upload files

.gitattributes

@@ -177,3 +177,50 @@ assets/robots/unitree/G1/meshes/waist_support_link.STL filter=lfs diff=lfs merge
 assets/robots/unitree/G1/meshes/waist_yaw_link_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
 assets/robots/unitree/G1/meshes/waist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
 assets/robots/unitree/G1/meshes/xl330_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_base_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_base2_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_index_distal_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_index_proximal_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_index_tip_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_middle_distal_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_middle_proximal_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_middle_tip_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_pinky_distal_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_pinky_proximal_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_pinky_tip_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_ring_distal_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_ring_proximal_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_ring_tip_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_distal_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_metacarpal_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_proximal_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_tip_Link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_base_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_index_distal_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_index_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_index_tip.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_middle_distal_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_middle_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_middle_tip.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_pinky_distal_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_pinky_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_pinky_tip.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_ring_distal_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_ring_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_ring_tip.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_distal_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_metacarpal_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_proximal_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_tip.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/Dex1_base_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/Dex1_finger_link_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/Dex1_finger_link_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/left_hand_index_0_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/left_hand_index_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/left_hand_thumb_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/left_hand_thumb_2_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/pelvis_ver0529.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/right_hand_index_0_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/right_hand_index_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/right_hand_thumb_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/modular/meshes/right_hand_thumb_2_link.STL filter=lfs diff=lfs merge=lfs -text

assets/robots/unitree/G1/modular/LICENSE.unitree_ros

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

assets/robots/unitree/G1/modular/README.md

@@ -0,0 +1,19 @@
+# Modular Unitree G1 assets
+
+This directory is the minimal runtime closure for composing 66 unique
+29-DOF Unitree G1 variants from 5 bodies, 2 heads, and 7 hand choices.
+
+- `components/bodies/`: 5 body descriptions.
+- `components/heads/`: normal and COMP head descriptions.
+- `components/hands/`: 6 non-empty hand descriptions; `none` is represented
+  by the composer without a file.
+- `meshes/`: geometry not already present in the shared G1 mesh directory.
+- `mesh_index.json`: maps all logical mesh names to shared or modular files and
+  stores duplicate geometry only once.
+- `g1_urdf_composer.py`: deterministic URDF/MJCF composition and validation.
+- `manifest.json`: variant matrix and upstream source revision.
+
+The 11 complete upstream donor URDFs and 66 generated robot files are not
+duplicated here. Generated URDF/MJCF files are reproducible outputs of the
+component package. Unitree-derived descriptions and geometry retain the
+upstream BSD 3-Clause notice in `LICENSE.unitree_ros`.

assets/robots/unitree/G1/modular/components/bodies/mode11.xml

@@ -0,0 +1,869 @@
+<robot name="g1_body_mode11">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1" />
+  </material>
+  <mujoco>
+    <compiler meshdir="meshes" discardvisual="false" />
+  </mujoco>
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="0 0 -0.07605" rpy="0 0 0" />
+      <mass value="3.813" />
+      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pelvis_ver0529.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+  </link>
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="left_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="left_hip_pitch_link" />
+    <child link="left_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20" />
+  </joint>
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="left_hip_roll_link" />
+    <child link="left_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="left_hip_yaw_link" />
+    <child link="left_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="left_knee_link" />
+    <child link="left_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="left_ankle_pitch_link" />
+    <child link="left_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="right_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="right_hip_pitch_link" />
+    <child link="right_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20" />
+  </joint>
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="right_hip_roll_link" />
+    <child link="right_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="right_hip_yaw_link" />
+    <child link="right_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="right_knee_link" />
+    <child link="right_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="right_ankle_pitch_link" />
+    <child link="right_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="waist_yaw_link">
+    <inertial>
+      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0" />
+      <mass value="0.214" />
+      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/waist_yaw_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_yaw_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="waist_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="88" velocity="32" />
+  </joint>
+  <link name="waist_roll_link">
+    <inertial>
+      <origin xyz="0 2.3E-05 0" rpy="0 0 0" />
+      <mass value="0.086" />
+      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/waist_roll_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_roll_joint" type="revolute">
+    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0" />
+    <parent link="waist_yaw_link" />
+    <child link="waist_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
+  </joint>
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0" />
+      <mass value="6.78" />
+      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="waist_pitch_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="waist_roll_link" />
+    <child link="torso_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
+  </joint>
+  <joint name="logo_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="logo_link" />
+  </joint>
+  <link name="logo_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/logo_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/logo_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="imu_in_torso" />
+  <joint name="imu_in_torso_joint" type="fixed">
+    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="imu_in_torso" />
+  </joint>
+  <link name="imu_in_pelvis" />
+  <joint name="imu_in_pelvis_joint" type="fixed">
+    <origin xyz="0.04525 0 -0.08339" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="imu_in_pelvis" />
+  </joint>
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159" />
+    <parent link="torso_link" />
+    <child link="left_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0" />
+    <parent link="left_shoulder_pitch_link" />
+    <child link="left_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="left_shoulder_roll_link" />
+    <child link="left_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="left_shoulder_yaw_link" />
+    <child link="left_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="left_elbow_link" />
+    <child link="left_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="left_wrist_roll_link" />
+    <child link="left_wrist_pitch_link" />
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0 0 0" />
+      <mass value="0.48404956" />
+      <inertia ixx="0.00016579646273" ixy="-0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="0.00000081417712" izz="0.00042953697654" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_wrist_pitch_link" />
+    <child link="left_wrist_yaw_link" />
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159" />
+    <parent link="torso_link" />
+    <child link="right_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0" />
+    <parent link="right_shoulder_pitch_link" />
+    <child link="right_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="right_shoulder_roll_link" />
+    <child link="right_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="right_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="right_shoulder_yaw_link" />
+    <child link="right_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="right_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="right_elbow_link" />
+    <child link="right_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="right_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="right_wrist_roll_link" />
+    <child link="right_wrist_pitch_link" />
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 0.00111685314 -0.00111658096" rpy="0 0 0" />
+      <mass value="0.48404956" />
+      <inertia ixx="0.00016579646273" ixy="0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="-0.00000081417712" izz="0.00042953697654" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_wrist_pitch_link" />
+    <child link="right_wrist_yaw_link" />
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

assets/robots/unitree/G1/modular/components/bodies/mode13.xml

@@ -0,0 +1,893 @@
+<robot name="g1_body_mode13">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1" />
+  </material>
+  <mujoco>
+    <compiler meshdir="meshes" discardvisual="false" />
+  </mujoco>
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="0 0 -0.07605" rpy="0 0 0" />
+      <mass value="3.813" />
+      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pelvis.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+  </link>
+  <link name="pelvis_contour_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pelvis_contour_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pelvis_contour_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pelvis_contour_joint" type="fixed">
+    <parent link="pelvis" />
+    <child link="pelvis_contour_link" />
+  </joint>
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="left_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32" />
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="left_hip_pitch_link" />
+    <child link="left_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20" />
+  </joint>
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="left_hip_roll_link" />
+    <child link="left_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="left_hip_yaw_link" />
+    <child link="left_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="left_knee_link" />
+    <child link="left_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="left_ankle_pitch_link" />
+    <child link="left_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="right_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32" />
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="right_hip_pitch_link" />
+    <child link="right_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20" />
+  </joint>
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="right_hip_roll_link" />
+    <child link="right_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="right_hip_yaw_link" />
+    <child link="right_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="right_knee_link" />
+    <child link="right_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="right_ankle_pitch_link" />
+    <child link="right_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="waist_yaw_link">
+    <inertial>
+      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0" />
+      <mass value="0.214" />
+      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/waist_yaw_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_yaw_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="waist_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="88" velocity="32" />
+  </joint>
+  <link name="waist_roll_link">
+    <inertial>
+      <origin xyz="0 2.3E-05 0" rpy="0 0 0" />
+      <mass value="0.086" />
+      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/waist_roll_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_roll_joint" type="revolute">
+    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0" />
+    <parent link="waist_yaw_link" />
+    <child link="waist_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
+  </joint>
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0" />
+      <mass value="6.78" />
+      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="waist_pitch_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="waist_roll_link" />
+    <child link="torso_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
+  </joint>
+  <joint name="logo_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="logo_link" />
+  </joint>
+  <link name="logo_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/logo_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/logo_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="imu_in_torso" />
+  <joint name="imu_in_torso_joint" type="fixed">
+    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="imu_in_torso" />
+  </joint>
+  <link name="imu_in_pelvis" />
+  <joint name="imu_in_pelvis_joint" type="fixed">
+    <origin xyz="0.04525 0 -0.08339" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="imu_in_pelvis" />
+  </joint>
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159" />
+    <parent link="torso_link" />
+    <child link="left_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0" />
+    <parent link="left_shoulder_pitch_link" />
+    <child link="left_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="left_shoulder_roll_link" />
+    <child link="left_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="left_shoulder_yaw_link" />
+    <child link="left_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="left_elbow_link" />
+    <child link="left_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="left_wrist_roll_link" />
+    <child link="left_wrist_pitch_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02549150483 -0.00054042511 -0.00054143853" rpy="0 0 0" />
+      <mass value="0.684" />
+      <inertia ixx="0.00025599000747" ixy="-0.00000861777083" ixz="-0.00000857523406" iyy="0.00071633247299" iyz="-0.00000013994720" izz="0.00071591991283" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.051 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_wrist_pitch_link" />
+    <child link="left_wrist_yaw_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159" />
+    <parent link="torso_link" />
+    <child link="right_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0" />
+    <parent link="right_shoulder_pitch_link" />
+    <child link="right_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="right_shoulder_roll_link" />
+    <child link="right_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="right_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="right_shoulder_yaw_link" />
+    <child link="right_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="right_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="right_elbow_link" />
+    <child link="right_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="right_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="right_wrist_roll_link" />
+    <child link="right_wrist_pitch_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02549150483 0.00054042511 -0.00054143853" rpy="0 0 0" />
+      <mass value="0.684" />
+      <inertia ixx="0.00025599000747" ixy="0.00000861777083" ixz="0.00000857523406" iyy="0.00071633247299" iyz="-0.00000013994720" izz="0.00071591991283" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.051 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_wrist_pitch_link" />
+    <child link="right_wrist_yaw_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

assets/robots/unitree/G1/modular/components/bodies/mode15.xml

@@ -0,0 +1,869 @@
+<robot name="g1_body_mode15">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1" />
+  </material>
+  <mujoco>
+    <compiler meshdir="meshes" discardvisual="false" />
+  </mujoco>
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="0 0 -0.07605" rpy="0 0 0" />
+      <mass value="3.813" />
+      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pelvis_ver0529.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+  </link>
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="left_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="left_hip_pitch_link" />
+    <child link="left_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20" />
+  </joint>
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="left_hip_roll_link" />
+    <child link="left_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="left_hip_yaw_link" />
+    <child link="left_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="left_knee_link" />
+    <child link="left_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="left_ankle_pitch_link" />
+    <child link="left_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="right_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="right_hip_pitch_link" />
+    <child link="right_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20" />
+  </joint>
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="right_hip_roll_link" />
+    <child link="right_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="right_hip_yaw_link" />
+    <child link="right_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="right_knee_link" />
+    <child link="right_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="right_ankle_pitch_link" />
+    <child link="right_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="waist_yaw_link">
+    <inertial>
+      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0" />
+      <mass value="0.214" />
+      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/waist_yaw_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_yaw_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="waist_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="88" velocity="32" />
+  </joint>
+  <link name="waist_roll_link">
+    <inertial>
+      <origin xyz="0 2.3E-05 0" rpy="0 0 0" />
+      <mass value="0.086" />
+      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/waist_roll_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_roll_joint" type="revolute">
+    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0" />
+    <parent link="waist_yaw_link" />
+    <child link="waist_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
+  </joint>
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0" />
+      <mass value="6.78" />
+      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="waist_pitch_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="waist_roll_link" />
+    <child link="torso_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
+  </joint>
+  <joint name="logo_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="logo_link" />
+  </joint>
+  <link name="logo_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/logo_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/logo_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="imu_in_torso" />
+  <joint name="imu_in_torso_joint" type="fixed">
+    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="imu_in_torso" />
+  </joint>
+  <link name="imu_in_pelvis" />
+  <joint name="imu_in_pelvis_joint" type="fixed">
+    <origin xyz="0.04525 0 -0.08339" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="imu_in_pelvis" />
+  </joint>
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159" />
+    <parent link="torso_link" />
+    <child link="left_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0" />
+    <parent link="left_shoulder_pitch_link" />
+    <child link="left_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="left_shoulder_roll_link" />
+    <child link="left_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="left_shoulder_yaw_link" />
+    <child link="left_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="left_elbow_link" />
+    <child link="left_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="left_wrist_roll_link" />
+    <child link="left_wrist_pitch_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02549150483 -0.00054042511 -0.00054143853" rpy="0 0 0" />
+      <mass value="0.684" />
+      <inertia ixx="0.00025599000747" ixy="-0.00000861777083" ixz="-0.00000857523406" iyy="0.00071633247299" iyz="-0.00000013994720" izz="0.00071591991283" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.051 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_wrist_pitch_link" />
+    <child link="left_wrist_yaw_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159" />
+    <parent link="torso_link" />
+    <child link="right_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0" />
+    <parent link="right_shoulder_pitch_link" />
+    <child link="right_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="right_shoulder_roll_link" />
+    <child link="right_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="right_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="right_shoulder_yaw_link" />
+    <child link="right_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="right_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="right_elbow_link" />
+    <child link="right_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="right_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="right_wrist_roll_link" />
+    <child link="right_wrist_pitch_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02549150483 0.00054042511 -0.00054143853" rpy="0 0 0" />
+      <mass value="0.684" />
+      <inertia ixx="0.00025599000747" ixy="0.00000861777083" ixz="0.00000857523406" iyy="0.00071633247299" iyz="-0.00000013994720" izz="0.00071591991283" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.051 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_wrist_pitch_link" />
+    <child link="right_wrist_yaw_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

assets/robots/unitree/G1/modular/components/bodies/mode18.xml

@@ -0,0 +1,869 @@
+<robot name="g1_body_mode18">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1" />
+  </material>
+  <mujoco>
+    <compiler meshdir="meshes" discardvisual="false" />
+  </mujoco>
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="0 0 -0.07605" rpy="0 0 0" />
+      <mass value="3.813" />
+      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pelvis_ver0529.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+  </link>
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="left_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="left_hip_pitch_link" />
+    <child link="left_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20" />
+  </joint>
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="left_hip_roll_link" />
+    <child link="left_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="left_hip_yaw_link" />
+    <child link="left_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="left_knee_link" />
+    <child link="left_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="left_ankle_pitch_link" />
+    <child link="left_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="right_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="right_hip_pitch_link" />
+    <child link="right_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20" />
+  </joint>
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="right_hip_roll_link" />
+    <child link="right_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="right_hip_yaw_link" />
+    <child link="right_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="right_knee_link" />
+    <child link="right_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="right_ankle_pitch_link" />
+    <child link="right_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="waist_yaw_link">
+    <inertial>
+      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0" />
+      <mass value="0.214" />
+      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/waist_yaw_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_yaw_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="waist_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="88" velocity="32" />
+  </joint>
+  <link name="waist_roll_link">
+    <inertial>
+      <origin xyz="0 2.3E-05 0" rpy="0 0 0" />
+      <mass value="0.086" />
+      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/waist_roll_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_roll_joint" type="revolute">
+    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0" />
+    <parent link="waist_yaw_link" />
+    <child link="waist_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.52" upper="0.52" effort="100" velocity="26.9" />
+  </joint>
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0" />
+      <mass value="6.78" />
+      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="waist_pitch_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="waist_roll_link" />
+    <child link="torso_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.52" upper="0.52" effort="100" velocity="26.9" />
+  </joint>
+  <joint name="logo_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="logo_link" />
+  </joint>
+  <link name="logo_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/logo_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/logo_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="imu_in_torso" />
+  <joint name="imu_in_torso_joint" type="fixed">
+    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="imu_in_torso" />
+  </joint>
+  <link name="imu_in_pelvis" />
+  <joint name="imu_in_pelvis_joint" type="fixed">
+    <origin xyz="0.04525 0 -0.08339" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="imu_in_pelvis" />
+  </joint>
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159" />
+    <parent link="torso_link" />
+    <child link="left_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0" />
+    <parent link="left_shoulder_pitch_link" />
+    <child link="left_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="left_shoulder_roll_link" />
+    <child link="left_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="left_shoulder_yaw_link" />
+    <child link="left_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="left_elbow_link" />
+    <child link="left_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="left_wrist_roll_link" />
+    <child link="left_wrist_pitch_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02549150483 -0.00054042511 -0.00054143853" rpy="0 0 0" />
+      <mass value="0.684" />
+      <inertia ixx="0.00025599000747" ixy="-0.00000861777083" ixz="-0.00000857523406" iyy="0.00071633247299" iyz="-0.00000013994720" izz="0.00071591991283" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.051 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_wrist_pitch_link" />
+    <child link="left_wrist_yaw_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159" />
+    <parent link="torso_link" />
+    <child link="right_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0" />
+    <parent link="right_shoulder_pitch_link" />
+    <child link="right_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="right_shoulder_roll_link" />
+    <child link="right_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="right_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="right_shoulder_yaw_link" />
+    <child link="right_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="right_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="right_elbow_link" />
+    <child link="right_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="right_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="right_wrist_roll_link" />
+    <child link="right_wrist_pitch_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02549150483 0.00054042511 -0.00054143853" rpy="0 0 0" />
+      <mass value="0.684" />
+      <inertia ixx="0.00025599000747" ixy="0.00000861777083" ixz="0.00000857523406" iyy="0.00071633247299" iyz="-0.00000013994720" izz="0.00071591991283" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.051 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_wrist_pitch_link" />
+    <child link="right_wrist_yaw_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

