/>
+    <motor name="right_arm_joint6" joint="right_arm_joint6"/>
+    <motor name="right_arm_joint7" joint="right_arm_joint7"/>
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"/>
+    <key name="standby1" qpos="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"/>
+    <key name="standby2" qpos="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"/>
+  </keyframe>
+</mujoco>
diff --git a/urdf/r1_pro/mjcf/galaxyR1_robot.xml b/urdf/r1_pro/mjcf/galaxyR1_robot.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b2b673bbcc2a68a2e01547f0c4741860ddbffb84
--- /dev/null
+++ b/urdf/r1_pro/mjcf/galaxyR1_robot.xml
@@ -0,0 +1,20 @@
+<mujoco model="galaxyR1">
+  <option timestep="0.001" gravity="0 0 -9.80665" integrator="implicitfast"/>
+  <compiler angle="radian" meshdir="../meshes" autolimits="true"/>
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0.2 0.2 0.2" width="512" height="3072"/>
+  </asset>
+  <include file="galaxyR1_defaults.xml"/>
+  <include file="galaxyR1_assets.xml"/>
+  <include file="galaxyR1_contacts.xml"/>
+  <include file="galaxyR1_actuators.xml"/>
+  <include file="galaxyR1_sensors.xml"/>
+  <worldbody>
+    <include file="galaxyR1_links.xml"/>
+  </worldbody>
+  <keyframe>
+    <key name="home" qpos="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.05 0.05 0 0 0 0 0 0 0 0.05 0.05" ctrl="0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1"/>
+    <key name="standby1" qpos="0 0 0 0 0 0 0.7853981633974483 -1.5707963267948966 -0.7853981633974483 0 0 0 0 -1.5707963267948966 0 0 0 0.05 0.05 0 0 0 -1.5707963267948966 0 0 0 0.05 0.05" ctrl="0.7853981633974483 -1.5707963267948966 -0.7853981633974483 0 0 0 0 -1.5707963267948966 0 0 0 1 0 0 0 -1.5707963267948966 0 0 0 1"/>
+    <key name="standby2" qpos="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.05 0.05 0 0 0 0 0 0 0 0.05 0.05" ctrl="0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1"/>
+  </keyframe>
+</mujoco>
diff --git a/urdf/r1_pro/mjcf/galaxyR1_sensors.xml b/urdf/r1_pro/mjcf/galaxyR1_sensors.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a3d58073631582dab7482f9869744fbfcf434bd8
--- /dev/null
+++ b/urdf/r1_pro/mjcf/galaxyR1_sensors.xml
@@ -0,0 +1,84 @@
+<mujoco model="galaxyR1_sensors">
+  <sensor>
+    <jointpos name="steer_motor_joint1_pos" joint="steer_motor_joint1"/>
+    <jointpos name="wheel_motor_joint1_pos" joint="wheel_motor_joint1"/>
+    <jointpos name="steer_motor_joint2_pos" joint="steer_motor_joint2"/>
+    <jointpos name="wheel_motor_joint2_pos" joint="wheel_motor_joint2"/>
+    <jointpos name="steer_motor_joint3_pos" joint="steer_motor_joint3"/>
+    <jointpos name="wheel_motor_joint3_pos" joint="wheel_motor_joint3"/>
+    <jointpos name="torso_joint1_pos" joint="torso_joint1"/>
+    <jointpos name="torso_joint2_pos" joint="torso_joint2"/>
+    <jointpos name="torso_joint3_pos" joint="torso_joint3"/>
+    <jointpos name="torso_joint4_pos" joint="torso_joint4"/>
+    <jointpos name="left_arm_joint1_pos" joint="left_arm_joint1"/>
+    <jointpos name="left_arm_joint2_pos" joint="left_arm_joint2"/>
+    <jointpos name="left_arm_joint3_pos" joint="left_arm_joint3"/>
+    <jointpos name="left_arm_joint4_pos" joint="left_arm_joint4"/>
+    <jointpos name="left_arm_joint5_pos" joint="left_arm_joint5"/>
+    <jointpos name="left_arm_joint6_pos" joint="left_arm_joint6"/>
+    <jointpos name="left_arm_joint7_pos" joint="left_arm_joint7"/>
+    <jointpos name="right_arm_joint1_pos" joint="right_arm_joint1"/>
+    <jointpos name="right_arm_joint2_pos" joint="right_arm_joint2"/>
+    <jointpos name="right_arm_joint3_pos" joint="right_arm_joint3"/>
+    <jointpos name="right_arm_joint4_pos" joint="right_arm_joint4"/>
+    <jointpos name="right_arm_joint5_pos" joint="right_arm_joint5"/>
+    <jointpos name="right_arm_joint6_pos" joint="right_arm_joint6"/>
+    <jointpos name="right_arm_joint7_pos" joint="right_arm_joint7"/>
+    <jointvel name="steer_motor_joint1_vel" joint="steer_motor_joint1"/>
+    <jointvel name="wheel_motor_joint1_vel" joint="wheel_motor_joint1"/>
+    <jointvel name="steer_motor_joint2_vel" joint="steer_motor_joint2"/>
+    <jointvel name="wheel_motor_joint2_vel" joint="wheel_motor_joint2"/>
+    <jointvel name="steer_motor_joint3_vel" joint="steer_motor_joint3"/>
+    <jointvel name="wheel_motor_joint3_vel" joint="wheel_motor_joint3"/>
+    <jointvel name="torso_joint1_vel" joint="torso_joint1"/>
+    <jointvel name="torso_joint2_vel" joint="torso_joint2"/>
+    <jointvel name="torso_joint3_vel" joint="torso_joint3"/>
+    <jointvel name="torso_joint4_vel" joint="torso_joint4"/>
+    <jointvel name="left_arm_joint1_vel" joint="left_arm_joint1"/>
+    <jointvel name="left_arm_joint2_vel" joint="left_arm_joint2"/>
+    <jointvel name="left_arm_joint3_vel" joint="left_arm_joint3"/>
+    <jointvel name="left_arm_joint4_vel" joint="left_arm_joint4"/>
+    <jointvel name="left_arm_joint5_vel" joint="left_arm_joint5"/>
+    <jointvel name="left_arm_joint6_vel" joint="left_arm_joint6"/>
+    <jointvel name="left_arm_joint7_vel" joint="left_arm_joint7"/>
+    <jointvel name="right_arm_joint1_vel" joint="right_arm_joint1"/>
+    <jointvel name="right_arm_joint2_vel" joint="right_arm_joint2"/>
+    <jointvel name="right_arm_joint3_vel" joint="right_arm_joint3"/>
+    <jointvel name="right_arm_joint4_vel" joint="right_arm_joint4"/>
+    <jointvel name="right_arm_joint5_vel" joint="right_arm_joint5"/>
+    <jointvel name="right_arm_joint6_vel" joint="right_arm_joint6"/>
+    <jointvel name="right_arm_joint7_vel" joint="right_arm_joint7"/>
+    <jointactuatorfrc name="steer_motor_joint1_torque" joint="steer_motor_joint1" noise="0.01"/>
+    <jointactuatorfrc name="wheel_motor_joint1_torque" joint="wheel_motor_joint1" noise="0.01"/>
+    <jointactuatorfrc name="steer_motor_joint2_torque" joint="steer_motor_joint2" noise="0.01"/>