assets/robots/unitree/G1/modular/components/bodies/mode5.xml

@@ -0,0 +1,893 @@
+<robot name="g1_body_mode5">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1" />
+  </material>
+  <mujoco>
+    <compiler meshdir="meshes" discardvisual="false" />
+  </mujoco>
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="0 0 -0.07605" rpy="0 0 0" />
+      <mass value="3.813" />
+      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pelvis.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+  </link>
+  <link name="pelvis_contour_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pelvis_contour_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pelvis_contour_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pelvis_contour_joint" type="fixed">
+    <parent link="pelvis" />
+    <child link="pelvis_contour_link" />
+  </joint>
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="left_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32" />
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="left_hip_pitch_link" />
+    <child link="left_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20" />
+  </joint>
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="left_hip_roll_link" />
+    <child link="left_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="left_hip_yaw_link" />
+    <child link="left_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="left_knee_link" />
+    <child link="left_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="left_ankle_pitch_link" />
+    <child link="left_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="right_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32" />
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="right_hip_pitch_link" />
+    <child link="right_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20" />
+  </joint>
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="right_hip_roll_link" />
+    <child link="right_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="right_hip_yaw_link" />
+    <child link="right_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="right_knee_link" />
+    <child link="right_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="right_ankle_pitch_link" />
+    <child link="right_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="waist_yaw_link">
+    <inertial>
+      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0" />
+      <mass value="0.214" />
+      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/waist_yaw_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_yaw_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="waist_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="88" velocity="32" />
+  </joint>
+  <link name="waist_roll_link">
+    <inertial>
+      <origin xyz="0 2.3E-05 0" rpy="0 0 0" />
+      <mass value="0.086" />
+      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/waist_roll_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_roll_joint" type="revolute">
+    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0" />
+    <parent link="waist_yaw_link" />
+    <child link="waist_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
+  </joint>
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0" />
+      <mass value="6.78" />
+      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="waist_pitch_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="waist_roll_link" />
+    <child link="torso_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
+  </joint>
+  <joint name="logo_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="logo_link" />
+  </joint>
+  <link name="logo_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/logo_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/logo_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="imu_in_torso" />
+  <joint name="imu_in_torso_joint" type="fixed">
+    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="imu_in_torso" />
+  </joint>
+  <link name="imu_in_pelvis" />
+  <joint name="imu_in_pelvis_joint" type="fixed">
+    <origin xyz="0.04525 0 -0.08339" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="imu_in_pelvis" />
+  </joint>
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159" />
+    <parent link="torso_link" />
+    <child link="left_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0" />
+    <parent link="left_shoulder_pitch_link" />
+    <child link="left_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="left_shoulder_roll_link" />
+    <child link="left_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="left_shoulder_yaw_link" />
+    <child link="left_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="left_elbow_link" />
+    <child link="left_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="left_wrist_roll_link" />
+    <child link="left_wrist_pitch_link" />
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0 0 0" />
+      <mass value="0.48404956" />
+      <inertia ixx="0.00016579646273" ixy="-0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="0.00000081417712" izz="0.00042953697654" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_wrist_pitch_link" />
+    <child link="left_wrist_yaw_link" />
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159" />
+    <parent link="torso_link" />
+    <child link="right_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0" />
+    <parent link="right_shoulder_pitch_link" />
+    <child link="right_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="right_shoulder_roll_link" />
+    <child link="right_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="right_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="right_shoulder_yaw_link" />
+    <child link="right_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="right_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="right_elbow_link" />
+    <child link="right_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="right_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="right_wrist_roll_link" />
+    <child link="right_wrist_pitch_link" />
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 0.00111685314 -0.00111658096" rpy="0 0 0" />
+      <mass value="0.48404956" />
+      <inertia ixx="0.00016579646273" ixy="0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="-0.00000081417712" izz="0.00042953697654" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_wrist_pitch_link" />
+    <child link="right_wrist_yaw_link" />
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

assets/robots/unitree/G1/modular/components/hands/brainco.xml

@@ -0,0 +1,1228 @@
+<robot name="g1_hand_brainco">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1" />
+  </material>
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL" />
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0 0 0" />
+      <mass value="0.48404956" />
+      <inertia ixx="0.00016579646273" ixy="-0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="0.00000081417712" izz="0.00042953697654" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL" />
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link.STL" />
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_base2_link">
+    <inertial>
+      <origin xyz="-0.00283400 0 0.00000145" rpy="0 0 0" />
+      <mass value="0.02280635" />
+      <inertia ixx="0.00000768" ixy="0.00000000" ixz="0.00000000" iyy="0.00000580" iyz="-0.00000000" izz="0.00000427" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_base2_link.STL" />
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_base2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_base_link">
+    <inertial>
+      <origin xyz="-0.00478670623240344 0.00141981128680179 0.0505239077176535" rpy="0 0 0" />
+      <mass value="0.238" />
+      <inertia ixx="2.2266510056133E-05" ixy="-2.6318583761649E-07" ixz="1.83638592892823E-07" iyy="1.55367220548952E-05" iyz="1.26586485241028E-06" izz="8.58669326263691E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_base_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="meshes/left_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_thumb_metacarpal_Link">
+    <inertial>
+      <origin xyz="1.52303696287007E-05 -0.00707240283482268 -0.00420839832903629" rpy="0 0 0" />
+      <mass value="0.01" />
+      <inertia ixx="1.59238866130872E-07" ixy="4.69114607598504E-09" ixz="4.93233725002146E-10" iyy="1.60911967461755E-07" iyz="1.48144948560702E-08" izz="5.13544258620214E-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_thumb_metacarpal_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="meshes/left_thumb_metacarpal_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_thumb_proximal_Link">
+    <inertial>
+      <origin xyz="3.41001513141231E-07 0.0250090688174992 -0.0017505675193664" rpy="0 0 0" />
+      <mass value="0.05" />
+      <inertia ixx="3.23318665954068E-06" ixy="1.54514148596387E-10" ixz="-1.24375216968143E-11" iyy="5.64488567432875E-07" iyz="5.04309083812214E-08" izz="3.39928573090826E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_thumb_proximal_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="meshes/left_thumb_proximal_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_thumb_distal_Link">
+    <inertial>
+      <origin xyz="-1.65618684180163E-07 0.0117550891981017 1.1366609064185E-05" rpy="0 0 0" />
+      <mass value="0.01" />
+      <inertia ixx="1.6780928553031E-07" ixy="1.91856562375255E-11" ixz="-2.694752026736E-12" iyy="1.15357239984326E-07" iyz="1.25182560702848E-08" izz="2.1956615213811E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_thumb_distal_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="meshes/left_thumb_distal_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_thumb_tip_Link">
+    <inertial>
+      <origin xyz="-4.85722573273506E-17 -4.16333634234434E-17 -3.46944695195361E-18" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.63624617374468E-7" ixy="0" ixz="0" iyy="1.63624617374468E-7" iyz="0" izz="1.63624617374468E-7" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_thumb_tip_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="meshes/left_thumb_tip_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_index_proximal_Link">
+    <inertial>
+      <origin xyz="-0.002235387426012 -3.80544615179342E-06 0.0176439423080373" rpy="0 0 0" />
+      <mass value="0.009" />
+      <inertia ixx="2.51863526940901E-07" ixy="-3.10934654014177E-11" ixz="-6.36901300651624E-09" iyy="2.36343210839019E-07" iyz="-1.71663811116817E-10" izz="9.30397543724724E-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_index_proximal_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="meshes/left_index_proximal_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_index_distal_Link">
+    <inertial>
+      <origin xyz="0.00418325886379583 -8.45607972810303E-08 0.0153641608762859" rpy="0 0 0" />
+      <mass value="0.009" />
+      <inertia ixx="3.65266271559531E-07" ixy="5.6892108332606E-13" ixz="-1.02335061442931E-07" iyy="3.96961530855654E-07" iyz="7.73961385851005E-13" izz="1.04991723103838E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_index_distal_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="meshes/left_index_distal_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_index_tip_Link">
+    <inertial>
+      <origin xyz="6.69832245225876E-13 9.73495589695617E-12 2.23557283796083E-13" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.63624617374468E-7" ixy="0" ixz="0" iyy="1.63624617374468E-7" iyz="0" izz="1.63624617374468E-7" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_index_tip_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="meshes/left_index_tip_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_middle_proximal_Link">
+    <inertial>
+      <origin xyz="-0.00222419445309931 -3.61990820813615E-06 0.0203049526045434" rpy="0 0 0" />
+      <mass value="0.009" />
+      <inertia ixx="3.66885320718611E-07" ixy="-3.64303343703497E-11" ixz="-9.77995332041374E-09" iyy="3.5252138716754E-07" iyz="-2.5809821190624E-10" izz="1.12242284171831E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_middle_proximal_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="meshes/left_middle_proximal_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_middle_distal_Link">
+    <inertial>
+      <origin xyz="0.00269750139301865 3.27210103736979E-07 0.0183076461156786" rpy="0 0 0" />
+      <mass value="0.009" />
+      <inertia ixx="5.88341898887764E-07" ixy="-1.34073376318216E-12" ixz="-1.04743131832206E-07" iyy="6.07118927271625E-07" iyz="-1.31817421243194E-11" izz="1.11265454837883E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_middle_distal_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="meshes/left_middle_distal_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_middle_tip_Link">
+    <inertial>
+      <origin xyz="3.12250225675825E-16 -1.90819582357449E-17 5.55111512312578E-17" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.63624617374468E-7" ixy="0" ixz="0" iyy="1.63624617374468E-7" iyz="0" izz="1.63624617374468E-7" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_middle_tip_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="meshes/left_middle_tip_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_ring_proximal_Link">
+    <inertial>
+      <origin xyz="-0.00234461360118865 -5.32058096490429E-06 0.0191785931520923" rpy="0 0 0" />
+      <mass value="0.009" />
+      <inertia ixx="3.1418221085363E-07" ixy="-3.44825864493742E-11" ixz="-7.78011903077359E-09" iyy="2.97623388067888E-07" iyz="-2.45023710126388E-10" izz="1.02120946203075E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ring_proximal_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="meshes/left_ring_proximal_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_ring_distal_Link">
+    <inertial>
+      <origin xyz="0.00249839540877306 -2.78996376279483E-08 0.0177055538603162" rpy="0 0 0" />
+      <mass value="0.009" />
+      <inertia ixx="5.40369389752843E-07" ixy="-3.16120850919061E-12" ixz="-9.71738751449028E-08" iyy="5.56818359755755E-07" iyz="-5.08675656941986E-12" izz="1.03096676549004E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_ring_distal_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="meshes/left_ring_distal_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_ring_tip_Link">
+    <inertial>
+      <origin xyz="3.05311331771918E-16 3.46944695195361E-17 2.77555756156289E-17" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.63624617374468E-7" ixy="0" ixz="0" iyy="1.63624617374468E-7" iyz="0" izz="1.63624617374468E-7" />
+    </inertial>
+    <visual>
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+  <link name="right_pinky_distal_link">
+    <inertial>
+      <origin xyz="0.00398575709812823 -1.18733454507539E-07 0.0141073520225541" rpy="0 0 0" />
+      <mass value="0.009" />
+      <inertia ixx="2.88287304139793E-07" ixy="8.06230341569425E-13" ixz="-7.78224822397468E-08" iyy="3.10873492837471E-07" iyz="3.24621869724066E-12" izz="9.12935606299289E-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_pinky_distal_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="meshes/right_pinky_distal_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_pinky_tip">
+    <inertial>
+      <origin xyz="3.46944695195361E-18 -5.20417042793042E-18 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.63624617374468E-7" ixy="0" ixz="0" iyy="1.63624617374468E-7" iyz="0" izz="1.63624617374468E-7" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_pinky_tip.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="meshes/right_pinky_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="left_elbow_link" />
+    <child link="left_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="left_wrist_roll_link" />
+    <child link="left_wrist_pitch_link" />
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_wrist_pitch_link" />
+    <child link="left_wrist_yaw_link" />
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <joint name="left_base2_joint" type="fixed">
+    <origin xyz="0.0415 0 0" rpy="0 0 0" />
+    <parent link="left_wrist_yaw_link" />
+    <child link="left_base2_link" />
+  </joint>
+  <joint name="left_base_joint" type="fixed">
+    <origin xyz="0.0591 0 0" rpy="-1.570796326 0 -1.570796326" />
+    <parent link="left_wrist_yaw_link" />
+    <child link="left_base_link" />
+  </joint>
+  <joint name="left_thumb_metacarpal_joint" type="revolute">
+    <origin xyz="0.0045 -0.019 0.027825" rpy="0 0 0.16787" />
+    <parent link="left_base_link" />
+    <child link="left_thumb_metacarpal_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.5184" effort="0.5" velocity="2.6175" />
+  </joint>
+  <joint name="left_thumb_proximal_joint" type="revolute">
+    <origin xyz="0 -0.014227 0" rpy="0.17488 -0.23736 2.9737" />
+    <parent link="left_thumb_metacarpal_Link" />
+    <child link="left_thumb_proximal_Link" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.0472" effort="1.1" velocity="2.5303" />
+  </joint>
+  <joint name="left_thumb_distal_joint" type="revolute">
+    <origin xyz="0 0.052 0" rpy="0 0 0" />
+    <parent link="left_thumb_proximal_Link" />
+    <child link="left_thumb_distal_Link" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.0472" effort="1.1" velocity="2.5303" />
+    <mimic joint="left_thumb_proximal_joint" multiplier="1" offset="0" />
+  </joint>
+  <joint name="left_thumb_tip_joint" type="revolute">
+    <origin xyz="0 0.026528781163583 -0.00177344281307927" rpy="0.0667504507189052 0 3.14159265358979" />
+    <parent link="left_thumb_distal_Link" />
+    <child link="left_thumb_tip_Link" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="0" effort="0" velocity="0" />
+  </joint>
+  <joint name="left_index_proximal_joint" type="revolute">
+    <origin xyz="-0.0021349 -0.029578 0.080876" rpy="0.11819 0.14743 0.17422" />
+    <parent link="left_base_link" />
+    <child link="left_index_proximal_Link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685" />
+  </joint>
+  <joint name="left_index_distal_joint" type="revolute">
+    <origin xyz="0 0 0.032" rpy="0 0 0" />
+    <parent link="left_index_proximal_Link" />
+    <child link="left_index_distal_Link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.693" effort="2" velocity="2.2685" />
+    <mimic joint="left_index_proximal_joint" multiplier="1.155" offset="0" />
+  </joint>
+  <joint name="left_index_tip_joint" type="revolute">
+    <origin xyz="0.011097 0 0.035739" rpy="0 0.48723 0" />
+    <parent link="left_index_distal_Link" />
+    <child link="left_index_tip_Link" />
+    <axis xyz="0 1 0" />
+    <limit lower="1" upper="1" effort="1" velocity="1" />
+  </joint>
+  <joint name="left_middle_proximal_joint" type="revolute">
+    <origin xyz="-0.0045935 -0.010061 0.084993" rpy="0.039468 0.1483 0.057975" />
+    <parent link="left_base_link" />
+    <child link="left_middle_proximal_Link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685" />
+  </joint>
+  <joint name="left_middle_distal_joint" type="revolute">
+    <origin xyz="0 0 0.037" rpy="0 0.12654 0" />
+    <parent link="left_middle_proximal_Link" />
+    <child link="left_middle_distal_Link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.693" effort="2" velocity="2.2685" />
+    <mimic joint="left_middle_proximal_joint" multiplier="1.155" offset="0" />
+  </joint>
+  <joint name="left_middle_tip_joint" type="revolute">
+    <origin xyz="0.0073534 0 0.041703" rpy="0 0.34907 0" />
+    <parent link="left_middle_distal_Link" />
+    <child link="left_middle_tip_Link" />
+    <axis xyz="0 1 0" />
+    <limit lower="1" upper="1" effort="1" velocity="1" />
+  </joint>
+  <joint name="left_ring_proximal_joint" type="revolute">
+    <origin xyz="-0.00468767815858587 0.0100262714211602 0.0839819548795939" rpy="-0.0394618478609065 0.147209177132223 -0.0579317909005277" />
+    <parent link="left_base_link" />
+    <child link="left_ring_proximal_Link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685" />
+  </joint>
+  <joint name="left_ring_distal_joint" type="revolute">
+    <origin xyz="0 0 0.035" rpy="0 0.12654 0" />
+    <parent link="left_ring_proximal_Link" />
+    <child link="left_ring_distal_Link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.693" effort="2" velocity="2.2685" />
+    <mimic joint="left_ring_proximal_joint" multiplier="1.155" offset="0" />
+  </joint>
+  <joint name="left_ring_tip_joint" type="revolute">
+    <origin xyz="0.0071824 0 0.040734" rpy="0 0.34907 0" />
+    <parent link="left_ring_distal_Link" />
+    <child link="left_ring_tip_Link" />
+    <axis xyz="0 1 0" />
+    <limit lower="1" upper="1" effort="1" velocity="1" />
+  </joint>
+  <joint name="left_pinky_proximal_joint" type="revolute">
+    <origin xyz="-0.0023733 0.029356 0.078694" rpy="-0.11815 0.14491 -0.17392" />
+    <parent link="left_base_link" />
+    <child link="left_pinky_proximal_Link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685" />
+  </joint>
+  <joint name="left_pinky_distal_joint" type="revolute">
+    <origin xyz="0 0 0.029" rpy="0 0 0" />
+    <parent link="left_pinky_proximal_Link" />
+    <child link="left_pinky_distal_Link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.693" effort="2" velocity="2.2685" />
+    <mimic joint="left_pinky_proximal_joint" multiplier="1.155" offset="0" />
+  </joint>
+  <joint name="left_pinky_tip_joint" type="revolute">
+    <origin xyz="0.010221 0 0.032918" rpy="0 0.4756 0" />
+    <parent link="left_pinky_distal_Link" />
+    <child link="left_pinky_tip_Link" />
+    <axis xyz="0 1 0" />
+    <limit lower="1" upper="1" effort="1" velocity="1" />
+  </joint>
+  <joint name="right_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="right_elbow_link" />
+    <child link="right_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="right_wrist_roll_link" />
+    <child link="right_wrist_pitch_link" />
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_wrist_pitch_link" />
+    <child link="right_wrist_yaw_link" />
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <joint name="right_base2_joint" type="fixed">
+    <origin xyz="0.0415 0 0" rpy="0 0 0" />
+    <parent link="right_wrist_yaw_link" />
+    <child link="right_base2_link" />
+  </joint>
+  <joint name="right_base_joint" type="fixed">
+    <origin xyz="0.0591 0 0" rpy="1.570796326 0 1.570796326" />
+    <parent link="right_wrist_yaw_link" />
+    <child link="right_base_link" />
+  </joint>
+  <joint name="right_thumb_metacarpal_joint" type="revolute">
+    <origin xyz="0.005619 0.019867 0.027825" rpy="3.1416 0 2.9637" />
+    <parent link="right_base_link" />
+    <child link="right_thumb_metacarpal_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.5184" effort="0.5" velocity="2.6175" />
+  </joint>
+  <joint name="right_thumb_proximal_joint" type="revolute">
+    <origin xyz="0 0.014227 0" rpy="-2.9667 -0.23736 2.9737" />
+    <parent link="right_thumb_metacarpal_link" />
+    <child link="right_thumb_proximal_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.0472" effort="1.1" velocity="2.5303" />
+  </joint>
+  <joint name="right_thumb_distal_joint" type="revolute">
+    <origin xyz="0 0.052 0" rpy="0 0 0" />
+    <parent link="right_thumb_proximal_link" />
+    <child link="right_thumb_distal_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.0472" effort="1.1" velocity="2.5303" />
+    <mimic joint="right_thumb_proximal_joint" multiplier="1" offset="0" />
+  </joint>
+  <joint name="right_thumb_tip" type="revolute">
+    <origin xyz="0 0.026529 -0.0017734" rpy="-0.06675 0 0" />
+    <parent link="right_thumb_distal_link" />
+    <child link="right_thumb_tip" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="0" effort="0" velocity="0" />
+  </joint>
+  <joint name="right_index_proximal_joint" type="revolute">
+    <origin xyz="-0.0021181 0.029568 0.080876" rpy="-0.11819 0.14743 -0.17422" />
+    <parent link="right_base_link" />
+    <child link="right_index_proximal_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685" />
+  </joint>
+  <joint name="right_index_distal_joint" type="revolute">
+    <origin xyz="0 0 0.032" rpy="0 0 0" />
+    <parent link="right_index_proximal_link" />
+    <child link="right_index_distal_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.693" effort="2" velocity="2.2685" />
+    <mimic joint="right_index_proximal_joint" multiplier="1.155" offset="0" />
+  </joint>
+  <joint name="right_index_tip_joint" type="revolute">
+    <origin xyz="0.011097 0 0.035739" rpy="0 0.4756 0" />
+    <parent link="right_index_distal_link" />
+    <child link="right_index_tip" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="0" effort="0" velocity="0" />
+  </joint>
+  <joint name="right_middle_proximal_joint" type="revolute">
+    <origin xyz="-0.0045767 0.010051 0.084993" rpy="-0.039468 0.1483 -0.057975" />
+    <parent link="right_base_link" />
+    <child link="right_middle_proximal_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685" />
+  </joint>
+  <joint name="right_middle_distal_joint" type="revolute">
+    <origin xyz="0 0 0.037" rpy="0 0 0" />
+    <parent link="right_middle_proximal_link" />
+    <child link="right_middle_distal_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.693" effort="2" velocity="2.2685" />
+    <mimic joint="right_middle_proximal_joint" multiplier="1.155" offset="0" />
+  </joint>
+  <joint name="right_middle_tip_joint" type="revolute">
+    <origin xyz="0.012558 0 0.040442" rpy="0 0.4756 0" />
+    <parent link="right_middle_distal_link" />
+    <child link="right_middle_tip" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="0" effort="0" velocity="0" />
+  </joint>
+  <joint name="right_ring_proximal_joint" type="revolute">
+    <origin xyz="-0.0046709 -0.010037 0.083982" rpy="0.039462 0.14721 0.057932" />
+    <parent link="right_base_link" />
+    <child link="right_ring_proximal_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685" />
+  </joint>
+  <joint name="right_ring_distal_joint" type="revolute">
+    <origin xyz="0 0 0.035" rpy="0 0 0" />
+    <parent link="right_ring_proximal_link" />
+    <child link="right_ring_distal_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.693" effort="2" velocity="2.2685" />
+    <mimic joint="right_ring_proximal_joint" multiplier="1.155" offset="0" />
+  </joint>
+  <joint name="right_ring_tip_joint" type="revolute">
+    <origin xyz="0.012266 0 0.039501" rpy="0 0.4756 0" />
+    <parent link="right_ring_distal_link" />
+    <child link="right_ring_tip" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="0" effort="0" velocity="0" />
+  </joint>
+  <joint name="right_pinky_proximal_joint" type="revolute">
+    <origin xyz="-0.0023566 -0.029366 0.078694" rpy="0.11815 0.14491 0.17392" />
+    <parent link="right_base_link" />
+    <child link="right_pinky_proximal_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685" />
+  </joint>
+  <joint name="right_pinky_distal_joint" type="revolute">
+    <origin xyz="0 0 0.029" rpy="0 0 0" />
+    <parent link="right_pinky_proximal_link" />
+    <child link="right_pinky_distal_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.693" effort="2" velocity="2.2685" />
+    <mimic joint="right_pinky_proximal_joint" multiplier="1.155" offset="0" />
+  </joint>
+  <joint name="right_pinky_tip_joint" type="revolute">
+    <origin xyz="0.010221 0 0.032918" rpy="0 0.4756 0" />
+    <parent link="right_pinky_distal_link" />
+    <child link="right_pinky_tip" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="0" effort="0" velocity="0" />
+  </joint>
+</robot>