+    <jointactuatorfrc name="wheel_motor_joint2_torque" joint="wheel_motor_joint2" noise="0.01"/>
+    <jointactuatorfrc name="steer_motor_joint3_torque" joint="steer_motor_joint3" noise="0.01"/>
+    <jointactuatorfrc name="wheel_motor_joint3_torque" joint="wheel_motor_joint3" noise="0.01"/>
+    <jointactuatorfrc name="torso_joint1_torque" joint="torso_joint1" noise="0.01"/>
+    <jointactuatorfrc name="torso_joint2_torque" joint="torso_joint2" noise="0.01"/>
+    <jointactuatorfrc name="torso_joint3_torque" joint="torso_joint3" noise="0.01"/>
+    <jointactuatorfrc name="torso_joint4_torque" joint="torso_joint4" noise="0.01"/>
+    <jointactuatorfrc name="left_arm_joint1_torque" joint="left_arm_joint1" noise="0.01"/>
+    <jointactuatorfrc name="left_arm_joint2_torque" joint="left_arm_joint2" noise="0.01"/>
+    <jointactuatorfrc name="left_arm_joint3_torque" joint="left_arm_joint3" noise="0.01"/>
+    <jointactuatorfrc name="left_arm_joint4_torque" joint="left_arm_joint4" noise="0.01"/>
+    <jointactuatorfrc name="left_arm_joint5_torque" joint="left_arm_joint5" noise="0.01"/>
+    <jointactuatorfrc name="left_arm_joint6_torque" joint="left_arm_joint6" noise="0.01"/>
+    <jointactuatorfrc name="left_arm_joint7_torque" joint="left_arm_joint7" noise="0.01"/>
+    <jointactuatorfrc name="right_arm_joint1_torque" joint="right_arm_joint1" noise="0.01"/>
+    <jointactuatorfrc name="right_arm_joint2_torque" joint="right_arm_joint2" noise="0.01"/>
+    <jointactuatorfrc name="right_arm_joint3_torque" joint="right_arm_joint3" noise="0.01"/>
+    <jointactuatorfrc name="right_arm_joint4_torque" joint="right_arm_joint4" noise="0.01"/>
+    <jointactuatorfrc name="right_arm_joint5_torque" joint="right_arm_joint5" noise="0.01"/>
+    <jointactuatorfrc name="right_arm_joint6_torque" joint="right_arm_joint6" noise="0.01"/>
+    <jointactuatorfrc name="right_arm_joint7_torque" joint="right_arm_joint7" noise="0.01"/>
+    <framequat name="imu_quat" objtype="site" objname="imu"/>
+    <gyro name="imu_gyro" site="imu"/>
+    <accelerometer name="imu_acc" site="imu"/>
+    <framepos name="frame_pos" objtype="site" objname="imu"/>
+    <framepos name="EE_0_pos" objtype="site" objname="EE_0"/>
+    <framequat name="EE_0_quat" objtype="site" objname="EE_0"/>
+    <framepos name="EE_1_pos" objtype="site" objname="EE_1"/>
+    <framequat name="EE_1_quat" objtype="site" objname="EE_1"/>
+  </sensor>
+</mujoco>
diff --git a/urdf/r1_pro/r1pro_2026.urdf b/urdf/r1_pro/r1pro_2026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9a96f6f4e72734904743af6fb8ec8df308e859a6
--- /dev/null
+++ b/urdf/r1_pro/r1pro_2026.urdf
@@ -0,0 +1,2398 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="r1pro_urdf">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.049262 -8.8054E-05 0.18255"
+        rpy="0 0 0" />
+      <mass
+        value="47.63" />
+      <inertia
+        ixx="1.5812"
+        ixy="-1.0625E-05"
+        ixz="0.053601"
+        iyy="1.4648"
+        iyz="5.7054E-06"
+        izz="2.835" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/base_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/base_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="steer_motor_link1">
+    <inertial>
+      <origin
+        xyz="5.31952128381835E-05 -0.00624267209457385 -0.0555396404916644"
+        rpy="0 0 0" />
+      <mass
+        value="1.5" />
+      <inertia
+        ixx="0.000212162349149489"
+        ixy="-2.97520144470236E-07"
+        ixz="-4.42683116038741E-08"
+        iyy="0.000316954731393744"
+        iyz="1.69403784664349E-06"
+        izz="0.000162145991172289" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/steer_motor_link1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/steer_motor_link1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="steer_motor_joint1"
+    type="revolute">
+    <origin
+      xyz="0.16897 0.28 0.16415"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="steer_motor_link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1416"
+      upper="3.1416"
+      effort="50"
+      velocity="20" />
+  </joint>
+  <link
+    name="wheel_motor_link1">
+    <inertial>
+      <origin
+        xyz="-4.31647634302479E-10 -0.00307552350808771 -4.57241716017576E-09"
+        rpy="0 0 0" />
+      <mass
+        value="1.5" />
+      <inertia
+        ixx="0.000710603853748414"
+        ixy="7.85189820792754E-11"
+        ixz="1.11318268524093E-16"
+        iyy="0.00127839921881604"
+        iyz="8.41061935635787E-10"
+        izz="0.000710603853749644" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/wheel_motor_link1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/wheel_motor_link1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="wheel_motor_joint1"
+    type="continuous">
+    <origin
+      xyz="0 0 -0.09415"
+      rpy="0 0 0" />
+    <parent
+      link="steer_motor_link1" />
+    <child
+      link="wheel_motor_link1" />
+    <axis
+      xyz="0 1 0" />
+  </joint>
+  <link
+    name="steer_motor_link2">
+    <inertial>
+      <origin
+        xyz="5.31952128382251E-05 -0.00624267209457396 -0.0555396404916645"
+        rpy="0 0 0" />
+      <mass
+        value="1.5" />
+      <inertia
+        ixx="0.00021216234914949"
+        ixy="-2.97520144470226E-07"
+        ixz="-4.42683116038049E-08"
+        iyy="0.000316954731393744"
+        iyz="1.69403784664346E-06"
+        izz="0.000162145991172289" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/steer_motor_link2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/steer_motor_link2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="steer_motor_joint2"
+    type="revolute">
+    <origin
+      xyz="0.16897 -0.28 0.16415"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="steer_motor_link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1416"
+      upper="3.1416"
+      effort="50"
+      velocity="20" />
+  </joint>
+  <link
+    name="wheel_motor_link2">
+    <inertial>
+      <origin
+        xyz="-1.4675094472949E-11 0 -3.29134289267508E-11"
+        rpy="0 0 0" />
+      <mass
+        value="1.5" />
+      <inertia
+        ixx="0.000454213979130143"
+        ixy="5.24020921496857E-11"
+        ixz="7.75819367993004E-17"
+        iyy="0.000833150371731175"
+        iyz="5.61309532097866E-10"
+        izz="0.000454213979130967" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/wheel_motor_link2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/wheel_motor_link2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="wheel_motor_joint2"
+    type="continuous">
+    <origin
+      xyz="0 0 -0.09415"
+      rpy="0 0 0" />
+    <parent
+      link="steer_motor_link2" />
+    <child
+      link="wheel_motor_link2" />
+    <axis
+      xyz="0 1 0" />
+  </joint>
+  <link
+    name="steer_motor_link3">
+    <inertial>
+      <origin
+        xyz="-5.31952127936219E-05 0.00624283665297075 -0.0555396219949674"
+        rpy="0 0 0" />
+      <mass
+        value="1.5" />
+      <inertia
+        ixx="0.000212162349149397"
+        ixy="-2.97520275092032E-07"
+        ixz="4.42674300884034E-08"
+        iyy="0.000316954741430712"
+        iyz="-1.69357916386513E-06"
+        izz="0.000162145981135063" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/steer_motor_link3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/steer_motor_link3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="steer_motor_joint3"
+    type="revolute">
+    <origin
+      xyz="-0.32703 0 0.16415"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="steer_motor_link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1416"
+      upper="3.1416"
+      effort="50"
+      velocity="20" />
+  </joint>
+  <link
+    name="wheel_motor_link3">
+    <inertial>
+      <origin
+        xyz="1.46749834506466E-11 8.53576078248493E-17 -3.29135607657349E-11"
+        rpy="0 0 0" />
+      <mass
+        value="1.5" />
+      <inertia
+        ixx="0.000454213979130143"
+        ixy="5.24040985541527E-11"
+        ixz="7.72042152127217E-17"
+        iyy="0.000833150371731176"
+        iyz="5.6144107745668E-10"
+        izz="0.000454213979130968" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/wheel_motor_link3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/wheel_motor_link3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="wheel_motor_joint3"
+    type="continuous">
+    <origin
+      xyz="0 0 -0.09415"
+      rpy="0 0 0" />
+    <parent
+      link="steer_motor_link3" />
+    <child
+      link="wheel_motor_link3" />
+    <axis
+      xyz="0 1 0" />
+  </joint>
+  <link
+    name="lidar_chassis_left_link">
+    <inertial>
+      <origin
+        xyz="3.92075440169837E-09 -2.05762740179694E-09 0.00386837940826326"
+        rpy="0 0 0" />
+      <mass
+        value="0.265" />
+      <inertia
+        ixx="5.9772001346984E-06"
+        ixy="9.00342621801529E-11"
+        ixz="-2.25057605271765E-14"
+        iyy="5.97583972637199E-06"
+        iyz="-3.78330752163267E-12"
+        izz="8.48663964320159E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/lidar_chassis_left_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/lidar_chassis_left_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="lidar_chassis_left_joint"
+    type="fixed">
+    <origin
+      xyz="0.15711 0.21215 0.29465"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="lidar_chassis_left_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="imu_chassis_link">
+    <inertial>
+      <origin
+        xyz="-1.8922E-09 3.7565E-09 -0.0015967"
+        rpy="0 0 0" />
+      <mass
+        value="0.00069659" />
+      <inertia
+        ixx="1.1719E-08"
+        ixy="-5.088E-15"
+        ixz="3.1796E-15"
+        iyy="1.5994E-08"
+        iyz="-1.8097E-14"
+        izz="2.6571E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/imu_chassis_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/imu_chassis_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="imu_chassis_joint"
+    type="fixed">
+    <origin
+      xyz="0.003091 0.0012769 0.24824"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="imu_chassis_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="torso_link1">
+    <inertial>
+      <origin
+        xyz="0.00065636 0.0032244 0.23142"
+        rpy="0 0 0" />
+      <mass
+        value="5.72" />
+      <inertia
+        ixx="0.10931"
+        ixy="7.7894E-06"
+        ixz="-0.00017473"
+        iyy="0.10736"
+        iyz="0.00013778"
+        izz="0.0081222" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/torso_link1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/torso_link1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="torso_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.079032 0 0.34865"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="torso_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.2735467075"
+      upper="1.8125467075"
+      effort="100"
+      velocity="2.5" />
+  </joint>
+  <link
+    name="torso_link2">
+    <inertial>
+      <origin
+        xyz="0.0052517 0.014411 0.15711"
+        rpy="0 0 0" />
+      <mass
+        value="3.5" />
+      <inertia
+        ixx="0.026081"
+        ixy="-3.3436E-07"
+        ixz="0.00024541"
+        iyy="0.027574"
+        iyz="4.2283E-07"
+        izz="0.0018515" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/torso_link2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0.949019607843137 0.513725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/torso_link2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="torso_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0.35"