assets/robots/unitree/G1/modular/components/hands/dex1_1.xml

@@ -0,0 +1,178 @@
+<robot name="g1_hand_dex1_1">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1" />
+  </material>
+  <link name="left_dex1_base_link">
+    <inertial>
+      <origin xyz="0.043853 -0.0001306 1.4003E-05" rpy="0 0 0" />
+      <mass value="0.19138" />
+      <inertia ixx="7.4842E-05" ixy="1.6252E-07" ixz="-8.0516E-09" iyy="5.861E-05" iyz="-3.5931E-08" izz="3.9364E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Dex1_base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Dex1_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_dex1_finger_link_1">
+    <inertial>
+      <origin xyz="0.073453 -0.011173 0.0086355" rpy="0 0 0" />
+      <mass value="0.086783" />
+      <inertia ixx="2.5583E-05" ixy="5.1557E-07" ixz="-6.3178E-07" iyy="1.4549E-05" iyz="7.8542E-08" izz="3.6013E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Dex1_finger_link_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.41176 0.41176 0.41176 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/dex1_col_1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_dex1_finger_link_2">
+    <inertial>
+      <origin xyz="0.073453 0.011173 -0.0086355" rpy="0 0 0" />
+      <mass value="0.086783" />
+      <inertia ixx="2.5583E-05" ixy="-5.1557E-07" ixz="6.3178E-07" iyy="1.4549E-05" iyz="7.8542E-08" izz="3.6013E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Dex1_finger_link_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/dex1_col_2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_dex1_base_link">
+    <inertial>
+      <origin xyz="0.043853 -0.0001306 1.4003E-05" rpy="0 0 0" />
+      <mass value="0.19138" />
+      <inertia ixx="7.4842E-05" ixy="1.6252E-07" ixz="-8.0516E-09" iyy="5.861E-05" iyz="-3.5931E-08" izz="3.9364E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Dex1_base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Dex1_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_dex1_finger_link_1">
+    <inertial>
+      <origin xyz="0.073453 -0.011173 0.0086355" rpy="0 0 0" />
+      <mass value="0.086783" />
+      <inertia ixx="2.5583E-05" ixy="5.1557E-07" ixz="-6.3178E-07" iyy="1.4549E-05" iyz="7.8542E-08" izz="3.6013E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Dex1_finger_link_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.41176 0.41176 0.41176 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/dex1_col_1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_dex1_finger_link_2">
+    <inertial>
+      <origin xyz="0.073453 0.011173 -0.0086355" rpy="0 0 0" />
+      <mass value="0.086783" />
+      <inertia ixx="2.5583E-05" ixy="-5.1557E-07" ixz="6.3178E-07" iyy="1.4549E-05" iyz="7.8542E-08" izz="3.6013E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Dex1_finger_link_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/dex1_col_2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_base_joint" type="fixed">
+    <origin xyz="0.0415 0 0" rpy="0 0 0" />
+    <parent link="left_wrist_yaw_link" />
+    <child link="left_dex1_base_link" />
+  </joint>
+  <joint name="left_dex1_finger_joint_1" type="prismatic">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="left_dex1_base_link" />
+    <child link="left_dex1_finger_link_1" />
+    <axis xyz="0 -1 0" />
+    <limit lower="-0.02" upper="0.0245" effort="20" velocity="0.2" />
+  </joint>
+  <joint name="left_dex1_finger_joint_2" type="prismatic">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="left_dex1_base_link" />
+    <child link="left_dex1_finger_link_2" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.02" upper="0.0245" effort="20" velocity="0.2" />
+  </joint>
+  <joint name="right_base_joint" type="fixed">
+    <origin xyz="0.0415 0 0" rpy="0 0 0" />
+    <parent link="right_wrist_yaw_link" />
+    <child link="right_dex1_base_link" />
+  </joint>
+  <joint name="right_dex1_finger_joint_1" type="prismatic">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="right_dex1_base_link" />
+    <child link="right_dex1_finger_link_1" />
+    <axis xyz="0 -1 0" />
+    <limit lower="-0.02" upper="0.0245" effort="20" velocity="0.2" />
+  </joint>
+  <joint name="right_dex1_finger_joint_2" type="prismatic">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="right_dex1_base_link" />
+    <child link="right_dex1_finger_link_2" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.02" upper="0.0245" effort="20" velocity="0.2" />
+  </joint>
+</robot>

assets/robots/unitree/G1/modular/components/hands/dex3_1.xml

@@ -0,0 +1,436 @@
+<robot name="g1_hand_dex3_1">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1" />
+  </material>
+  <link name="left_hand_palm_link">
+    <inertial>
+      <origin xyz="0.06214634836 -0.00050869656 -0.00058171093" rpy="0 0 0" />
+      <mass value="0.37283854" />
+      <inertia ixx="0.00027535181027" ixy="-0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_palm_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_palm_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_thumb_0_link">
+    <inertial>
+      <origin xyz="-0.00088424580 -0.00863407079 0.00094429336" rpy="0 0 0" />
+      <mass value="0.08623657" />
+      <inertia ixx="0.00001602919238" ixy="0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="-0.00000051094752" izz="0.00001637877663" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_0_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_0_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_thumb_1_link">
+    <inertial>
+      <origin xyz="-0.00082788768 -0.03547435774 -0.00038089960" rpy="0 0 0" />
+      <mass value="0.05885070" />
+      <inertia ixx="0.00001274699945" ixy="-0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="-0.00000027839003" izz="0.00001234543582" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_1_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.001 -0.032 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.02 0.03 0.02" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_thumb_2_link">
+    <inertial>
+      <origin xyz="-0.00171735242 -0.02628192939 0.00010778879" rpy="0 0 0" />
+      <mass value="0.02030626" />
+      <inertia ixx="0.00000461267817" ixy="-0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="-0.00000002549885" izz="0.00000386625776" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_2_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_middle_0_link">
+    <inertial>
+      <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0" />
+      <mass value="0.05885070" />
+      <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_middle_0_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_middle_0_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_middle_1_link">
+    <inertial>
+      <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0" />
+      <mass value="0.02030626" />
+      <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_middle_1_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_middle_1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_index_0_link">
+    <inertial>
+      <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0" />
+      <mass value="0.05885070" />
+      <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_0_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_0_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_index_1_link">
+    <inertial>
+      <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0" />
+      <mass value="0.02030626" />
+      <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_1_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_palm_link">
+    <inertial>
+      <origin xyz="0.06214634836 0.00050869656 -0.00058171093" rpy="0 0 0" />
+      <mass value="0.37283854" />
+      <inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="0.00000042279435" izz="0.00039623390907" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_palm_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_palm_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_thumb_0_link">
+    <inertial>
+      <origin xyz="-0.00088424580 0.00863407079 0.00094429336" rpy="0 0 0" />
+      <mass value="0.08623657" />
+      <inertia ixx="0.00001602919238" ixy="-0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="0.00000051094752" izz="0.00001637877663" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_0_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_0_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_thumb_1_link">
+    <inertial>
+      <origin xyz="-0.00082788768 0.03547435774 -0.00038089960" rpy="0 0 0" />
+      <mass value="0.05885070" />
+      <inertia ixx="0.00001274699945" ixy="0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="0.00000027839003" izz="0.00001234543582" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_1_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.001 0.032 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.02 0.03 0.02" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_thumb_2_link">
+    <inertial>
+      <origin xyz="-0.00171735242 0.02628192939 0.00010778879" rpy="0 0 0" />
+      <mass value="0.02030626" />
+      <inertia ixx="0.00000461267817" ixy="0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="0.00000002549885" izz="0.00000386625776" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_2_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_middle_0_link">
+    <inertial>
+      <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0" />
+      <mass value="0.05885070" />
+      <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_middle_0_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_middle_0_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_middle_1_link">
+    <inertial>
+      <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0" />
+      <mass value="0.02030626" />
+      <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_middle_1_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_middle_1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_index_0_link">
+    <inertial>
+      <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0" />
+      <mass value="0.05885070" />
+      <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_0_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_0_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_index_1_link">
+    <inertial>
+      <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0" />
+      <mass value="0.02030626" />
+      <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_1_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 0.003 0" rpy="0 0 0" />
+    <parent link="left_wrist_yaw_link" />
+    <child link="left_hand_palm_link" />
+  </joint>
+  <joint name="left_hand_thumb_0_joint" type="revolute">
+    <origin xyz="0.0255 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="left_hand_palm_link" />
+    <child link="left_hand_thumb_0_link" />
+    <limit effort="2.45" velocity="3.14" lower="-1.04719755" upper="1.04719755" />
+  </joint>
+  <joint name="left_hand_thumb_1_joint" type="revolute">
+    <origin xyz="-0.0025 -0.0193 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_hand_thumb_0_link" />
+    <child link="left_hand_thumb_1_link" />
+    <limit effort="1.4" velocity="12" lower="-0.61086523" upper="1.04719755" />
+  </joint>
+  <joint name="left_hand_thumb_2_joint" type="revolute">
+    <origin xyz="0 -0.0458 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_hand_thumb_1_link" />
+    <child link="left_hand_thumb_2_link" />
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925" />
+  </joint>
+  <joint name="left_hand_middle_0_joint" type="revolute">
+    <origin xyz="0.0777 0.0016 -0.0285" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_hand_palm_link" />
+    <child link="left_hand_middle_0_link" />
+    <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0" />
+  </joint>
+  <joint name="left_hand_middle_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_hand_middle_0_link" />
+    <child link="left_hand_middle_1_link" />
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0" />
+  </joint>
+  <joint name="left_hand_index_0_joint" type="revolute">
+    <origin xyz="0.0777 0.0016 0.0285" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_hand_palm_link" />
+    <child link="left_hand_index_0_link" />
+    <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0" />
+  </joint>
+  <joint name="left_hand_index_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_hand_index_0_link" />
+    <child link="left_hand_index_1_link" />
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0" />
+  </joint>
+  <joint name="right_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 -0.003 0" rpy="0 0 0" />
+    <parent link="right_wrist_yaw_link" />
+    <child link="right_hand_palm_link" />
+  </joint>
+  <joint name="right_hand_thumb_0_joint" type="revolute">
+    <origin xyz="0.0255 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="right_hand_palm_link" />
+    <child link="right_hand_thumb_0_link" />
+    <limit effort="2.45" velocity="3.14" lower="-1.04719755" upper="1.04719755" />
+  </joint>
+  <joint name="right_hand_thumb_1_joint" type="revolute">
+    <origin xyz="-0.0025 0.0193 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_hand_thumb_0_link" />
+    <child link="right_hand_thumb_1_link" />
+    <limit effort="1.4" velocity="12" lower="-1.04719755" upper="0.61086523" />
+  </joint>
+  <joint name="right_hand_thumb_2_joint" type="revolute">
+    <origin xyz="0 0.0458 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_hand_thumb_1_link" />
+    <child link="right_hand_thumb_2_link" />
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0" />
+  </joint>
+  <joint name="right_hand_middle_0_joint" type="revolute">
+    <origin xyz="0.0777 -0.0016 -0.0285" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_hand_palm_link" />
+    <child link="right_hand_middle_0_link" />
+    <limit effort="1.4" velocity="12" lower="0" upper="1.57079632" />
+  </joint>
+  <joint name="right_hand_middle_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_hand_middle_0_link" />
+    <child link="right_hand_middle_1_link" />
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925" />
+  </joint>
+  <joint name="right_hand_index_0_joint" type="revolute">
+    <origin xyz="0.0777 -0.0016 0.0285" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_hand_palm_link" />
+    <child link="right_hand_index_0_link" />
+    <limit effort="1.4" velocity="12" lower="0" upper="1.57079632" />
+  </joint>
+  <joint name="right_hand_index_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_hand_index_0_link" />
+    <child link="right_hand_index_1_link" />
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925" />
+  </joint>
+</robot>