+      rpy="0 0 0" />
+    <parent
+      link="torso_link1" />
+    <child
+      link="torso_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.6703467075"
+      upper="2.6825467075"
+      effort="100"
+      velocity="2.5" />
+  </joint>
+  <link
+    name="torso_link3">
+    <inertial>
+      <origin
+        xyz="-9.8337E-07 -0.0055146 0.020182"
+        rpy="0 0 0" />
+      <mass
+        value="3.4" />
+      <inertia
+        ixx="0.0016099"
+        ixy="3.5899E-07"
+        ixz="2.5497E-07"
+        iyy="0.0023011"
+        iyz="1.367E-05"
+        izz="0.0017027" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/torso_link3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.8 0.8 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/torso_link3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="torso_joint3"
+    type="revolute">
+    <origin
+      xyz="0 0 0.35"
+      rpy="0 -0.000 0" />
+    <parent
+      link="torso_link2" />
+    <child
+      link="torso_link3" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-1.7095467075"
+      upper="1.5358467075"
+      effort="100"
+      velocity="2.5" />
+  </joint>
+  <link
+    name="torso_link4">
+    <inertial>
+      <origin
+        xyz="0.0049601 -1.2497E-05 0.21237"
+        rpy="0 0 0" />
+      <mass
+        value="5" />
+      <inertia
+        ixx="0.026836"
+        ixy="1.3048E-05"
+        ixz="-0.00014074"
+        iyy="0.013023"
+        iyz="4.6641E-07"
+        izz="0.021541" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/torso_link4.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/torso_link4.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="torso_joint4"
+    type="revolute">
+    <origin
+      xyz="-0.00 -0.0010063 0.075322"
+      rpy="0 0 0" />
+    <parent
+      link="torso_link3" />
+    <child
+      link="torso_link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.0193934150"
+      upper="3.0193934150"
+      effort="100"
+      velocity="2.5" />
+  </joint>
+  <link
+    name="imu_torso_link">
+    <inertial>
+      <origin
+        xyz="0.0015967 1.8922E-09 1.3911E-09"
+        rpy="0 0 0" />
+      <mass
+        value="0.00069659" />
+      <inertia
+        ixx="2.6571E-08"
+        ixy="3.1796E-15"
+        ixz="2.4286E-15"
+        iyy="1.1719E-08"
+        iyz="5.6795E-15"
+        izz="1.5994E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/imu_torso_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/imu_torso_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="imu_torso_joint"
+    type="fixed">
+    <origin
+      xyz="0.038399 -0.00074199 0.23026"
+      rpy="0 0 0" />
+    <parent
+      link="torso_link4" />
+    <child
+      link="imu_torso_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="head_link">
+    <inertial>
+      <origin
+        xyz="-0.012763 1.3354E-06 0.056558"
+        rpy="0 0 0" />
+      <mass
+        value="3.3054" />
+      <inertia
+        ixx="0.012187"
+        ixy="4.2003E-08"
+        ixz="0.0001377"
+        iyy="0.010358"
+        iyz="9.4374E-08"
+        izz="0.014614" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/head_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/head_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="head_joint"
+    type="fixed">
+    <origin
+      xyz="-0.00028292 0 0.40644"
+      rpy="0 0.00032442 0" />
+    <parent
+      link="torso_link4" />
+    <child
+      link="head_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_head_left_link">
+    <inertial>
+      <origin
+        xyz="0.00032328 -4.8468E-10 -0.021988"
+        rpy="0 0 0" />
+      <mass
+        value="0.05" />
+      <inertia
+        ixx="4.5446E-06"
+        ixy="2.0395E-08"
+        ixz="1.6743E-07"
+        iyy="4.61E-06"
+        iyz="-2.5102E-13"
+        izz="3.4117E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/camera_head_left_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/camera_head_left_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_head_left_joint"
+    type="fixed">
+    <origin
+      xyz="0.064821 0.059919 0.093658"
+      rpy="-1.9199 0 -1.5708" />
+    <parent
+      link="head_link" />
+    <child
+      link="camera_head_left_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_head_right_link">
+    <inertial>
+      <origin
+        xyz="0.00032328 -4.8468E-10 -0.021988"
+        rpy="0 0 0" />
+      <mass
+        value="0.05" />
+      <inertia
+        ixx="4.5446E-06"
+        ixy="2.0395E-08"
+        ixz="1.6743E-07"
+        iyy="4.61E-06"
+        iyz="-2.5102E-13"
+        izz="3.4117E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/camera_head_right_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/camera_head_right_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_head_right_joint"
+    type="fixed">
+    <origin
+      xyz="0.064821 -0.060276 0.093658"
+      rpy="-1.9199 0 -1.5708" />
+    <parent
+      link="head_link" />
+    <child
+      link="camera_head_right_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_arm_base_link">
+    <inertial>
+      <origin
+        xyz="0.00026981 0.034587 1.3734E-08"
+        rpy="0 0 0" />
+      <mass
+        value="1.48" />
+      <inertia
+        ixx="0.0010298"
+        ixy="5.2194E-06"
+        ixz="-1.2182E-07"
+        iyy="0.0014076"
+        iyz="-3.9334E-09"
+        izz="0.0010201" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_base_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.811764705882353 0.843137254901961 0.909803921568627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_base_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_arm_base_joint"
+    type="fixed">
+    <origin
+      xyz="-0.00047402 0.097235 0.32738"
+      rpy="0 0 -0.00070441" />
+    <parent
+      link="torso_link4" />