assets/robots/unitree/G1/modular/components/hands/inspire_dfq.xml

@@ -0,0 +1,770 @@
+<robot name="g1_hand_inspire_dfq">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1" />
+  </material>
+  <link name="L_hand_base_link">
+    <inertial>
+      <origin xyz="-0.002551 -0.066047 -0.0019357" rpy="0 0 0" />
+      <mass value="0.14143" />
+      <inertia ixx="0.0001234" ixy="2.1995E-06" ixz="-1.7694E-06" iyy="8.3835E-05" iyz="1.5968E-06" izz="7.7231E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_hand_base_link.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_thumb_proximal_base">
+    <inertial>
+      <origin xyz="0.0048817 0.00038782 -0.00722" rpy="0 0 0" />
+      <mass value="0.0018869" />
+      <inertia ixx="5.5158E-08" ixy="-1.1803E-08" ixz="-4.6743E-09" iyy="8.2164E-08" iyz="-1.3521E-09" izz="6.7434E-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link11_L.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link11_L.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_thumb_proximal">
+    <inertial>
+      <origin xyz="0.021936 -0.01279 -0.0080386" rpy="0 0 0" />
+      <mass value="0.0066101" />
+      <inertia ixx="1.5693E-06" ixy="7.8339E-07" ixz="8.5959E-10" iyy="1.7356E-06" iyz="1.0378E-09" izz="2.787E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link12_L.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link12_L.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_thumb_intermediate">
+    <inertial>
+      <origin xyz="0.0095531 0.0016282 -0.0072002" rpy="0 0 0" />
+      <mass value="0.0037844" />
+      <inertia ixx="3.6981E-07" ixy="9.8603E-08" ixz="-2.8173E-12" iyy="3.2395E-07" iyz="-2.8028E-12" izz="4.6532E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link13_L.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link13_L.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_thumb_distal">
+    <inertial>
+      <origin xyz="0.0092888 -0.004953 -0.0060033" rpy="0 0 0" />
+      <mass value="0.003344" />
+      <inertia ixx="1.3632E-07" ixy="5.6787E-08" ixz="-9.1939E-11" iyy="1.4052E-07" iyz="1.2145E-10" izz="2.0026E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link14_L.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link14_L.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_index_proximal">
+    <inertial>
+      <origin xyz="0.0012971 -0.011934 -0.0059998" rpy="0 0 0" />
+      <mass value="0.0042405" />
+      <inertia ixx="6.6215E-07" ixy="1.8442E-08" ixz="1.3746E-12" iyy="2.1167E-07" iyz="-1.4773E-11" izz="6.9402E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link15_L.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link15_L.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_index_intermediate">
+    <inertial>
+      <origin xyz="0.0021753 -0.019567 -0.005" rpy="0 0 0" />
+      <mass value="0.0045682" />
+      <inertia ixx="7.6284E-07" ixy="-8.063E-08" ixz="3.6797E-13" iyy="9.4308E-08" iyz="1.5743E-13" izz="7.8176E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link16_L.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link16_L.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_middle_proximal">
+    <inertial>
+      <origin xyz="0.0012971 -0.011934 -0.0059999" rpy="0 0 0" />
+      <mass value="0.0042405" />
+      <inertia ixx="6.6215E-07" ixy="1.8442E-08" ixz="1.2299E-12" iyy="2.1167E-07" iyz="-1.4484E-11" izz="6.9402E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link17_L.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link17_L.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_middle_intermediate">
+    <inertial>
+      <origin xyz="0.001921 -0.020796 -0.0049999" rpy="0 0 0" />
+      <mass value="0.0050397" />
+      <inertia ixx="9.5823E-07" ixy="-1.1425E-07" ixz="-2.4186E-12" iyy="1.0646E-07" iyz="3.6974E-12" izz="9.8385E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link18_L.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link18_L.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_ring_proximal">
+    <inertial>
+      <origin xyz="0.0012971 -0.011934 -0.0059999" rpy="0 0 0" />
+      <mass value="0.0042405" />
+      <inertia ixx="6.6215E-07" ixy="1.8442E-08" ixz="9.6052E-13" iyy="2.1167E-07" iyz="-1.4124E-11" izz="6.9402E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link19_L.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link19_L.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_ring_intermediate">
+    <inertial>
+      <origin xyz="0.0021753 -0.019567 -0.005" rpy="0 0 0" />
+      <mass value="0.0045682" />
+      <inertia ixx="7.6285E-07" ixy="-8.0631E-08" ixz="3.3472E-14" iyy="9.4308E-08" iyz="-4.4773E-13" izz="7.8176E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link20_L.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link20_L.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_pinky_proximal">
+    <inertial>
+      <origin xyz="0.0012971 -0.011934 -0.0059999" rpy="0 0 0" />
+      <mass value="0.0042405" />
+      <inertia ixx="6.6215E-07" ixy="1.8442E-08" ixz="1.0279E-12" iyy="2.1167E-07" iyz="-1.4277E-11" izz="6.9402E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link21_L.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link21_L.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_pinky_intermediate">
+    <inertial>
+      <origin xyz="0.0024788 -0.016208 -0.0050001" rpy="0 0 0" />
+      <mass value="0.0036036" />
+      <inertia ixx="4.3923E-07" ixy="-4.1355E-08" ixz="1.2263E-12" iyy="7.0315E-08" iyz="3.1311E-12" izz="4.4881E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link22_L.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link22_L.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_hand_base_link">
+    <inertial>
+      <origin xyz="-0.0025264 -0.066047 0.0019598" rpy="0 0 0" />
+      <mass value="0.14143" />
+      <inertia ixx="0.00012281" ixy="2.1711E-06" ixz="1.7709E-06" iyy="8.3832E-05" iyz="-1.6551E-06" izz="7.6663E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_hand_base_link.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_thumb_proximal_base">
+    <inertial>
+      <origin xyz="-0.0048064 0.0009382 -0.00757" rpy="0 0 0" />
+      <mass value="0.0018869" />
+      <inertia ixx="5.816E-08" ixy="1.4539E-08" ixz="4.491E-09" iyy="7.9161E-08" iyz="-1.8727E-09" izz="6.7433E-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link11_R.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link11_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_thumb_proximal">
+    <inertial>
+      <origin xyz="0.021932 0.012785 -0.0080386" rpy="0 0 0" />
+      <mass value="0.0066075" />
+      <inertia ixx="1.5686E-06" ixy="-7.8296E-07" ixz="8.9143E-10" iyy="1.7353E-06" iyz="-1.0191E-09" izz="2.786E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link12_R.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link12_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_thumb_intermediate">
+    <inertial>
+      <origin xyz="0.0095544 -0.0016282 -0.0071997" rpy="0 0 0" />
+      <mass value="0.0037847" />
+      <inertia ixx="3.6981E-07" ixy="-9.8581E-08" ixz="-4.7469E-12" iyy="3.2394E-07" iyz="1.0939E-12" izz="4.6531E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link13_R.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link13_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_thumb_distal">
+    <inertial>
+      <origin xyz="0.0092888 0.0049529 -0.0060033" rpy="0 0 0" />
+      <mass value="0.0033441" />
+      <inertia ixx="1.3632E-07" ixy="-5.6788E-08" ixz="-9.2764E-11" iyy="1.4052E-07" iyz="-1.2283E-10" izz="2.0026E-07" />
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link14_R.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link14_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_index_proximal">
+    <inertial>
+      <origin xyz="0.0012259 0.011942 -0.0060001" rpy="0 0 0" />
+      <mass value="0.0042403" />
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link15_R.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link15_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_index_intermediate">
+    <inertial>
+      <origin xyz="0.0019697 0.019589 -0.005" rpy="0 0 0" />
+      <mass value="0.0045683" />
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link16_R.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link16_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_middle_proximal">
+    <inertial>
+      <origin xyz="0.001297 0.011934 -0.0060001" rpy="0 0 0" />
+      <mass value="0.0042403" />
+      <inertia ixx="6.6211E-07" ixy="-1.8461E-08" ixz="1.8002E-12" iyy="2.1167E-07" iyz="-6.6808E-12" izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link17_R.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link17_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_middle_intermediate">
+    <inertial>
+      <origin xyz="0.001921 0.020796 -0.005" rpy="0 0 0" />
+      <mass value="0.0050396" />
+      <inertia ixx="9.5822E-07" ixy="1.1425E-07" ixz="-2.4791E-12" iyy="1.0646E-07" iyz="5.9173E-12" izz="9.8384E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link18_R.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link18_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_ring_proximal">
+    <inertial>
+      <origin xyz="0.001297 0.011934 -0.0060002" rpy="0 0 0" />
+      <mass value="0.0042403" />
+      <inertia ixx="6.6211E-07" ixy="-1.8461E-08" ixz="1.5793E-12" iyy="2.1167E-07" iyz="-6.6868E-12" izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link19_R.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link19_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_ring_intermediate">
+    <inertial>
+      <origin xyz="0.0021753 0.019567 -0.005" rpy="0 0 0" />
+      <mass value="0.0045683" />
+      <inertia ixx="7.6286E-07" ixy="8.0635E-08" ixz="-6.1562E-13" iyy="9.431E-08" iyz="5.8619E-13" izz="7.8177E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link20_R.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link20_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_pinky_proximal">
+    <inertial>
+      <origin xyz="0.001297 0.011934 -0.0060001" rpy="0 0 0" />
+      <mass value="0.0042403" />
+      <inertia ixx="6.6211E-07" ixy="-1.8461E-08" ixz="1.6907E-12" iyy="2.1167E-07" iyz="-6.9334E-12" izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link21_R.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link21_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_pinky_intermediate">
+    <inertial>
+      <origin xyz="0.0024748 0.016203 -0.0050031" rpy="0 0 0" />
+      <mass value="0.0035996" />
+      <inertia ixx="4.3913E-07" ixy="4.1418E-08" ixz="3.7168E-11" iyy="7.0247E-08" iyz="5.8613E-11" izz="4.4867E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link22_R.STL" />
+      </geometry>
+      <material name="dark">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Link22_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="L_base_link_joint" type="fixed">
+    <origin xyz="0.0415 0 0" rpy="0 0 1.5707963267948966192313216916398" />
+    <parent link="left_wrist_yaw_link" />
+    <child link="L_hand_base_link" />
+  </joint>
+  <joint name="L_thumb_proximal_yaw_joint" type="revolute">
+    <origin xyz="-0.01696 -0.0691 0.02045" rpy="1.5708 -1.5708 0" />
+    <parent link="L_hand_base_link" />
+    <child link="L_thumb_proximal_base" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.1" upper="1.3" effort="1" velocity="0.5" />
+  </joint>
+  <joint name="L_thumb_proximal_pitch_joint" type="revolute">
+    <origin xyz="0.0099867 0.0098242 -0.0089" rpy="-1.5708 0 0.16939" />
+    <parent link="L_thumb_proximal_base" />
+    <child link="L_thumb_proximal" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-0.1" upper="0.6" effort="1" velocity="0.5" />
+  </joint>
+  <joint name="L_thumb_intermediate_joint" type="revolute">
+    <origin xyz="0.04407 -0.034553 -0.0008" rpy="0 0 0" />
+    <parent link="L_thumb_proximal" />
+    <child link="L_thumb_intermediate" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="0.8" effort="1" velocity="0.5" />
+    <mimic joint="L_thumb_proximal_pitch_joint" multiplier="1.6" offset="0" />
+  </joint>
+  <joint name="L_thumb_distal_joint" type="revolute">
+    <origin xyz="0.020248 -0.010156 -0.0012" rpy="0 0 0" />
+    <parent link="L_thumb_intermediate" />
+    <child link="L_thumb_distal" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.2" effort="1" velocity="0.5" />
+    <mimic joint="L_thumb_proximal_pitch_joint" multiplier="2.4" offset="0" />
+  </joint>
+  <joint name="L_index_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.13653 0.032268" rpy="-0.034907 0 0" />
+    <parent link="L_hand_base_link" />
+    <child link="L_index_proximal" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+  </joint>
+  <joint name="L_index_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 -0.032041 -0.001" rpy="0 0 0" />
+    <parent link="L_index_proximal" />
+    <child link="L_index_intermediate" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+    <mimic joint="L_index_proximal_joint" multiplier="1" offset="0" />
+  </joint>
+  <joint name="L_middle_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.1371 0.01295" rpy="0 0 0" />
+    <parent link="L_hand_base_link" />
+    <child link="L_middle_proximal" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+  </joint>
+  <joint name="L_middle_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 -0.032041 -0.001" rpy="0 0 0" />
+    <parent link="L_middle_proximal" />
+    <child link="L_middle_intermediate" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+    <mimic joint="L_middle_proximal_joint" multiplier="1" offset="0" />
+  </joint>
+  <joint name="L_ring_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.13691 -0.0062872" rpy="0.05236 0 0" />
+    <parent link="L_hand_base_link" />
+    <child link="L_ring_proximal" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+  </joint>
+  <joint name="L_ring_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 -0.032041 -0.001" rpy="0 0 0" />
+    <parent link="L_ring_proximal" />
+    <child link="L_ring_intermediate" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+    <mimic joint="L_ring_proximal_joint" multiplier="1" offset="0" />
+  </joint>
+  <joint name="L_pinky_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.13571 -0.025488" rpy="0.10472 0 0" />
+    <parent link="L_hand_base_link" />
+    <child link="L_pinky_proximal" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+  </joint>
+  <joint name="L_pinky_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 -0.032041 -0.001" rpy="0 0 0" />
+    <parent link="L_pinky_proximal" />
+    <child link="L_pinky_intermediate" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+    <mimic joint="L_pinky_proximal_joint" multiplier="1" offset="0" />
+  </joint>
+  <joint name="R_base_link_joint" type="fixed">
+    <origin xyz="0.0415 0 0" rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398" />
+    <parent link="right_wrist_yaw_link" />
+    <child link="R_hand_base_link" />
+  </joint>
+  <joint name="R_thumb_proximal_yaw_joint" type="revolute">
+    <origin xyz="-0.01696 -0.0691 -0.02045" rpy="1.5708 -1.5708 0" />
+    <parent link="R_hand_base_link" />
+    <child link="R_thumb_proximal_base" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-0.1" upper="1.3" effort="1" velocity="0.5" />
+  </joint>
+  <joint name="R_thumb_proximal_pitch_joint" type="revolute">
+    <origin xyz="-0.0088099 0.010892 -0.00925" rpy="1.5708 0 2.8587" />
+    <parent link="R_thumb_proximal_base" />
+    <child link="R_thumb_proximal" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.1" upper="0.6" effort="1" velocity="0.5" />
+  </joint>
+  <joint name="R_thumb_intermediate_joint" type="revolute">
+    <origin xyz="0.04407 0.034553 -0.0008" rpy="0 0 0" />
+    <parent link="R_thumb_proximal" />
+    <child link="R_thumb_intermediate" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.8" effort="1" velocity="0.5" />
+    <mimic joint="R_thumb_proximal_pitch_joint" multiplier="1.6" offset="0" />
+  </joint>
+  <joint name="R_thumb_distal_joint" type="revolute">
+    <origin xyz="0.020248 0.010156 -0.0012" rpy="0 0 0" />
+    <parent link="R_thumb_intermediate" />
+    <child link="R_thumb_distal" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.2" effort="1" velocity="0.5" />
+    <mimic joint="R_thumb_proximal_pitch_joint" multiplier="2.4" offset="0" />
+  </joint>
+  <joint name="R_index_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.13653 -0.032268" rpy="-3.1067 0 0" />
+    <parent link="R_hand_base_link" />
+    <child link="R_index_proximal" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+  </joint>
+  <joint name="R_index_intermediate_joint" type="revolute">
+    <origin xyz="-0.0026138 0.032026 -0.001" rpy="0 0 0" />
+    <parent link="R_index_proximal" />
+    <child link="R_index_intermediate" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+    <mimic joint="R_index_proximal_joint" multiplier="1" offset="0" />
+  </joint>
+  <joint name="R_middle_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.1371 -0.01295" rpy="-3.1416 0 0" />
+    <parent link="R_hand_base_link" />
+    <child link="R_middle_proximal" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+  </joint>
+  <joint name="R_middle_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0" />
+    <parent link="R_middle_proximal" />
+    <child link="R_middle_intermediate" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+    <mimic joint="R_middle_proximal_joint" multiplier="1" offset="0" />
+  </joint>
+  <joint name="R_ring_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.13691 0.0062872" rpy="3.0892 0 0" />
+    <parent link="R_hand_base_link" />
+    <child link="R_ring_proximal" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+  </joint>
+  <joint name="R_ring_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0" />
+    <parent link="R_ring_proximal" />
+    <child link="R_ring_intermediate" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+    <mimic joint="R_ring_proximal_joint" multiplier="1" offset="0" />
+  </joint>
+  <joint name="R_pinky_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.13571 0.025488" rpy="3.0369 0 0" />
+    <parent link="R_hand_base_link" />
+    <child link="R_pinky_proximal" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+  </joint>
+  <joint name="R_pinky_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0" />
+    <parent link="R_pinky_proximal" />
+    <child link="R_pinky_intermediate" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5" />
+    <mimic joint="R_pinky_proximal_joint" multiplier="1" offset="0" />
+  </joint>
+</robot>

assets/robots/unitree/G1/modular/components/hands/inspire_ftp.xml

@@ -0,0 +1,1722 @@
+<robot name="g1_hand_inspire_ftp">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1" />
+  </material>
+  <link name="left_base_link">
+    <inertial>
+      <origin xyz="-0.000129826516506615 -0.00373209820390109 0.0826860453890524" rpy="0 0 0" />
+      <mass value="0.62266" />
+      <inertia ixx="0.000221307823686699" ixy="1.16490748163886E-06" ixz="-5.80325306205011E-07" iyy="0.00026513454780435" iyz="1.55187520961687E-05" izz="0.000132311385681939" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_base_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="meshes/left_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_palm_force_sensor">
+    <inertial>
+      <origin xyz="-0.000120093335198468 0.000717297413647363 -0.000692889069965119" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.79237847416137E-07" ixy="-3.62335250998281E-10" ixz="2.06838829668637E-10" iyy="5.01887324843558E-07" iyz="-4.23537057624967E-10" izz="6.80017237748533E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_palm_force_sensor.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_palm_force_sensor.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_thumb_1">
+    <inertial>
+      <origin xyz="0.000892587008927997 0.000344904925262568 0.00159994421521059" rpy="0 0 0" />
+      <mass value="0.00746" />
+      <inertia ixx="1.2983519872666E-07" ixy="5.71160209319418E-09" ixz="-1.48758983716317E-08" iyy="1.11222049064813E-07" iyz="-2.10520897820255E-09" izz="7.03400599726425E-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_thumb_1.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="meshes/left_thumb_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_thumb_2">
+    <inertial>
+      <origin xyz="-0.0138338557330702 0.0119064253484683 -0.00884568682807551" rpy="0 0 0" />
+      <mass value="0.04264" />
+      <inertia ixx="1.06992620749386E-06" ixy="7.73895281587509E-08" ixz="-1.82300078409443E-09" iyy="9.94179895508654E-07" iyz="-2.14768595156751E-09" izz="1.3509537005286E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_thumb_2.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="meshes/left_thumb_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_thumb_force_sensor_1">
+    <inertial>
+      <origin xyz="1.66858232989106E-05 -1.15630711571557E-05 -0.00107124647646149" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="9.01122065715071E-09" ixy="2.06673401316216E-14" ixz="-2.31198472922296E-12" iyy="4.94557964402789E-09" iyz="-1.1789230357668E-11" izz="1.35651342806704E-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_thumb_force_sensor_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_thumb_force_sensor_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_thumb_3">
+    <inertial>
+      <origin xyz="-0.0108800191783186 0.00425952831010942 -0.0076501712330704" rpy="0 0 0" />
+      <mass value="0.01501" />
+      <inertia ixx="5.19553148414743E-07" ixy="1.00409055606659E-07" ixz="-1.22260512341586E-10" iyy="5.03386725498716E-07" iyz="2.62527191934887E-11" izz="5.33624332749317E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_thumb_3.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="meshes/left_thumb_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_thumb_force_sensor_2">
+    <inertial>
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+      <geometry>
+        <mesh filename="meshes/right_middle_force_sensor_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1" />
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+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_middle_force_sensor_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_middle_force_sensor_3">
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_middle_force_sensor_3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1" />
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_middle_force_sensor_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_middle_force_sensor_1">
+    <inertial>
+      <origin xyz="3.42843697213185E-07 0.000116657509605197 -0.000567442695803486" rpy="0 0 0" />
+      <mass value="0.001" />
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_middle_force_sensor_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1" />
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+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_middle_force_sensor_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_ring_1">
+    <inertial>
+      <origin xyz="-0.00219417465246989 0.0127409362160862 -0.0066494113506478" rpy="0 0 0" />
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ring_1.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="meshes/right_ring_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_ring_2">
+    <inertial>
+      <origin xyz="0.000532825578113461 0.02534346612146 -0.00609293344206238" rpy="0 0 0" />
+      <mass value="0.01281" />
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ring_2.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="meshes/right_ring_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_ring_force_sensor_2">
+    <inertial>
+      <origin xyz="-1.52436836100122E-05 0.000205901966578506 -0.000722888420897932" rpy="0 0 0" />
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ring_force_sensor_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ring_force_sensor_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_ring_force_sensor_3">
+    <inertial>
+      <origin xyz="1.45480090249107E-05 -0.000345868489067203 -0.00133799622683203" rpy="0 0 0" />
+      <mass value="0.001" />
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ring_force_sensor_3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ring_force_sensor_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_ring_force_sensor_1">
+    <inertial>
+      <origin xyz="-5.90327958142033E-06 0.000116509445804644 -0.000567443259521572" rpy="0 0 0" />
+      <mass value="0.001" />
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ring_force_sensor_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1" />
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+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_ring_force_sensor_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_little_1">
+    <inertial>
+      <origin xyz="-0.00219418424084009 0.0127409391731467 -0.00664940009923338" rpy="0 0 0" />
+      <mass value="0.02841" />
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_little_1.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="meshes/right_little_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_little_2">
+    <inertial>
+      <origin xyz="0.00142962322858008 0.0206390061213492 -0.00609937271859847" rpy="0 0 0" />
+      <mass value="0.00957" />
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_little_2.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="meshes/right_little_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_little_force_sensor_2">
+    <inertial>
+      <origin xyz="1.83850807690782E-05 -0.000118792499944516 -0.00077353663965421" rpy="0 0 0" />
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_little_force_sensor_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_little_force_sensor_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_little_force_sensor_3">
+    <inertial>
+      <origin xyz="6.36863053951123E-05 -0.000437236774208316 -0.00112814037373121" rpy="0 0 0" />
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_little_force_sensor_3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_little_force_sensor_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_little_force_sensor_1">
+    <inertial>
+      <origin xyz="-1.2130080955873E-05 0.000116026903212899 -0.00056744299424992" rpy="0 0 0" />
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_little_force_sensor_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_little_force_sensor_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_base_joint" type="fixed">
+    <origin xyz="0.0415 0 0" rpy="3.1415926535 -1.5707963267 0" />
+    <parent link="left_wrist_yaw_link" />
+    <child link="left_base_link" />
+  </joint>
+  <joint name="left_palm_force_sensor_joint" type="fixed">
+    <origin xyz="0.00036819 0.012296 0.1196" rpy="1.5708 0 3.1416" />
+    <parent link="left_base_link" />
+    <child link="left_palm_force_sensor" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_thumb_1_joint" type="revolute">
+    <origin xyz="0.0269 0.02101 0.0689" rpy="0 0 0" />
+    <parent link="left_base_link" />
+    <child link="left_thumb_1" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.1641" effort="10" velocity="1" />
+  </joint>
+  <joint name="left_thumb_2_joint" type="revolute">
+    <origin xyz="0.0073431 0.011232 0.0052" rpy="1.5708 0 -2.8798" />
+    <parent link="left_thumb_1" />
+    <child link="left_thumb_2" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="0.5864" effort="10" velocity="1" />
+  </joint>
+  <joint name="left_thumb_force_sensor_1_joint" type="fixed">
+    <origin xyz="-0.0087121 0.026305 -0.0089605" rpy="1.2213 -1.5708 -3.14" />
+    <parent link="left_thumb_2" />
+    <child link="left_thumb_force_sensor_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_thumb_3_joint" type="revolute">
+    <origin xyz="-0.031403 0.021069 -0.001299" rpy="0 0 0" />
+    <parent link="left_thumb_2" />
+    <child link="left_thumb_3" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="0.5" effort="10" velocity="1" />
+    <mimic joint="left_thumb_2_joint" multiplier="0.8024" offset="0" />
+  </joint>
+  <joint name="left_thumb_force_sensor_2_joint" type="fixed">
+    <origin xyz="-0.011771 0.01699 -0.0077514" rpy="-1.8405 -1.5705 0" />
+    <parent link="left_thumb_3" />
+    <child link="left_thumb_force_sensor_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_thumb_4_joint" type="revolute">
+    <origin xyz="-0.021903 0.012816 -0.0003" rpy="0 0 0" />
+    <parent link="left_thumb_3" />
+    <child link="left_thumb_4" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="3.14" effort="10" velocity="1" />
+    <mimic joint="left_thumb_3_joint" multiplier="0.9487" offset="0" />
+  </joint>
+  <joint name="left_thumb_force_sensor_3_joint" type="fixed">
+    <origin xyz="-0.014598 0.014721 -0.0073103" rpy="0.18602 -1.5708 -2.2971" />
+    <parent link="left_thumb_4" />
+    <child link="left_thumb_force_sensor_3" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_thumb_force_sensor_4_joint" type="fixed">
+    <origin xyz="-0.028987 0.017301 -0.0073513" rpy="2.0775 1.5708 -2.12" />
+    <parent link="left_thumb_4" />
+    <child link="left_thumb_force_sensor_4" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_index_1_joint" type="revolute">
+    <origin xyz="0.038679 0.00056467 0.1564" rpy="1.5359 0 -1.5708" />
+    <parent link="left_base_link" />
+    <child link="left_index_1" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.4381" effort="10" velocity="1" />
+  </joint>
+  <joint name="left_index_force_sensor_1_joint" type="fixed">
+    <origin xyz="-0.012046 0.019649 0.006651" rpy="1.5708 -1.5351 -1.7829" />
+    <parent link="left_index_1" />
+    <child link="left_index_force_sensor_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_index_2_joint" type="revolute">
+    <origin xyz="-0.0034259 0.032596 0.00055" rpy="0 0 0" />
+    <parent link="left_index_1" />
+    <child link="left_index_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="3.14" effort="10" velocity="1" />
+    <mimic joint="left_index_1_joint" multiplier="1.0843" offset="0" />
+  </joint>
+  <joint name="left_index_force_sensor_2_joint" type="fixed">
+    <origin xyz="-0.0081655 0.037446 0.0060795" rpy="1.5708 -1.5337 -1.222" />
+    <parent link="left_index_2" />
+    <child link="left_index_force_sensor_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_index_force_sensor_3_joint" type="fixed">
+    <origin xyz="-0.0086237 0.052572 0.0060954" rpy="1.5708 -1.5252 -2.2692" />
+    <parent link="left_index_2" />
+    <child link="left_index_force_sensor_3" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_middle_1_joint" type="revolute">
+    <origin xyz="0.0171 0.00056467 0.157" rpy="1.5708 0 -1.5708" />
+    <parent link="left_base_link" />
+    <child link="left_middle_1" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.4381" effort="10" velocity="1" />
+  </joint>
+  <joint name="left_middle_force_sensor_1_joint" type="fixed">
+    <origin xyz="-0.012046 0.019649 0.006651" rpy="0.73473 -1.5708 -0.94682" />
+    <parent link="left_middle_1" />
+    <child link="left_middle_force_sensor_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_middle_2_joint" type="revolute">
+    <origin xyz="-0.0034259 0.032596 0.00055" rpy="0 0 0" />
+    <parent link="left_middle_1" />
+    <child link="left_middle_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="3.14" effort="10" velocity="1" />
+    <mimic joint="left_middle_1_joint" multiplier="1.0843" offset="0" />
+  </joint>
+  <joint name="left_middle_force_sensor_2_joint" type="fixed">
+    <origin xyz="-0.009086 0.040962 0.0061003" rpy="1.8942 -1.5708 -1.5214" />
+    <parent link="left_middle_2" />
+    <child link="left_middle_force_sensor_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_middle_force_sensor_3_joint" type="fixed">
+    <origin xyz="-0.0098294 0.056051 0.0061006" rpy="0.84662 -1.5708 -1.521" />
+    <parent link="left_middle_2" />
+    <child link="left_middle_force_sensor_3" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_ring_1_joint" type="revolute">
+    <origin xyz="-0.0045302 0.00056467 0.15683" rpy="1.6232 0 -1.5708" />
+    <parent link="left_base_link" />
+    <child link="left_ring_1" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.4381" effort="10" velocity="1" />
+  </joint>
+  <joint name="left_ring_force_sensor_1_joint" type="fixed">
+    <origin xyz="-0.012046 0.019649 0.006651" rpy="-1.5708 -1.5172 1.3587" />
+    <parent link="left_ring_1" />
+    <child link="left_ring_force_sensor_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_ring_2_joint" type="revolute">
+    <origin xyz="-0.0034259 0.032596 0.00055" rpy="0 0 0" />
+    <parent link="left_ring_1" />
+    <child link="left_ring_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="3.14" effort="10" velocity="1" />
+    <mimic joint="left_ring_1_joint" multiplier="1.0843" offset="0" />
+  </joint>
+  <joint name="left_ring_force_sensor_2_joint" type="fixed">
+    <origin xyz="-0.0081655 0.037446 0.0060795" rpy="-1.5708 -1.5151 1.9196" />
+    <parent link="left_ring_2" />
+    <child link="left_ring_force_sensor_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_ring_force_sensor_3_joint" type="fixed">
+    <origin xyz="-0.0086237 0.052572 0.0060954" rpy="-1.5708 -1.5025 0.87237" />
+    <parent link="left_ring_2" />
+    <child link="left_ring_force_sensor_3" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_little_1_joint" type="revolute">
+    <origin xyz="-0.025916 0.00056467 0.15365" rpy="1.6755 0 -1.5708" />
+    <parent link="left_base_link" />
+    <child link="left_little_1" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.4381" effort="10" velocity="1" />
+  </joint>
+  <joint name="left_little_force_sensor_1_joint" type="fixed">
+    <origin xyz="-0.012046 0.019649 0.006651" rpy="-1.5708 -1.4637 1.3587" />
+    <parent link="left_little_1" />
+    <child link="left_little_force_sensor_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_little_2_joint" type="revolute">
+    <origin xyz="-0.0034259 0.032596 0.00055" rpy="0 0 0" />
+    <parent link="left_little_1" />
+    <child link="left_little_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="3.14" effort="10" velocity="1" />
+    <mimic joint="left_little_1_joint" multiplier="1.0843" offset="0" />
+  </joint>
+  <joint name="left_little_force_sensor_2_joint" type="fixed">
+    <origin xyz="-0.0064514 0.027683 0.0061172" rpy="-1.5708 -1.4597 1.9127" />
+    <parent link="left_little_2" />
+    <child link="left_little_force_sensor_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="left_little_force_sensor_3_joint" type="fixed">
+    <origin xyz="-0.0063973 0.042707 0.0061154" rpy="-1.5708 -1.4336 0.86551" />
+    <parent link="left_little_2" />
+    <child link="left_little_force_sensor_3" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_base_joint" type="fixed">
+    <origin xyz="0.0415 0 0" rpy="0 1.5707963267 0" />
+    <parent link="right_wrist_yaw_link" />
+    <child link="right_base_link" />
+  </joint>
+  <joint name="right_palm_force_sensor_joint" type="fixed">
+    <origin xyz="-0.00036819 0.012296 0.1196" rpy="1.5708 0 -3.1416" />
+    <parent link="right_base_link" />
+    <child link="right_palm_force_sensor" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_thumb_1_joint" type="revolute">
+    <origin xyz="-0.0269 0.02101 0.0689" rpy="0 0 0" />
+    <parent link="right_base_link" />
+    <child link="right_thumb_1" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.1641" effort="10" velocity="1" />
+  </joint>
+  <joint name="right_thumb_2_joint" type="revolute">
+    <origin xyz="-0.0079252 0.0090599 0.0052" rpy="1.5708 0 2.8798" />
+    <parent link="right_thumb_1" />
+    <child link="right_thumb_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.5864" effort="10" velocity="1" />
+  </joint>
+  <joint name="right_thumb_3_joint" type="revolute">
+    <origin xyz="0.031403 0.021069 0.00095" rpy="0 0 0" />
+    <parent link="right_thumb_2" />
+    <child link="right_thumb_3" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.5" effort="10" velocity="1" />
+    <mimic joint="right_thumb_2_joint" multiplier="0.8024" offset="0" />
+  </joint>
+  <joint name="right_thumb_force_sensor_2_joint" type="fixed">
+    <origin xyz="0.011771 0.01699 -0.0077514" rpy="1.8405 -1.5705 3.1416" />
+    <parent link="right_thumb_3" />
+    <child link="right_thumb_force_sensor_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_thumb_4_joint" type="revolute">
+    <origin xyz="0.021903 0.012816 -0.0003" rpy="0 0 0" />
+    <parent link="right_thumb_3" />
+    <child link="right_thumb_4" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="3.14" effort="10" velocity="1" />
+    <mimic joint="right_thumb_3_joint" multiplier="0.9487" offset="0" />
+  </joint>
+  <joint name="right_thumb_force_sensor_3_joint" type="fixed">
+    <origin xyz="0.014598 0.01472 -0.0073103" rpy="-0.20892 -1.5708 -0.81953" />
+    <parent link="right_thumb_4" />
+    <child link="right_thumb_force_sensor_3" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_thumb_force_sensor_4_joint" type="fixed">
+    <origin xyz="0.028987 0.017301 -0.0073512" rpy="1.6795 1.5708 2.7448" />
+    <parent link="right_thumb_4" />
+    <child link="right_thumb_force_sensor_4" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_thumb_force_sensor_1_joint" type="fixed">
+    <origin xyz="0.0087121 0.026305 -0.0067115" rpy="-1.5728 -1.5708 0.35156" />
+    <parent link="right_thumb_2" />
+    <child link="right_thumb_force_sensor_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_index_1_joint" type="revolute">
+    <origin xyz="-0.038679 0.00056467 0.1564" rpy="1.6057 0 -1.5708" />
+    <parent link="right_base_link" />
+    <child link="right_index_1" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.4381" effort="10" velocity="1" />
+  </joint>
+  <joint name="right_index_2_joint" type="revolute">
+    <origin xyz="-0.0034259 0.032596 -0.00055" rpy="0 0 0" />
+    <parent link="right_index_1" />
+    <child link="right_index_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="3.14" effort="10" velocity="1" />
+    <mimic joint="right_index_1_joint" multiplier="1.0843" offset="0" />
+  </joint>
+  <joint name="right_index_force_sensor_2_joint" type="fixed">
+    <origin xyz="-0.0081655 0.037446 -0.0060795" rpy="-1.5708 -1.5337 1.9196" />
+    <parent link="right_index_2" />
+    <child link="right_index_force_sensor_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_index_force_sensor_3_joint" type="fixed">
+    <origin xyz="-0.0086237 0.052572 -0.0060954" rpy="-1.5708 -1.5252 0.87237" />
+    <parent link="right_index_2" />
+    <child link="right_index_force_sensor_3" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_index_force_sensor_1_joint" type="fixed">
+    <origin xyz="-0.012046 0.019649 -0.006651" rpy="-1.5708 -1.5351 1.3587" />
+    <parent link="right_index_1" />
+    <child link="right_index_force_sensor_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_middle_1_joint" type="revolute">
+    <origin xyz="-0.0171 0.00056467 0.157" rpy="1.5708 0 -1.5708" />
+    <parent link="right_base_link" />
+    <child link="right_middle_1" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.4381" effort="10" velocity="1" />
+  </joint>
+  <joint name="right_middle_2_joint" type="revolute">
+    <origin xyz="-0.0034259 0.032596 -0.00055" rpy="0 0 0" />
+    <parent link="right_middle_1" />
+    <child link="right_middle_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="3.14" effort="10" velocity="1" />
+    <mimic joint="right_middle_1_joint" multiplier="1.0843" offset="0" />
+  </joint>
+  <joint name="right_middle_force_sensor_2_joint" type="fixed">
+    <origin xyz="-0.0090859 0.040963 -0.0061003" rpy="2.7687 -1.5708 3.885" />
+    <parent link="right_middle_2" />
+    <child link="right_middle_force_sensor_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_middle_force_sensor_3_joint" type="fixed">
+    <origin xyz="-0.0098294 0.056051 -0.0061006" rpy="2.4672 -1.5708 3.14" />
+    <parent link="right_middle_2" />
+    <child link="right_middle_force_sensor_3" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_middle_force_sensor_1_joint" type="fixed">
+    <origin xyz="-0.012046 0.019649 -0.006651" rpy="2.9295 -1.5708 3.14" />
+    <parent link="right_middle_1" />
+    <child link="right_middle_force_sensor_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_ring_1_joint" type="revolute">
+    <origin xyz="0.0045302 0.00056467 0.15683" rpy="1.5184 0 -1.5708" />
+    <parent link="right_base_link" />
+    <child link="right_ring_1" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.4381" effort="10" velocity="1" />
+  </joint>
+  <joint name="right_ring_2_joint" type="revolute">
+    <origin xyz="-0.0034259 0.032596 -0.00055" rpy="0 0 0" />
+    <parent link="right_ring_1" />
+    <child link="right_ring_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="3.14" effort="10" velocity="1" />
+    <mimic joint="right_ring_1_joint" multiplier="1.0843" offset="0" />
+  </joint>
+  <joint name="right_ring_force_sensor_2_joint" type="fixed">
+    <origin xyz="-0.00816549212353353 0.0374457610846523 -0.00607949056508933" rpy="1.57079632679487 -1.51508890383765 -1.22202982373572" />
+    <parent link="right_ring_2" />
+    <child link="right_ring_force_sensor_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_ring_force_sensor_3_joint" type="fixed">
+    <origin xyz="-0.00862372785817732 0.0525719273258207 -0.00609538761271226" rpy="1.57079632679487 -1.50247215376038 -2.26922737493233" />
+    <parent link="right_ring_2" />
+    <child link="right_ring_force_sensor_3" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_ring_force_sensor_1_joint" type="fixed">
+    <origin xyz="-0.0120461582060112 0.019648547178991 -0.00665098451502209" rpy="1.57079632679491 -1.51723862304532 -1.78288465285967" />
+    <parent link="right_ring_1" />
+    <child link="right_ring_force_sensor_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_little_1_joint" type="revolute">
+    <origin xyz="0.025916 0.00056467 0.15365" rpy="1.4661 0 -1.5708" />
+    <parent link="right_base_link" />
+    <child link="right_little_1" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.4381" effort="10" velocity="1" />
+  </joint>
+  <joint name="right_little_2_joint" type="revolute">
+    <origin xyz="-0.0034259 0.032596 -0.00055" rpy="0 0 0" />
+    <parent link="right_little_1" />
+    <child link="right_little_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="3.14" effort="10" velocity="1" />
+    <mimic joint="right_little_1_joint" multiplier="1.0843" offset="0" />
+  </joint>
+  <joint name="right_little_force_sensor_2_joint" type="fixed">
+    <origin xyz="-0.00645123763174135 0.0276833479200767 -0.00611719352979621" rpy="1.57079632679488 -1.45969392221055 -1.22888814145719" />
+    <parent link="right_little_2" />
+    <child link="right_little_force_sensor_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_little_force_sensor_3_joint" type="fixed">
+    <origin xyz="-0.00639723214432697 0.042706921918282 -0.00611537168168175" rpy="1.5707963267949 -1.43362674619531 -2.2760856926538" />
+    <parent link="right_little_2" />
+    <child link="right_little_force_sensor_3" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="right_little_force_sensor_1_joint" type="fixed">
+    <origin xyz="-0.0120461582060113 0.0196485471789908 -0.00665098451502223" rpy="1.5707963267949 -1.4636944932668 -1.78288465285966" />
+    <parent link="right_little_1" />
+    <child link="right_little_force_sensor_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+</robot>