+    <child
+      link="left_arm_base_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_arm_link1">
+    <inertial>
+      <origin
+        xyz="0.00042258 0.074131 7.9156E-05"
+        rpy="0 0 0" />
+      <mass
+        value="1.135" />
+      <inertia
+        ixx="0.00061603"
+        ixy="-1.1635E-06"
+        ixz="-6.9725E-07"
+        iyy="0.00030259"
+        iyz="-6.2894E-07"
+        izz="0.00047136" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_arm_joint1"
+    type="revolute">
+    <origin
+      xyz="0 0.0735 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_arm_base_link" />
+    <child
+      link="left_arm_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-4.4156934150"
+      upper="1.2740934150"
+      effort="55"
+      velocity="7.1209" />
+  </joint>
+  <link
+    name="left_arm_link2">
+    <inertial>
+      <origin
+        xyz="-0.026826 -0.0040392 -0.031835"
+        rpy="0 0 0" />
+      <mass
+        value="0.92" />
+      <inertia
+        ixx="0.00037378"
+        ixy="-7.5909E-07"
+        ixz="2.9042E-06"
+        iyy="0.00033872"
+        iyz="1.2166E-05"
+        izz="0.00032361" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_arm_joint2"
+    type="revolute">
+    <origin
+      xyz="0.025012 0.081265 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_arm_link1" />
+    <child
+      link="left_arm_link2" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.1395934150"
+      upper="3.1066934150"
+      effort="55"
+      velocity="7.1209" />
+  </joint>
+  <link
+    name="left_arm_link3">
+    <inertial>
+      <origin
+        xyz="0.0053849 -0.00086892 -0.1126"
+        rpy="0 0 0" />
+      <mass
+        value="1.245" />
+      <inertia
+        ixx="0.00072339"
+        ixy="-3.3477E-06"
+        ixz="-0.00012824"
+        iyy="0.00073856"
+        iyz="-8.3574E-06"
+        izz="0.00037352" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_arm_joint3"
+    type="revolute">
+    <origin
+      xyz="-0.025012 0 -0.1155"
+      rpy="0 0 0" />
+    <parent
+      link="left_arm_link2" />
+    <child
+      link="left_arm_link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.3212894150"
+      upper="2.3212894150"
+      effort="25"
+      velocity="8.3776" />
+  </joint>
+  <link
+    name="left_arm_link4">
+    <inertial>
+      <origin
+        xyz="-0.0011018 -0.036243 -0.042164"
+        rpy="0 0 0" />
+      <mass
+        value="0.827" />
+      <inertia
+        ixx="0.00013884"
+        ixy="7.8394E-08"
+        ixz="3.5926E-06"
+        iyy="0.00019751"
+        iyz="1.4227E-06"
+        izz="0.00010229" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link4.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link4.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_arm_joint4"
+    type="revolute">
+    <origin
+      xyz="0 0.035065 -0.1945"
+      rpy="0 0 0" />
+    <parent
+      link="left_arm_link3" />
+    <child
+      link="left_arm_link4" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.0594934150"
+      upper="0.3141934150"
+      effort="25"
+      velocity="8.3776" />
+  </joint>
+  <link
+    name="left_arm_link5">
+    <inertial>
+      <origin
+        xyz="3.7881E-07 -0.0028035 -0.062981"
+        rpy="0 0 0" />
+      <mass
+        value="0.939" />
+      <inertia
+        ixx="0.00070496"
+        ixy="1.4329E-08"
+        ixz="-2.9036E-09"
+        iyy="0.00067006"
+        iyz="-5.1951E-05"
+        izz="0.00032998" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link5.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link5.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_arm_joint5"
+    type="revolute">
+    <origin
+      xyz="0 -0.035065 -0.095"
+      rpy="0 0 0" />
+    <parent
+      link="left_arm_link4" />
+    <child
+      link="left_arm_link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.3212894150"
+      upper="2.3212894150"
+      effort="18"
+      velocity="10.4720" />
+  </joint>
+  <link
+    name="left_arm_link6">
+    <inertial>
+      <origin
+        xyz="0.0017919 0.027487 0.00025471"
+        rpy="0 0 0" />
+      <mass
+        value="0.527" />
+      <inertia
+        ixx="8.5442E-05"
+        ixy="-1.5351E-07"
+        ixz="8.3797E-07"
+        iyy="8.1186E-05"
+        iyz="-2.1972E-08"
+        izz="8.2736E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link6.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link6.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_arm_joint6"
+    type="revolute">
+    <origin
+      xyz="0 -0.028 -0.16305"
+      rpy="0 0 0" />
+    <parent
+      link="left_arm_link5" />
+    <child
+      link="left_arm_link6" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.0122914150"
+      upper="1.0122914150"
+      effort="18"
+      velocity="10.4720" />
+  </joint>
+  <link
+    name="left_arm_link7">
+    <inertial>
+      <origin
+        xyz="-0.022945 8.4007E-07 -0.056525"
+        rpy="0 0 0" />
+      <mass
+        value="0.185" />
+      <inertia
+        ixx="4.2564E-05"
+        ixy="-2.1577E-09"
+        ixz="-6.9368E-06"
+        iyy="4.5515E-05"
+        iyz="-1.9389E-09"
+        izz="4.7946E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link7.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_arm_link7.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_arm_joint7"
+    type="revolute">
+    <origin
+      xyz="0.0295 0.028 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_arm_link6" />
+    <child
+      link="left_arm_link7" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.5358934150"
+      upper="1.5358934150"
+      effort="18"
+      velocity="10.4720" />
+  </joint>
+  <link
+    name="left_gripper_link">
+    <inertial>
+      <origin
+        xyz="4.05353121322172E-05 -4.03178431110374E-05 0.0253590092322131"