assets/robots/unitree/G1/modular/components/hands/rubber.xml

@@ -0,0 +1,46 @@
+<robot name="g1_hand_rubber">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1" />
+  </material>
+  <link name="left_rubber_hand">
+    <inertial>
+      <origin xyz="0.05361310808 -0.00295905240 0.00215413091" rpy="0 0 0" />
+      <mass value="0.170" />
+      <inertia ixx="0.00010099485234748" ixy="0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="0.00000330189743286" izz="0.00021894770413514" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_rubber_hand.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <link name="right_rubber_hand">
+    <inertial>
+      <origin xyz="0.05361310808 0.00295905240 0.00215413091" rpy="0 0 0" />
+      <mass value="0.170" />
+      <inertia ixx="0.00010099485234748" ixy="-0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="-0.00000330189743286" izz="0.00021894770413514" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_rubber_hand.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="left_hand_palm_joint" type="fixed" dont_collapse="true">
+    <origin xyz="0.0415 0.003 0" rpy="0 0 0" />
+    <parent link="left_wrist_yaw_link" />
+    <child link="left_rubber_hand" />
+  </joint>
+  <joint name="right_hand_palm_joint" type="fixed" dont_collapse="true">
+    <origin xyz="0.0415 -0.003 0" rpy="0 0 0" />
+    <parent link="right_wrist_yaw_link" />
+    <child link="right_rubber_hand" />
+  </joint>
+</robot>

assets/robots/unitree/G1/modular/components/heads/comp.xml

@@ -0,0 +1,118 @@
+<robot name="g1_head_comp">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1" />
+  </material>
+  <link name="head_link">
+    <inertial>
+      <origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0" />
+      <mass value="1.036" />
+      <inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/head_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/head_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="d435_link" />
+  <link name="mid360_link" />
+  <link name="head_servo_link">
+    <inertial>
+      <origin xyz="0.0012943 -0.00018754 0.49801" rpy="0 0 0" />
+      <mass value="0.54796" />
+      <inertia ixx="0.00057097" ixy="-8.8657E-07" ixz="-1.925E-05" iyy="0.0006971" iyz="3.4522E-06" izz="0.00094194" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/head_servo_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/head_servo_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="xl330_link">
+    <inertial>
+      <origin xyz="0.01384 -0.000511 0.0098" rpy="0 0 0" />
+      <mass value="0.047" />
+      <inertia ixx="1.051E-05" ixy="-5.6E-06" ixz="7.016E-07" iyy="2.5342E-05" iyz="-6.04E-07" izz="2.3459E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/xl330_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+  </link>
+  <link name="d455_link">
+    <inertial>
+      <origin xyz="0.030219 -0.000416 -0.011779" rpy="0 0 0" />
+      <mass value="0.096" />
+      <inertia ixx="0.0001232" ixy="-3.1E-08" ixz="3.1246E-05" iyy="0.000106321" iyz="-5E-09" izz="0.000194649" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/d455_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0.03 0 -0.01" rpy="1.5707963267948966 0 0" />
+      <geometry>
+        <cylinder length="0.1" radius="0.015" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="head_link" />
+  </joint>
+  <joint name="d435_joint" type="fixed">
+    <origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0" />
+    <parent link="torso_link" />
+    <child link="d435_link" />
+  </joint>
+  <joint name="mid360_joint" type="fixed">
+    <origin xyz="0.0002835 0.00003 0.428434" rpy="3.141592653589793 0.05112069379091391 0" />
+    <parent link="torso_link" />
+    <child link="mid360_link" />
+  </joint>
+  <joint name="head_servo_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.047" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="head_servo_link" />
+  </joint>
+  <joint name="xl330_joint" type="revolute">
+    <origin xyz="0.030518 0 0.52486" rpy="0 0.039968 0" />
+    <parent link="head_servo_link" />
+    <child link="xl330_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.8727" upper="0.8727" effort="0" velocity="0" />
+  </joint>
+  <joint name="d455_joint" type="revolute">
+    <origin xyz="0.0295 0 0.013" rpy="0 0 0" />
+    <parent link="xl330_link" />
+    <child link="d455_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.3491" upper="1.5708" effort="0" velocity="0" />
+  </joint>
+</robot>

assets/robots/unitree/G1/modular/components/heads/normal.xml

@@ -0,0 +1,45 @@
+<robot name="g1_head_normal">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1" />
+  </material>
+  <link name="head_link">
+    <inertial>
+      <origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0" />
+      <mass value="1.036" />
+      <inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/head_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/head_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="d435_link" />
+  <link name="mid360_link" />
+  <joint name="head_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="head_link" />
+  </joint>
+  <joint name="d435_joint" type="fixed">
+    <origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0" />
+    <parent link="torso_link" />
+    <child link="d435_link" />
+  </joint>
+  <joint name="mid360_joint" type="fixed">
+    <origin xyz="0.0002835 0.00003 0.428434" rpy="3.141592653589793 0.05112069379091391 0" />
+    <parent link="torso_link" />
+    <child link="mid360_link" />
+  </joint>
+</robot>

assets/robots/unitree/G1/modular/g1_urdf_composer.py

@@ -0,0 +1,964 @@
+#!/usr/bin/env python3
+"""Modular Unitree G1 URDF composition.
+
+The public entry point is :func:`compose_g1_urdf`.  A robot is assembled from
+one body, one head, and one hand module while keeping the training body at
+exactly 29 movable joints.  Standard hands attach below ``wrist_yaw_link``;
+BrainCo is an atomic wrist-plus-hand module that replaces the wrist subtree at
+``elbow_link``.
+"""
+
+from __future__ import annotations
+import argparse
+import copy
+import filecmp
+import hashlib
+import json
+import math
+import os
+import shutil
+import xml.etree.ElementTree as ET
+from dataclasses import dataclass
+from pathlib import Path
+
+import mujoco
+import numpy as np
+
+ASSET_ROOT = Path(__file__).resolve().parent
+RUNTIME_MANIFEST_SCHEMA = "holomotion-g1-variant-manifest-v1"
+MESH_INDEX_SCHEMA = "holomotion-g1-mesh-index-v1"
+MESH_INDEX_PATH = ASSET_ROOT / "mesh_index.json"
+
+
+@dataclass(frozen=True)
+class BodyModule:
+    key: str
+    source: Path
+
+
+@dataclass(frozen=True)
+class HeadModule:
+    key: str
+    source: Path | None
+
+
+@dataclass(frozen=True)
+class HandModule:
+    key: str
+    source: Path | None
+    replaces_wrist: bool = False
+
+
+@dataclass(frozen=True)
+class CompositionResult:
+    output_path: Path
+    body: str
+    head: str
+    hand: str
+    movable_joints: tuple[str, ...]
+    nq: int
+    nv: int
+
+
+@dataclass(frozen=True)
+class ModelBundleResult:
+    urdf: CompositionResult
+    mjcf_path: Path
+    mjcf_nq: int
+    mjcf_nv: int
+
+
+@dataclass(frozen=True)
+class RuntimeDependencySet:
+    """Minimal component closure required to compose every unique robot."""
+
+    component_descriptions: tuple[Path, ...]
+    meshes: tuple[Path, ...]
+
+
+BODY_MODULES = {
+    key: BodyModule(key, ASSET_ROOT / "components" / "bodies" / f"{key}.xml")
+    for key in ("mode5", "mode11", "mode13", "mode15", "mode18")
+}
+
+HEAD_MODULES = {
+    key: HeadModule(key, ASSET_ROOT / "components" / "heads" / f"{key}.xml")
+    for key in ("normal", "comp")
+}
+
+HAND_MODULES = {
+    "none": HandModule("none", None),
+    **{
+        key: HandModule(
+            key, ASSET_ROOT / "components" / "hands" / f"{key}.xml"
+        )
+        for key in (
+            "rubber",
+            "dex1_1",
+            "dex3_1",
+            "inspire_dfq",
+            "inspire_ftp",
+        )
+    },
+    "brainco": HandModule(
+        "brainco",
+        ASSET_ROOT / "components" / "hands" / "brainco.xml",
+        True,
+    ),
+}
+
+# Replacing the complete wrist subtree makes these source-body pairs
+# structurally identical for BrainCo. Keep one canonical representative rather
+# than generating four duplicate training assets.
+BRAINCO_BODY_ALIASES = {
+    "mode13": "mode5",
+    "mode15": "mode11",
+}
+
+HEAD_ROOT_JOINTS = (
+    "head_joint",
+    "d435_joint",
+    "mid360_joint",
+    "head_servo_joint",
+)
+WRIST_ROOT_JOINTS = ("left_wrist_roll_joint", "right_wrist_roll_joint")
+BRAINCO_ACTIVE_WRISTS = {
+    f"{side}_wrist_{axis}_joint"
+    for side in ("left", "right")
+    for axis in ("roll", "pitch", "yaw")
+}
+CANONICAL_DOF_NAMES = tuple(
+    joint.get("name")
+    for joint in ET.parse(BODY_MODULES["mode5"].source)
+    .getroot()
+    .findall("joint")
+    if joint.get("type") != "fixed"
+)
+
+
+def _joint_maps(root: ET.Element):
+    joints = {joint.get("name"): joint for joint in root.findall("joint")}
+    by_parent: dict[str, list[ET.Element]] = {}
+    for joint in root.findall("joint"):
+        by_parent.setdefault(joint.find("parent").get("link"), []).append(
+            joint
+        )
+    return joints, by_parent
+
+
+def _subtree_names(
+    root: ET.Element, root_joint_name: str
+) -> tuple[set[str], set[str]]:
+    joints, by_parent = _joint_maps(root)
+    if root_joint_name not in joints:
+        return set(), set()
+    joint_names: set[str] = set()
+    link_names: set[str] = set()
+    stack = [joints[root_joint_name]]
+    while stack:
+        joint = stack.pop()
+        name = joint.get("name")
+        if name in joint_names:
+            continue
+        joint_names.add(name)
+        child = joint.find("child").get("link")
+        link_names.add(child)
+        stack.extend(by_parent.get(child, []))
+    return joint_names, link_names
+
+
+def _remove_subtree(root: ET.Element, root_joint_name: str) -> None:
+    joint_names, link_names = _subtree_names(root, root_joint_name)
+    for joint in list(root.findall("joint")):
+        if joint.get("name") in joint_names:
+            root.remove(joint)
+    for link in list(root.findall("link")):
+        if link.get("name") in link_names:
+            root.remove(link)
+
+
+def _roots_attached_to(root: ET.Element, parent_link: str) -> list[str]:
+    return [
+        joint.get("name")
+        for joint in root.findall("joint")
+        if joint.find("parent").get("link") == parent_link
+    ]
+
+
+def _make_fixed(joint: ET.Element) -> None:
+    joint.set("type", "fixed")
+    for tag in (
+        "axis",
+        "limit",
+        "dynamics",
+        "safety_controller",
+        "mimic",
+        "calibration",
+    ):
+        child = joint.find(tag)
+        if child is not None:
+            joint.remove(child)
+
+
+def _rewrite_meshes(element: ET.Element, prefix: str = "") -> None:
+    for mesh in element.iter("mesh"):
+        mesh.set(
+            "filename", f"meshes/{prefix}{Path(mesh.get('filename')).name}"
+        )
+
+
+def _load_mesh_index() -> dict[str, str]:
+    if not MESH_INDEX_PATH.is_file():
+        return {}
+    payload = json.loads(MESH_INDEX_PATH.read_text(encoding="utf-8"))
+    if payload.get("schema") != MESH_INDEX_SCHEMA:
+        raise ValueError(f"unsupported mesh index: {MESH_INDEX_PATH}")
+    return payload["meshes"]
+
+
+def _resolve_mesh_source(logical_name: str) -> Path:
+    relative_path = _load_mesh_index().get(
+        logical_name, f"meshes/{logical_name}"
+    )
+    source = (ASSET_ROOT / relative_path).resolve()
+    g1_root = ASSET_ROOT.parent.resolve()
+    if not source.is_relative_to(g1_root):
+        raise ValueError(
+            f"mesh index escapes the G1 asset root: {logical_name} -> {source}"
+        )
+    if not source.is_file():
+        raise FileNotFoundError(
+            f"missing modular mesh source for {logical_name}: {source}"
+        )
+    return source
+
+
+def _append_subtree(
+    target: ET.Element,
+    source: ET.Element,
+    root_joint_name: str,
+    mesh_prefix: str = "",
+    keep_active: set[str] | None = None,
+) -> None:
+    joint_names, link_names = _subtree_names(source, root_joint_name)
+    keep_active = keep_active or set()
+    for link in source.findall("link"):
+        if link.get("name") in link_names:
+            element = copy.deepcopy(link)
+            _rewrite_meshes(element, mesh_prefix)
+            target.append(element)
+    for joint in source.findall("joint"):
+        if joint.get("name") in joint_names:
+            element = copy.deepcopy(joint)
+            if (
+                element.get("name") not in keep_active
+                and element.get("type") != "fixed"
+            ):
+                _make_fixed(element)
+            target.append(element)
+
+
+def _symlink_checked(source: Path, target: Path) -> None:
+    if target.is_symlink():
+        if target.resolve() == source.resolve():
+            return
+        target.unlink()
+    elif target.exists():
+        if target.is_file() and filecmp.cmp(source, target, shallow=False):
+            return
+        raise FileExistsError(
+            f"mesh target already exists and is not the expected symlink: {target}"
+        )
+    os.symlink(source, target)
+
+
+def _materialize_meshes(output_dir: Path, root: ET.Element) -> None:
+    """Link only meshes referenced by one composed result."""
+
+    for mesh in root.iter("mesh"):
+        relative_path = Path(mesh.get("filename"))
+        source = _resolve_mesh_source(relative_path.name)
+        target = output_dir / relative_path
+        target.parent.mkdir(parents=True, exist_ok=True)
+        _symlink_checked(source, target)
+
+
+def _prepare_body(body: BodyModule) -> ET.Element:
+    root = copy.deepcopy(ET.parse(body.source).getroot())
+    root.set("name", "g1_modular")
+    _rewrite_meshes(root)
+    mujoco_element = root.find("mujoco")
+    if mujoco_element is None:
+        mujoco_element = ET.Element("mujoco")
+        root.insert(0, mujoco_element)
+    compiler = mujoco_element.find("compiler")
+    if compiler is None:
+        compiler = ET.SubElement(mujoco_element, "compiler")
+    compiler.set("meshdir", "meshes")
+    compiler.set("discardvisual", "false")
+    return root
+
+
+def _compose_g1_root(body: str, head: str, hand: str) -> ET.Element:
+    """Compose an XML tree without writing files or materializing meshes."""
+
+    if body not in BODY_MODULES:
+        raise KeyError(
+            f"unknown body {body!r}; choose from {tuple(BODY_MODULES)}"
+        )
+    if head not in HEAD_MODULES:
+        raise KeyError(
+            f"unknown head {head!r}; choose from {tuple(HEAD_MODULES)}"
+        )
+    if hand not in HAND_MODULES:
+        raise KeyError(
+            f"unknown hand {hand!r}; choose from {tuple(HAND_MODULES)}"
+        )
+
+    root = _prepare_body(BODY_MODULES[body])
+    head_module = HEAD_MODULES[head]
+    if head_module.source is not None:
+        for name in HEAD_ROOT_JOINTS:
+            _remove_subtree(root, name)
+        source_root = ET.parse(head_module.source).getroot()
+        for name in HEAD_ROOT_JOINTS:
+            _append_subtree(root, source_root, name)
+
+    hand_module = HAND_MODULES[hand]
+    if hand_module.replaces_wrist:
+        for name in WRIST_ROOT_JOINTS:
+            _remove_subtree(root, name)
+        source_root = ET.parse(hand_module.source).getroot()
+        for name in WRIST_ROOT_JOINTS:
+            _append_subtree(
+                root,
+                source_root,
+                name,
+                "brainco__",
+                BRAINCO_ACTIVE_WRISTS,
+            )
+    else:
+        for parent in ("left_wrist_yaw_link", "right_wrist_yaw_link"):
+            for name in _roots_attached_to(root, parent):
+                _remove_subtree(root, name)
+        if hand_module.source is not None:
+            source_root = ET.parse(hand_module.source).getroot()
+            for parent in (
+                "left_wrist_yaw_link",
+                "right_wrist_yaw_link",
+            ):
+                for name in _roots_attached_to(source_root, parent):
+                    _append_subtree(root, source_root, name)
+
+    _collapse_fixed_joints(root)
+    _canonicalize_joint_order(root)
+    return root
+
+
+def unique_g1_combinations() -> tuple[tuple[str, str, str], ...]:
+    """Return the deterministic 66-model training matrix."""
+
+    combinations = []
+    for body in BODY_MODULES:
+        for head in HEAD_MODULES:
+            for hand in HAND_MODULES:
+                if hand == "brainco" and body in BRAINCO_BODY_ALIASES:
+                    continue
+                combinations.append((body, head, hand))
+    result = tuple(combinations)
+    if len(result) != 66:
+        raise AssertionError(
+            f"expected 66 unique combinations, got {len(result)}"
+        )
+    return result
+
+
+def runtime_component_dependencies_for(
+    combinations: tuple[tuple[str, str, str], ...],
+) -> RuntimeDependencySet:
+    """Compute the exact component and mesh closure for selected combinations."""
+
+    component_descriptions = set()
+    mesh_names = set()
+    for body, head, hand in combinations:
+        for module in (
+            BODY_MODULES[body],
+            HEAD_MODULES[head],
+            HAND_MODULES[hand],
+        ):
+            if module.source is not None:
+                component_descriptions.add(module.source.resolve())
+        root = _compose_g1_root(body, head, hand)
+        mesh_names.update(
+            Path(mesh.get("filename")).name for mesh in root.iter("mesh")
+        )
+    meshes = tuple(sorted({_resolve_mesh_source(name) for name in mesh_names}))
+    missing = [
+        path
+        for path in (*component_descriptions, *meshes)
+        if not path.is_file()
+    ]
+    if missing:
+        raise FileNotFoundError(
+            "runtime component closure contains missing files: "
+            + ", ".join(map(str, missing))
+        )
+    return RuntimeDependencySet(tuple(sorted(component_descriptions)), meshes)
+
+
+def runtime_component_dependencies() -> RuntimeDependencySet:
+    """Compute the exact component-description and mesh closure."""
+
+    return runtime_component_dependencies_for(unique_g1_combinations())
+
+
+def _canonicalize_joint_order(root: ET.Element) -> None:
+    """Keep policy action/observation dimensions independent of source layout."""
+    joints = list(root.findall("joint"))
+    movable_by_name = {
+        joint.get("name"): joint
+        for joint in joints
+        if joint.get("type") != "fixed"
+    }
+    if set(movable_by_name) != set(CANONICAL_DOF_NAMES):
+        missing = sorted(set(CANONICAL_DOF_NAMES) - set(movable_by_name))
+        extra = sorted(set(movable_by_name) - set(CANONICAL_DOF_NAMES))
+        raise ValueError(
+            f"composed movable joints differ from canonical G1: missing={missing}, extra={extra}"
+        )
+    for joint in joints:
+        root.remove(joint)
+    for name in CANONICAL_DOF_NAMES:
+        root.append(movable_by_name[name])
+    for joint in joints:
+        if joint.get("type") == "fixed":
+            root.append(joint)
+
+
+def _parse_vector(value: str | None, size: int = 3) -> np.ndarray:
+    if not value:
+        return np.zeros(size, dtype=np.float64)
+    result = np.fromstring(value, sep=" ", dtype=np.float64)
+    if result.shape != (size,):
+        raise ValueError(f"expected {size} values, got {value!r}")
+    return result
+
+
+def _rpy_matrix(rpy: np.ndarray) -> np.ndarray:
+    roll, pitch, yaw = rpy
+    cr, sr = math.cos(roll), math.sin(roll)
+    cp, sp = math.cos(pitch), math.sin(pitch)
+    cy, sy = math.cos(yaw), math.sin(yaw)
+    return np.array(
+        [
+            [cy * cp, cy * sp * sr - sy * cr, cy * sp * cr + sy * sr],
+            [sy * cp, sy * sp * sr + cy * cr, sy * sp * cr - cy * sr],
+            [-sp, cp * sr, cp * cr],
+        ],
+        dtype=np.float64,
+    )
+
+
+def _matrix_rpy(rotation: np.ndarray) -> np.ndarray:
+    pitch = math.asin(float(np.clip(-rotation[2, 0], -1.0, 1.0)))
+    if abs(math.cos(pitch)) > 1.0e-9:
+        roll = math.atan2(rotation[2, 1], rotation[2, 2])
+        yaw = math.atan2(rotation[1, 0], rotation[0, 0])
+    else:
+        roll = math.atan2(-rotation[1, 2], rotation[1, 1])
+        yaw = 0.0
+    return np.array([roll, pitch, yaw], dtype=np.float64)
+
+
+def _origin_transform(element: ET.Element) -> np.ndarray:
+    origin = element.find("origin")
+    transform = np.eye(4, dtype=np.float64)
+    if origin is not None:
+        transform[:3, 3] = _parse_vector(origin.get("xyz"))
+        transform[:3, :3] = _rpy_matrix(_parse_vector(origin.get("rpy")))
+    return transform
+
+
+def _format_vector(value: np.ndarray) -> str:
+    return " ".join(f"{float(item):.12g}" for item in value)
+
+
+def _set_origin_transform(element: ET.Element, transform: np.ndarray) -> None:
+    origin = element.find("origin")
+    if origin is None:
+        origin = ET.Element("origin")
+        element.insert(0, origin)
+    origin.set("xyz", _format_vector(transform[:3, 3]))
+    origin.set("rpy", _format_vector(_matrix_rpy(transform[:3, :3])))
+
+
+def _read_inertial(
+    link: ET.Element, link_to_target: np.ndarray
+) -> tuple[float, np.ndarray, np.ndarray] | None:
+    inertial = link.find("inertial")
+    if inertial is None or inertial.find("mass") is None:
+        return None
+    mass = float(inertial.find("mass").get("value"))
+    if mass <= 0.0:
+        return None
+    target_to_inertial = link_to_target @ _origin_transform(inertial)
+    com = target_to_inertial[:3, 3]
+    rotation = target_to_inertial[:3, :3]
+    tensor = inertial.find("inertia")
+    inertia_local = np.array(
+        [
+            [
+                float(tensor.get("ixx")),
+                float(tensor.get("ixy")),
+                float(tensor.get("ixz")),
+            ],
+            [
+                float(tensor.get("ixy")),
+                float(tensor.get("iyy")),
+                float(tensor.get("iyz")),
+            ],
+            [
+                float(tensor.get("ixz")),
+                float(tensor.get("iyz")),
+                float(tensor.get("izz")),
+            ],
+        ],
+        dtype=np.float64,
+    )
+    return mass, com, rotation @ inertia_local @ rotation.T
+
+
+def _write_combined_inertial(
+    parent: ET.Element,
+    components: list[tuple[float, np.ndarray, np.ndarray]],
+) -> None:
+    existing = parent.find("inertial")
+    if existing is not None:
+        parent.remove(existing)
+    if not components:
+        return
+    total_mass = sum(component[0] for component in components)
+    center = sum(mass * com for mass, com, _ in components) / total_mass
+    inertia = np.zeros((3, 3), dtype=np.float64)
+    for mass, com, inertia_at_com in components:
+        offset = com - center
+        inertia += inertia_at_com + mass * (
+            float(offset @ offset) * np.eye(3) - np.outer(offset, offset)
+        )
+    inertial = ET.Element("inertial")
+    origin = ET.SubElement(inertial, "origin")
+    origin.set("xyz", _format_vector(center))
+    origin.set("rpy", "0 0 0")
+    ET.SubElement(inertial, "mass", value=f"{total_mass:.12g}")
+    ET.SubElement(
+        inertial,
+        "inertia",
+        ixx=f"{inertia[0, 0]:.12g}",
+        ixy=f"{inertia[0, 1]:.12g}",
+        ixz=f"{inertia[0, 2]:.12g}",
+        iyy=f"{inertia[1, 1]:.12g}",
+        iyz=f"{inertia[1, 2]:.12g}",
+        izz=f"{inertia[2, 2]:.12g}",
+    )
+    parent.insert(0, inertial)
+
+
+def _collapse_fixed_joints(root: ET.Element) -> None:
+    """Fold fixed subtrees into their movable parent without changing dynamics."""
+
+    while True:
+        fixed_joint = next(
+            (
+                joint
+                for joint in root.findall("joint")
+                if joint.get("type") == "fixed"
+            ),
+            None,
+        )
+        if fixed_joint is None:
+            break
+        parent_name = fixed_joint.find("parent").get("link")
+        child_name = fixed_joint.find("child").get("link")
+        links = {link.get("name"): link for link in root.findall("link")}
+        parent = links[parent_name]
+        child = links[child_name]
+        parent_to_child = _origin_transform(fixed_joint)
+
+        components = []
+        parent_inertial = _read_inertial(parent, np.eye(4))
+        child_inertial = _read_inertial(child, parent_to_child)
+        if parent_inertial is not None:
+            components.append(parent_inertial)
+        if child_inertial is not None:
+            components.append(child_inertial)
+        _write_combined_inertial(parent, components)
+
+        for tag in ("visual", "collision"):
+            for geometry in child.findall(tag):
+                moved = copy.deepcopy(geometry)
+                if moved.get("name"):
+                    moved.set("name", f"{child_name}__{moved.get('name')}")
+                _set_origin_transform(
+                    moved, parent_to_child @ _origin_transform(moved)
+                )
+                parent.append(moved)
+
+        for joint in root.findall("joint"):
+            if joint is fixed_joint:
+                continue
+            joint_parent = joint.find("parent")
+            if joint_parent.get("link") == child_name:
+                joint_parent.set("link", parent_name)
+                _set_origin_transform(
+                    joint, parent_to_child @ _origin_transform(joint)
+                )
+
+        for gazebo in root.findall("gazebo"):
+            if gazebo.get("reference") == child_name:
+                gazebo.set("reference", parent_name)
+        root.remove(fixed_joint)
+        root.remove(child)
+
+
+def validate_composed_urdf(path: str | Path) -> CompositionResult:
+    path = Path(path).resolve()
+    root = ET.parse(path).getroot()
+    links = [link.get("name") for link in root.findall("link")]
+    joints = [joint.get("name") for joint in root.findall("joint")]
+    if len(links) != len(set(links)):
+        raise ValueError(f"duplicate links in {path}")
+    if len(joints) != len(set(joints)):
+        raise ValueError(f"duplicate joints in {path}")
+    known_links = set(links)
+    if len(links) != 30:
+        raise ValueError(
+            f"expected one shared 30-body topology in {path}; got {len(links)} links"
+        )
+    for joint in root.findall("joint"):
+        parent = joint.find("parent").get("link")
+        child = joint.find("child").get("link")
+        if parent not in known_links or child not in known_links:
+            raise ValueError(
+                f"invalid joint tree at {joint.get('name')}: {parent} -> {child}"
+            )
+    movable = tuple(
+        joint.get("name")
+        for joint in root.findall("joint")
+        if joint.get("type") != "fixed"
+    )
+    fixed = tuple(
+        joint.get("name")
+        for joint in root.findall("joint")
+        if joint.get("type") == "fixed"
+    )
+    if fixed:
+        raise ValueError(
+            f"fixed joints must be collapsed in {path}; got {fixed}"
+        )
+    if movable != CANONICAL_DOF_NAMES:
+        raise ValueError(
+            f"expected canonical 29-DOF order in {path}; got {movable}"
+        )
+    meshdir = root.find("mujoco/compiler").get("meshdir")
+    for mesh in root.iter("mesh"):
+        filename = Path(mesh.get("filename"))
+        mesh_path = path.parent / filename
+        if not mesh_path.exists():
+            mesh_path = path.parent / meshdir / filename.name
+        if not mesh_path.exists():
+            raise FileNotFoundError(mesh_path)
+    model = mujoco.MjModel.from_xml_path(str(path))
+    if model.nq != 29 or model.nv != 29:
+        raise ValueError(
+            f"MuJoCo expected nq=nv=29, got nq={model.nq}, nv={model.nv}"
+        )
+    return CompositionResult(path, "", "", "", movable, model.nq, model.nv)
+
+
+def compose_g1_urdf(
+    body: str,
+    head: str,
+    hand: str,
+    output_path: str | Path,
+    *,
+    validate: bool = True,
+) -> CompositionResult:
+    """Assemble one modular 29DOF G1 URDF.
+
+    Args:
+        body: One of ``mode5``, ``mode11``, ``mode13``, ``mode15``, ``mode18``.
+        head: ``normal`` or ``comp``.
+        hand: ``none``, ``rubber``, ``dex1_1``, ``dex3_1``, ``inspire_dfq``,
+            ``inspire_ftp``, or ``brainco``.
+        output_path: Destination URDF. A shared ``meshes`` directory containing
+            symlinks is materialized next to it.
+        validate: Load the result with MuJoCo and enforce exactly 29 DOF.
+    """
+    output_path = Path(output_path).resolve()
+    output_path.parent.mkdir(parents=True, exist_ok=True)
+    root = _compose_g1_root(body, head, hand)
+    _materialize_meshes(output_path.parent, root)
+
+    ET.indent(root, space="  ")
+    ET.ElementTree(root).write(
+        output_path, encoding="unicode", xml_declaration=False
+    )
+    checked = (
+        validate_composed_urdf(output_path)
+        if validate
+        else CompositionResult(
+            output_path,
+            "",
+            "",
+            "",
+            tuple(
+                j.get("name")
+                for j in root.findall("joint")
+                if j.get("type") != "fixed"
+            ),
+            -1,
+            -1,
+        )
+    )
+    return CompositionResult(
+        checked.output_path,
+        body,
+        head,
+        hand,
+        checked.movable_joints,
+        checked.nq,
+        checked.nv,
+    )
+
+
+def validate_generated_urdf_bundle(
+    output_dir: str | Path,
+) -> tuple[tuple[Path, ...], tuple[Path, ...]]:
+    """Assert an online-generated directory contains exactly its URDF closure."""
+
+    output_dir = Path(output_dir).resolve()
+    expected_names = {
+        f"g1_{body}_{head}_{hand}.urdf"
+        for body, head, hand in unique_g1_combinations()
+    }
+    urdfs = tuple(sorted(output_dir.glob("g1_*.urdf")))
+    actual_names = {path.name for path in urdfs}
+    if actual_names != expected_names:
+        raise ValueError(
+            "generated URDF set mismatch: "
+            f"missing={sorted(expected_names - actual_names)}, "
+            f"extra={sorted(actual_names - expected_names)}"
+        )
+
+    referenced_meshes = set()
+    for urdf in urdfs:
+        root = ET.parse(urdf).getroot()
+        for mesh in root.iter("mesh"):
+            mesh_path = (urdf.parent / mesh.get("filename")).resolve()
+            if not mesh_path.is_file():
+                raise FileNotFoundError(mesh_path)
+            referenced_meshes.add(mesh_path)
+
+    mesh_dir = output_dir / "meshes"
+    actual_meshes = {
+        path.resolve()
+        for path in mesh_dir.iterdir()
+        if path.is_file() or path.is_symlink()
+    }
+    if actual_meshes != referenced_meshes:
+        raise ValueError(
+            "generated mesh closure mismatch: "
+            f"missing={sorted(map(str, referenced_meshes - actual_meshes))}, "
+            f"extra={sorted(map(str, actual_meshes - referenced_meshes))}"
+        )
+    return urdfs, tuple(sorted(referenced_meshes))
+
+
+def compose_all_g1_urdfs(
+    output_dir: str | Path,
+    *,
+    validate: bool = False,
+    clean: bool = True,
+) -> tuple[CompositionResult, ...]:
+    """Generate the 66 unique training URDFs from the component sources."""
+
+    output_dir = Path(output_dir).resolve()
+    output_dir.mkdir(parents=True, exist_ok=True)
+    if clean:
+        for path in output_dir.glob("g1_*.urdf"):
+            path.unlink()
+        mesh_dir = output_dir / "meshes"
+        if mesh_dir.exists() or mesh_dir.is_symlink():
+            if mesh_dir.is_symlink():
+                mesh_dir.unlink()
+            else:
+                shutil.rmtree(mesh_dir)
+
+    results = []
+    for body, head, hand in unique_g1_combinations():
+        results.append(
+            compose_g1_urdf(
+                body,
+                head,
+                hand,
+                output_dir / f"g1_{body}_{head}_{hand}.urdf",
+                validate=validate,
+            )
+        )
+    validate_generated_urdf_bundle(output_dir)
+    manifest_path = output_dir / "variant_manifest.json"
+    manifest = {
+        "schema": RUNTIME_MANIFEST_SCHEMA,
+        "variants": [
+            {
+                "variant_id": result.output_path.stem,
+                "body": result.body,
+                "head": result.head,
+                "hand": result.hand,
+                "urdf_path": result.output_path.name,
+                "urdf_sha256": hashlib.sha256(
+                    result.output_path.read_bytes()
+                ).hexdigest(),
+            }
+            for result in results
+        ],
+    }
+    temporary_manifest = manifest_path.with_suffix(".json.tmp")
+    temporary_manifest.write_text(
+        json.dumps(manifest, indent=2, sort_keys=True) + "\n"
+    )
+    os.replace(temporary_manifest, manifest_path)
+    return tuple(results)
+
+
+def compose_g1_urdf_and_mjcf(
+    body: str,
+    head: str,
+    hand: str,
+    output_dir: str | Path,
+    *,
+    name: str | None = None,
+    validate: bool = True,
+    simulation_steps: int = 20,
+) -> ModelBundleResult:
+    """Compose matching URDF and MuJoCo MJCF files from one module selection."""
+    output_dir = Path(output_dir).resolve()
+    output_dir.mkdir(parents=True, exist_ok=True)
+    stem = name or f"g1_{body}_{head}_{hand}"
+    urdf_result = compose_g1_urdf(
+        body, head, hand, output_dir / f"{stem}.urdf", validate=validate
+    )
+
+    model = mujoco.MjModel.from_xml_path(str(urdf_result.output_path))
+    mjcf_path = output_dir / f"{stem}.xml"
+    mujoco.mj_saveLastXML(str(mjcf_path), model)
+
+    reloaded = mujoco.MjModel.from_xml_path(str(mjcf_path))
+    if reloaded.nq != 29 or reloaded.nv != 29:
+        raise ValueError(
+            f"MuJoCo MJCF expected nq=nv=29, got nq={reloaded.nq}, nv={reloaded.nv}: {mjcf_path}"
+        )
+    if validate:
+        data = mujoco.MjData(reloaded)
+        for _ in range(simulation_steps):
+            mujoco.mj_step(reloaded, data)
+        if any(
+            value != value or abs(value) == float("inf")
+            for value in (*data.qpos, *data.qvel)
+        ):
+            raise ValueError(
+                f"non-finite MuJoCo state after stepping: {mjcf_path}"
+            )
+
+    return ModelBundleResult(urdf_result, mjcf_path, reloaded.nq, reloaded.nv)
+
+
+__all__ = [
+    "BODY_MODULES",
+    "HEAD_MODULES",
+    "HAND_MODULES",
+    "CompositionResult",
+    "ModelBundleResult",
+    "RuntimeDependencySet",
+    "BRAINCO_BODY_ALIASES",
+    "compose_g1_urdf",
+    "compose_all_g1_urdfs",
+    "compose_g1_urdf_and_mjcf",
+    "runtime_component_dependencies",
+    "runtime_component_dependencies_for",
+    "unique_g1_combinations",
+    "validate_composed_urdf",
+    "validate_generated_urdf_bundle",
+]
+
+
+def _main() -> None:
+    parser = argparse.ArgumentParser(
+        description="Compose the 66 unique modular G1 training URDFs."
+    )
+    parser.add_argument(
+        "command", choices=("generate-all", "generate-one", "dependencies")
+    )
+    parser.add_argument("--output-dir", type=Path)
+    parser.add_argument("--body", choices=tuple(BODY_MODULES))
+    parser.add_argument("--head", choices=tuple(HEAD_MODULES))
+    parser.add_argument("--hand", choices=tuple(HAND_MODULES))
+    parser.add_argument(
+        "--validate",
+        action=argparse.BooleanOptionalAction,
+        default=False,
+        help="Load every generated URDF with MuJoCo (default: false).",
+    )
+    args = parser.parse_args()
+
+    selected = None
+    if any(value is not None for value in (args.body, args.head, args.hand)):
+        if not all(
+            value is not None for value in (args.body, args.head, args.hand)
+        ):
+            parser.error(
+                "--body, --head, and --hand must be provided together"
+            )
+        selected = ((args.body, args.head, args.hand),)
+
+    if args.command == "dependencies":
+        dependencies = (
+            runtime_component_dependencies_for(selected)
+            if selected is not None
+            else runtime_component_dependencies()
+        )
+        for path in (
+            *dependencies.component_descriptions,
+            *dependencies.meshes,
+        ):
+            print(path.relative_to(ASSET_ROOT))
+        return
+
+    if args.output_dir is None:
+        parser.error(f"{args.command} requires --output-dir")
+    if args.command == "generate-one":
+        if selected is None:
+            parser.error("generate-one requires --body, --head, and --hand")
+        body, head, hand = selected[0]
+        result = compose_g1_urdf(
+            body,
+            head,
+            hand,
+            args.output_dir / f"g1_{body}_{head}_{hand}.urdf",
+            validate=args.validate,
+        )
+        print(f"READY: generated {result.output_path}")
+        return
+    results = compose_all_g1_urdfs(
+        args.output_dir,
+        validate=args.validate,
+    )
+    urdfs, meshes = validate_generated_urdf_bundle(args.output_dir)
+    print(
+        f"READY: generated {len(results)} unique G1 URDFs with "
+        f"{len(meshes)} referenced meshes under {args.output_dir.resolve()}"
+    )
+
+
+if __name__ == "__main__":
+    _main()