+        rpy="0 0 0" />
+      <mass
+        value="0.0934809943288547" />
+      <inertia
+        ixx="9.24209557781847E-05"
+        ixy="-8.98061725689484E-07"
+        ixz="8.24766582709023E-08"
+        iyy="5.16704214959303E-05"
+        iyz="-3.17272363110333E-08"
+        izz="0.000122569412854759" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gripper_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gripper_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_gripper_joint"
+    type="fixed">
+    <origin
+      xyz="-0.0295 0.0 -0.1637"
+      rpy="0 0 0" />
+    <parent
+      link="left_arm_link7" />
+    <child
+      link="left_gripper_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_gmsl_link">
+    <inertial>
+      <origin
+        xyz="-3.53876339770354E-06 0.00952645301735067 -0.0193719007025304"
+        rpy="0 0 0" />
+      <mass
+        value="0.0230739846089694" />
+      <inertia
+        ixx="4.92288959423237E-06"
+        ixy="1.6786116612382E-08"
+        ixz="1.64117264604509E-10"
+        iyy="4.3213638594574E-06"
+        iyz="1.02602423053323E-06"
+        izz="4.37204196127736E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gmsl_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gmsl_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_gmsl_joint"
+    type="fixed">
+    <origin
+      xyz="0.06129 0 0.0082885"
+      rpy="-3.1416 0 -1.5708" />
+    <parent
+      link="left_gripper_link" />
+    <child
+      link="left_gmsl_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_gripper_finger_link1">
+    <inertial>
+      <origin
+        xyz="-0.0148298818192636 0.0333457838927467 -0.0372997862259181"
+        rpy="0 0 0" />
+      <mass
+        value="0.0640306062005943" />
+      <inertia
+        ixx="2.55669525766253E-05"
+        ixy="-9.30090861226148E-07"
+        ixz="6.96040886913313E-08"
+        iyy="3.02434295092103E-05"
+        iyz="1.11370785868741E-06"
+        izz="1.59485358475258E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gripper_finger_link1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gripper_finger_link1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_gripper_finger_joint1"
+    type="prismatic">
+    <origin
+      xyz="0.017997 -0.024503 0.0122"
+      rpy="0 0 0" />
+    <parent
+      link="left_gripper_link" />
+    <child
+      link="left_gripper_finger_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="left_gripper_finger_link2">
+    <inertial>
+      <origin
+        xyz="0.0148077810897127 -0.0334046108058829 -0.0367974518937035"
+        rpy="0 0 0" />
+      <mass
+        value="0.063607579375099" />
+      <inertia
+        ixx="2.55630045231858E-05"
+        ixy="-9.30108540466786E-07"
+        ixz="-6.95175812829485E-08"
+        iyy="3.02345110758392E-05"
+        iyz="-1.113541795756E-06"
+        izz="1.59432280556192E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gripper_finger_link2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gripper_finger_link2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_gripper_finger_joint2"
+    type="prismatic">
+    <origin
+      xyz="-0.017997 0.024503 0.0122"
+      rpy="0 0 0" />
+    <parent
+      link="left_gripper_link" />
+    <child
+      link="left_gripper_finger_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="left_d405_link">
+    <inertial>
+      <origin
+        xyz="0.00904752892529659 0.0136909832199389 -0.00853046537674518"
+        rpy="0 0 0" />
+      <mass
+        value="0.0674054673338197" />
+      <inertia
+        ixx="2.44622496510173E-05"
+        ixy="4.16070671801075E-10"
+        ixz="-1.49033897860268E-08"
+        iyy="2.02869016745121E-05"
+        iyz="2.03088899511244E-06"
+        izz="1.88161703014415E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_d405_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_d405_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_d405_joint"
+    type="fixed">
+    <origin
+      xyz="0.074676 0.009 0.022183"
+      rpy="2.4435 0 -1.5708" />
+    <parent
+      link="left_gripper_link" />
+    <child
+      link="left_d405_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_arm_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00026981 -0.034587 -3.669E-08"
+        rpy="0 0 0" />
+      <mass
+        value="1.48" />
+      <inertia
+        ixx="0.0010298"
+        ixy="5.2194E-06"
+        ixz="1.2188E-07"
+        iyy="0.0014076"
+        iyz="5.1015E-09"
+        izz="0.0010201" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_base_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.811764705882353 0.843137254901961 0.909803921568627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_base_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_arm_base_joint"
+    type="fixed">
+    <origin
+      xyz="-0.00061101 -0.097235 0.32738"
+      rpy="0 0 -0.00070441" />
+    <parent
+      link="torso_link4" />
+    <child
+      link="right_arm_base_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_arm_link1">
+    <inertial>
+      <origin
+        xyz="-0.00042261 -0.074132 7.8365E-05"
+        rpy="0 0 0" />
+      <mass
+        value="1.135" />
+      <inertia
+        ixx="0.00061603"
+        ixy="-1.1635E-06"
+        ixz="6.9785E-07"
+        iyy="0.00030259"
+        iyz="6.2359E-07"
+        izz="0.00047135" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_arm_joint1"
+    type="revolute">
+    <origin
+      xyz="0 -0.0735 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_arm_base_link" />
+    <child
+      link="right_arm_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-4.4156934150"
+      upper="1.2740934150"
+      effort="55"
+      velocity="7.1209" />
+  </joint>
+  <link
+    name="right_arm_link2">
+    <inertial>
+      <origin
+        xyz="-0.022361 0.0049527 -0.032732"
+        rpy="0 0 0" />
+      <mass
+        value="0.92" />
+      <inertia
+        ixx="0.00038179"
+        ixy="2.6532E-07"
+        ixz="-3.6367E-06"
+        iyy="0.00034188"
+        iyz="-8.4407E-06"
+        izz="0.00032895" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_arm_joint2"
+    type="revolute">
+    <origin
+      xyz="0.023988 -0.081265 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_arm_link1" />
+    <child
+      link="right_arm_link2" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.1066934150"
+      upper="0.1395934150"
+      effort="55"
+      velocity="7.1209" />
+  </joint>
+  <link
+    name="right_arm_link3">
+    <inertial>
+      <origin
+        xyz="0.0053839 -0.00087109 -0.11261"
+        rpy="0 0 0" />
+      <mass
+        value="1.245" />
+      <inertia
+        ixx="0.00072336"
+        ixy="-3.3628E-06"
+        ixz="-0.00012821"
+        iyy="0.00073854"
+        iyz="-8.3749E-06"
+        izz="0.00037348" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_arm_joint3"
+    type="revolute">
+    <origin
+      xyz="-0.023988 0 -0.1155"
+      rpy="0 0 0" />
+    <parent
+      link="right_arm_link2" />
+    <child
+      link="right_arm_link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.3212894150"
+      upper="2.3212894150"
+      effort="25"
+      velocity="8.3776" />
+  </joint>
+  <link
+    name="right_arm_link4">
+    <inertial>
+      <origin
+        xyz="-0.00058877 -0.035687 -0.057422"
+        rpy="0 0 0" />
+      <mass
+        value="0.827" />
+      <inertia
+        ixx="0.00016157"
+        ixy="7.8184E-08"
+        ixz="3.5925E-06"
+        iyy="0.00022024"
+        iyz="1.4211E-06"
+        izz="0.00012683" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link4.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link4.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_arm_joint4"
+    type="revolute">
+    <origin
+      xyz="0 0.035058 -0.1945"
+      rpy="0 0 0" />
+    <parent
+      link="right_arm_link3" />
+    <child
+      link="right_arm_link4" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.0594934150"
+      upper="0.3141934150"
+      effort="25"
+      velocity="8.3776" />
+  </joint>
+  <link
+    name="right_arm_link5">
+    <inertial>
+      <origin
+        xyz="-2.2815E-07 0.0031762 -0.07334"
+        rpy="0 0 0" />
+      <mass
+        value="0.63" />
+      <inertia
+        ixx="0.00069134"
+        ixy="1.4191E-08"
+        ixz="3.837E-09"
+        iyy="0.00065644"
+        iyz="5.1952E-05"
+        izz="0.00031157" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link5.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link5.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_arm_joint5"
+    type="revolute">
+    <origin
+      xyz="0 -0.035058 -0.095"
+      rpy="0 0 0" />
+    <parent
+      link="right_arm_link4" />
+    <child
+      link="right_arm_link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.3212894150"
+      upper="2.3212894150"
+      effort="18"
+      velocity="10.4720" />
+  </joint>
+  <link
+    name="right_arm_link6">
+    <inertial>
+      <origin
+        xyz="0.0017914 -0.027486 0.00025485"
+        rpy="0 0 0" />
+      <mass
+        value="0.527" />
+      <inertia
+        ixx="8.5442E-05"
+        ixy="1.5357E-07"
+        ixz="8.3693E-07"
+        iyy="8.1185E-05"
+        iyz="2.2221E-08"
+        izz="8.2736E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link6.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link6.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_arm_joint6"
+    type="revolute">
+    <origin
+      xyz="0 0.028001 -0.16305"
+      rpy="0 0 0" />
+    <parent
+      link="right_arm_link5" />
+    <child
+      link="right_arm_link6" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.0122914150"
+      upper="1.0122914150"
+      effort="18"
+      velocity="10.4720" />
+  </joint>
+  <link
+    name="right_arm_link7">
+    <inertial>
+      <origin
+        xyz="-0.022945 2.2938E-07 -0.056523"
+        rpy="0 0 0" />
+      <mass
+        value="0.185" />
+      <inertia
+        ixx="7.8535E-05"
+        ixy="-9.5509E-10"
+        ixz="-2.8712E-05"
+        iyy="9.467E-05"
+        iyz="9.104E-11"
+        izz="6.1128E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link7.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.82353 0.82353 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/right_arm_link7.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_arm_joint7"
+    type="revolute">
+    <origin
+      xyz="0.0295 -0.028001 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_arm_link6" />
+    <child
+      link="right_arm_link7" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.5358934150"
+      upper="1.5358934150"
+      effort="18"
+      velocity="10.4720" />
+  </joint>
+  <link
+    name="right_gripper_link">
+    <inertial>
+      <origin
+        xyz="-2.2589E-07 -5.2175E-08 0.031107"
+        rpy="0 0 0" />
+      <mass
+        value="0.24625" />
+      <inertia
+        ixx="0.00016511"
+        ixy="9.5318E-07"
+        ixz="5.0942E-10"
+        iyy="9.8651E-05"
+        iyz="-1.8604E-10"
+        izz="0.00017588" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gripper_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gripper_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_gripper_joint"
+    type="fixed">
+    <origin
+      xyz="-0.0295 0.0 -0.1637"
+      rpy="0 0 0" />
+    <parent
+      link="right_arm_link7" />
+    <child
+      link="right_gripper_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_gmsl_link">
+    <inertial>
+      <origin
+        xyz="-3.53876339770354E-06 0.00952645301735067 -0.0193719007025304"
+        rpy="0 0 0" />
+      <mass
+        value="0.0230739846089694" />
+      <inertia
+        ixx="4.92288959423237E-06"
+        ixy="1.6786116612382E-08"
+        ixz="1.64117264604509E-10"
+        iyy="4.3213638594574E-06"
+        iyz="1.02602423053323E-06"
+        izz="4.37204196127736E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gmsl_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gmsl_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_gmsl_joint"
+    type="fixed">
+    <origin
+      xyz="0.06129 0 0.0082885"
+      rpy="-3.1416 0 -1.5708" />
+    <parent
+      link="right_gripper_link" />
+    <child
+      link="right_gmsl_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_gripper_finger_link1">
+    <inertial>
+      <origin
+        xyz="0.0056571 -0.015027 0.01959"
+        rpy="0 0 0" />
+      <mass
+        value="0.027" />
+      <inertia
+        ixx="6.4827E-06"
+        ixy="7.3969E-08"
+        ixz="-4.4977E-08"
+        iyy="5.7129E-06"
+        iyz="-3.9973E-07"
+        izz="2.4057E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gripper_finger_link1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gripper_finger_link1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_gripper_finger_joint1"
+    type="prismatic">
+    <origin
+      xyz="0.017997 -0.024503 0.0122"
+      rpy="0 0 0" />
+    <parent
+      link="right_gripper_link" />
+    <child
+      link="right_gripper_finger_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="right_gripper_finger_link2">
+    <inertial>
+      <origin
+        xyz="-0.0056573 0.015027 0.01959"
+        rpy="0 0 0" />
+      <mass
+        value="0.027" />
+      <inertia
+        ixx="6.4827E-06"
+        ixy="7.3965E-08"
+        ixz="4.5014E-08"
+        iyy="5.7129E-06"
+        iyz="3.9974E-07"
+        izz="2.4057E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gripper_finger_link2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_gripper_finger_link2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_gripper_finger_joint2"
+    type="prismatic">
+    <origin
+      xyz="-0.017997 0.024503 0.0122"
+      rpy="0 0 0" />
+    <parent
+      link="right_gripper_link" />
+    <child
+      link="right_gripper_finger_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="right_d405_link">
+    <inertial>
+      <origin
+        xyz="0.00904752892529659 0.0136909832199389 -0.00853046537674518"
+        rpy="0 0 0" />
+      <mass
+        value="0.0674054673338197" />
+      <inertia
+        ixx="2.44622496510173E-05"
+        ixy="4.16070671801075E-10"
+        ixz="-1.49033897860268E-08"
+        iyy="2.02869016745121E-05"
+        iyz="2.03088899511244E-06"
+        izz="1.88161703014415E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_d405_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.611764705882353 0.658823529411765 0.670588235294118 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://ace_description/urdf/r1_pro/meshes/left_d405_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_d405_joint"
+    type="fixed">
+    <origin
+      xyz="0.074676 0.009 0.022183"
+      rpy="2.4435 0 -1.5708" />
+    <parent
+      link="right_gripper_link" />
+    <child
+      link="right_d405_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>
diff --git a/urdf/r1_pro/scene/scene.xml b/urdf/r1_pro/scene/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a3a67ee42403b68461a177b37a75e48fb4981884
--- /dev/null
+++ b/urdf/r1_pro/scene/scene.xml
@@ -0,0 +1,39 @@
+<mujoco model="galaxyR1 scene">
+  <option timestep="0.001" gravity="0 0 -9.80665" integrator="implicitfast"/>
+  <compiler angle="radian" meshdir="../meshes"/>
+  <include file="../mjcf/galaxyR1_defaults.xml"/>
+  <include file="../mjcf/galaxyR1_assets.xml"/>
+  <include file="../mjcf/galaxyR1_contacts.xml"/>
+  <statistic center="0 0 0.3" extent="3.5"/>
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="135" elevation="-20"/>
+  </visual>
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0.2 0.2 0.2" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+  <worldbody>
+    <light pos="0 0 3.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" condim="3"/>
+    <body name="mobile_base">
+      <freejoint name="floating_base_joint"/>
+      <site name="base_velocity_site" pos="0 0 0"/>
+      <include file="../mjcf/galaxyR1_links.xml"/>
+    </body>
+  </worldbody>
+  <actuator>
+    <velocity name="vx" site="base_velocity_site" gear="1 0 0 0 0 0" kv="1000" ctrllimited="true" ctrlrange="-1.5 1.5" forcelimited="true" forcerange="-250 250"/>
+    <velocity name="vy" site="base_velocity_site" gear="0 1 0 0 0 0" kv="1000" ctrllimited="true" ctrlrange="-1.5 1.5" forcelimited="true" forcerange="-100 100"/>
+    <velocity name="vyaw" site="base_velocity_site" gear="0 0 0 0 0 1" kv="100" ctrllimited="true" ctrlrange="-3 3" forcelimited="true" forcerange="-15 15"/>
+  </actuator>
+  <include file="../mjcf/galaxyR1_actuators.xml"/>
+  <include file="../mjcf/galaxyR1_sensors.xml"/>
+  <keyframe>
+    <key name="home" qpos="0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.05 0.05 0 0 0 0 0 0 0 0.05 0.05" ctrl="0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1"/>
+    <key name="standby1" qpos="0 0 0 1 0 0 0 0 0 0 0 0 0 0.7853981633974483 -1.5707963267948966 -0.7853981633974483 0 0 0 0 -1.5707963267948966 0 0 0 0.05 0.05 0 0 0 -1.5707963267948966 0 0 0 0.05 0.05" ctrl="0 0 0 0.7853981633974483 -1.5707963267948966 -0.7853981633974483 0 0 0 0 -1.5707963267948966 0 0 0 1 0 0 0 -1.5707963267948966 0 0 0 1"/>
+    <key name="standby2" qpos="0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.05 0.05 0 0 0 0 0 0 0 0.05 0.05" ctrl="0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1"/>
+  </keyframe>
+</mujoco>