assets/robots/unitree/G1/modular/manifest.json

@@ -0,0 +1,805 @@
+{
+  "source": "unitreerobotics/unitree_ros robots/g1_description",
+  "source_commit": "daadf41ee9afce8f90fdc09a98506012691fa122",
+  "generated_unique_models": 66,
+  "requested_choices": 70,
+  "alias_choices": 4,
+  "generated": [
+    {
+      "name": "g1_mode5_normal_none",
+      "body": "mode5",
+      "head": "normal",
+      "hand": "none",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode5_normal_rubber",
+      "body": "mode5",
+      "head": "normal",
+      "hand": "rubber",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode5_normal_dex1_1",
+      "body": "mode5",
+      "head": "normal",
+      "hand": "dex1_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode5_normal_dex3_1",
+      "body": "mode5",
+      "head": "normal",
+      "hand": "dex3_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode5_normal_inspire_dfq",
+      "body": "mode5",
+      "head": "normal",
+      "hand": "inspire_dfq",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode5_normal_inspire_ftp",
+      "body": "mode5",
+      "head": "normal",
+      "hand": "inspire_ftp",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode5_comp_none",
+      "body": "mode5",
+      "head": "comp",
+      "hand": "none",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode5_comp_rubber",
+      "body": "mode5",
+      "head": "comp",
+      "hand": "rubber",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode5_comp_dex1_1",
+      "body": "mode5",
+      "head": "comp",
+      "hand": "dex1_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode5_comp_dex3_1",
+      "body": "mode5",
+      "head": "comp",
+      "hand": "dex3_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode5_comp_inspire_dfq",
+      "body": "mode5",
+      "head": "comp",
+      "hand": "inspire_dfq",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode5_comp_inspire_ftp",
+      "body": "mode5",
+      "head": "comp",
+      "hand": "inspire_ftp",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_normal_none",
+      "body": "mode11",
+      "head": "normal",
+      "hand": "none",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_normal_rubber",
+      "body": "mode11",
+      "head": "normal",
+      "hand": "rubber",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_normal_dex1_1",
+      "body": "mode11",
+      "head": "normal",
+      "hand": "dex1_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_normal_dex3_1",
+      "body": "mode11",
+      "head": "normal",
+      "hand": "dex3_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_normal_inspire_dfq",
+      "body": "mode11",
+      "head": "normal",
+      "hand": "inspire_dfq",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_normal_inspire_ftp",
+      "body": "mode11",
+      "head": "normal",
+      "hand": "inspire_ftp",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_comp_none",
+      "body": "mode11",
+      "head": "comp",
+      "hand": "none",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_comp_rubber",
+      "body": "mode11",
+      "head": "comp",
+      "hand": "rubber",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_comp_dex1_1",
+      "body": "mode11",
+      "head": "comp",
+      "hand": "dex1_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_comp_dex3_1",
+      "body": "mode11",
+      "head": "comp",
+      "hand": "dex3_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_comp_inspire_dfq",
+      "body": "mode11",
+      "head": "comp",
+      "hand": "inspire_dfq",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_comp_inspire_ftp",
+      "body": "mode11",
+      "head": "comp",
+      "hand": "inspire_ftp",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode13_normal_none",
+      "body": "mode13",
+      "head": "normal",
+      "hand": "none",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode13_normal_rubber",
+      "body": "mode13",
+      "head": "normal",
+      "hand": "rubber",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode13_normal_dex1_1",
+      "body": "mode13",
+      "head": "normal",
+      "hand": "dex1_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode13_normal_dex3_1",
+      "body": "mode13",
+      "head": "normal",
+      "hand": "dex3_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode13_normal_inspire_dfq",
+      "body": "mode13",
+      "head": "normal",
+      "hand": "inspire_dfq",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode13_normal_inspire_ftp",
+      "body": "mode13",
+      "head": "normal",
+      "hand": "inspire_ftp",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode13_comp_none",
+      "body": "mode13",
+      "head": "comp",
+      "hand": "none",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode13_comp_rubber",
+      "body": "mode13",
+      "head": "comp",
+      "hand": "rubber",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode13_comp_dex1_1",
+      "body": "mode13",
+      "head": "comp",
+      "hand": "dex1_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode13_comp_dex3_1",
+      "body": "mode13",
+      "head": "comp",
+      "hand": "dex3_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode13_comp_inspire_dfq",
+      "body": "mode13",
+      "head": "comp",
+      "hand": "inspire_dfq",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode13_comp_inspire_ftp",
+      "body": "mode13",
+      "head": "comp",
+      "hand": "inspire_ftp",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode15_normal_none",
+      "body": "mode15",
+      "head": "normal",
+      "hand": "none",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode15_normal_rubber",
+      "body": "mode15",
+      "head": "normal",
+      "hand": "rubber",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode15_normal_dex1_1",
+      "body": "mode15",
+      "head": "normal",
+      "hand": "dex1_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode15_normal_dex3_1",
+      "body": "mode15",
+      "head": "normal",
+      "hand": "dex3_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode15_normal_inspire_dfq",
+      "body": "mode15",
+      "head": "normal",
+      "hand": "inspire_dfq",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode15_normal_inspire_ftp",
+      "body": "mode15",
+      "head": "normal",
+      "hand": "inspire_ftp",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode15_comp_none",
+      "body": "mode15",
+      "head": "comp",
+      "hand": "none",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode15_comp_rubber",
+      "body": "mode15",
+      "head": "comp",
+      "hand": "rubber",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode15_comp_dex1_1",
+      "body": "mode15",
+      "head": "comp",
+      "hand": "dex1_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode15_comp_dex3_1",
+      "body": "mode15",
+      "head": "comp",
+      "hand": "dex3_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode15_comp_inspire_dfq",
+      "body": "mode15",
+      "head": "comp",
+      "hand": "inspire_dfq",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode15_comp_inspire_ftp",
+      "body": "mode15",
+      "head": "comp",
+      "hand": "inspire_ftp",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_normal_none",
+      "body": "mode18",
+      "head": "normal",
+      "hand": "none",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_normal_rubber",
+      "body": "mode18",
+      "head": "normal",
+      "hand": "rubber",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_normal_dex1_1",
+      "body": "mode18",
+      "head": "normal",
+      "hand": "dex1_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_normal_dex3_1",
+      "body": "mode18",
+      "head": "normal",
+      "hand": "dex3_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_normal_inspire_dfq",
+      "body": "mode18",
+      "head": "normal",
+      "hand": "inspire_dfq",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_normal_inspire_ftp",
+      "body": "mode18",
+      "head": "normal",
+      "hand": "inspire_ftp",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_comp_none",
+      "body": "mode18",
+      "head": "comp",
+      "hand": "none",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_comp_rubber",
+      "body": "mode18",
+      "head": "comp",
+      "hand": "rubber",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_comp_dex1_1",
+      "body": "mode18",
+      "head": "comp",
+      "hand": "dex1_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_comp_dex3_1",
+      "body": "mode18",
+      "head": "comp",
+      "hand": "dex3_1",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_comp_inspire_dfq",
+      "body": "mode18",
+      "head": "comp",
+      "hand": "inspire_dfq",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_comp_inspire_ftp",
+      "body": "mode18",
+      "head": "comp",
+      "hand": "inspire_ftp",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode5_normal_brainco",
+      "body": "mode5",
+      "head": "normal",
+      "hand": "brainco",
+      "aliases": [
+        "g1_mode13_normal_brainco"
+      ],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode5_comp_brainco",
+      "body": "mode5",
+      "head": "comp",
+      "hand": "brainco",
+      "aliases": [
+        "g1_mode13_comp_brainco"
+      ],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_normal_brainco",
+      "body": "mode11",
+      "head": "normal",
+      "hand": "brainco",
+      "aliases": [
+        "g1_mode15_normal_brainco"
+      ],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode11_comp_brainco",
+      "body": "mode11",
+      "head": "comp",
+      "hand": "brainco",
+      "aliases": [
+        "g1_mode15_comp_brainco"
+      ],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_normal_brainco",
+      "body": "mode18",
+      "head": "normal",
+      "hand": "brainco",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    },
+    {
+      "name": "g1_mode18_comp_brainco",
+      "body": "mode18",
+      "head": "comp",
+      "hand": "brainco",
+      "aliases": [],
+      "urdf_nq": 29,
+      "urdf_nv": 29,
+      "mjcf_nq": 29,
+      "mjcf_nv": 29
+    }
+  ],
+  "official_mjcf": [
+    {
+      "name": "g1_23dof.xml",
+      "nq": 30,
+      "nv": 29,
+      "nu": 23
+    },
+    {
+      "name": "g1_23dof_rev_1_0.xml",
+      "nq": 30,
+      "nv": 29,
+      "nu": 23
+    },
+    {
+      "name": "g1_29dof.xml",
+      "nq": 36,
+      "nv": 35,
+      "nu": 29
+    },
+    {
+      "name": "g1_29dof_lock_waist.xml",
+      "nq": 34,
+      "nv": 33,
+      "nu": 27
+    },
+    {
+      "name": "g1_29dof_lock_waist_rev_1_0.xml",
+      "nq": 34,
+      "nv": 33,
+      "nu": 27
+    },
+    {
+      "name": "g1_29dof_lock_waist_with_hand_rev_1_0.xml",
+      "nq": 48,
+      "nv": 47,
+      "nu": 41
+    },
+    {
+      "name": "g1_29dof_rev_1_0.xml",
+      "nq": 36,
+      "nv": 35,
+      "nu": 29
+    },
+    {
+      "name": "g1_29dof_with_hand.xml",
+      "nq": 50,
+      "nv": 49,
+      "nu": 43
+    },
+    {
+      "name": "g1_29dof_with_hand_rev_1_0.xml",
+      "nq": 50,
+      "nv": 49,
+      "nu": 43
+    },
+    {
+      "name": "g1_dual_arm.xml",
+      "nq": 14,
+      "nv": 14,
+      "nu": 14
+    }
+  ]
+}

assets/robots/unitree/G1/modular/mesh_index.json

@@ -0,0 +1,199 @@
+{
+  "meshes": {
+    "Dex1_base_link.STL": "meshes/Dex1_base_link.STL",
+    "Dex1_finger_link_1.STL": "meshes/Dex1_finger_link_1.STL",
+    "Dex1_finger_link_2.STL": "meshes/Dex1_finger_link_2.STL",
+    "L_hand_base_link.STL": "../meshes/L_hand_base_link.STL",
+    "Link11_L.STL": "../meshes/Link11_L.STL",
+    "Link11_R.STL": "../meshes/Link11_R.STL",
+    "Link12_L.STL": "../meshes/Link12_L.STL",
+    "Link12_R.STL": "../meshes/Link12_R.STL",
+    "Link13_L.STL": "../meshes/Link13_L.STL",
+    "Link13_R.STL": "../meshes/Link13_R.STL",
+    "Link14_L.STL": "../meshes/Link14_L.STL",
+    "Link14_R.STL": "../meshes/Link14_R.STL",
+    "Link15_L.STL": "../meshes/Link15_L.STL",
+    "Link15_R.STL": "../meshes/Link15_R.STL",
+    "Link16_L.STL": "../meshes/Link16_L.STL",
+    "Link16_R.STL": "../meshes/Link16_R.STL",
+    "Link17_L.STL": "../meshes/Link17_L.STL",
+    "Link17_R.STL": "../meshes/Link17_R.STL",
+    "Link18_L.STL": "../meshes/Link18_L.STL",
+    "Link18_R.STL": "../meshes/Link18_R.STL",
+    "Link19_L.STL": "../meshes/Link19_L.STL",
+    "Link19_R.STL": "../meshes/Link19_R.STL",
+    "Link20_L.STL": "../meshes/Link20_L.STL",
+    "Link20_R.STL": "../meshes/Link20_R.STL",
+    "Link21_L.STL": "../meshes/Link21_L.STL",
+    "Link21_R.STL": "../meshes/Link21_R.STL",
+    "Link22_L.STL": "../meshes/Link22_L.STL",
+    "Link22_R.STL": "../meshes/Link22_R.STL",
+    "R_hand_base_link.STL": "../meshes/R_hand_base_link.STL",
+    "brainco__left_base2_link.STL": "meshes/brainco__left_base2_link.STL",
+    "brainco__left_base_link.STL": "meshes/brainco__left_base_link.STL",
+    "brainco__left_index_distal_Link.STL": "meshes/brainco__left_index_distal_Link.STL",
+    "brainco__left_index_proximal_Link.STL": "meshes/brainco__left_index_proximal_Link.STL",
+    "brainco__left_index_tip_Link.STL": "meshes/brainco__left_index_tip_Link.STL",
+    "brainco__left_middle_distal_Link.STL": "meshes/brainco__left_middle_distal_Link.STL",
+    "brainco__left_middle_proximal_Link.STL": "meshes/brainco__left_middle_proximal_Link.STL",
+    "brainco__left_middle_tip_Link.STL": "meshes/brainco__left_middle_tip_Link.STL",
+    "brainco__left_pinky_distal_Link.STL": "meshes/brainco__left_pinky_distal_Link.STL",
+    "brainco__left_pinky_proximal_Link.STL": "meshes/brainco__left_pinky_proximal_Link.STL",
+    "brainco__left_pinky_tip_Link.STL": "meshes/brainco__left_pinky_tip_Link.STL",
+    "brainco__left_ring_distal_Link.STL": "meshes/brainco__left_ring_distal_Link.STL",
+    "brainco__left_ring_proximal_Link.STL": "meshes/brainco__left_ring_proximal_Link.STL",
+    "brainco__left_ring_tip_Link.STL": "meshes/brainco__left_ring_tip_Link.STL",
+    "brainco__left_thumb_distal_Link.STL": "meshes/brainco__left_thumb_distal_Link.STL",
+    "brainco__left_thumb_metacarpal_Link.STL": "meshes/brainco__left_thumb_metacarpal_Link.STL",
+    "brainco__left_thumb_proximal_Link.STL": "meshes/brainco__left_thumb_proximal_Link.STL",
+    "brainco__left_thumb_tip_Link.STL": "meshes/brainco__left_thumb_tip_Link.STL",
+    "brainco__left_wrist_pitch_link.STL": "../meshes/left_wrist_pitch_link_5010.STL",
+    "brainco__left_wrist_roll_link.STL": "../meshes/left_wrist_roll_link_5010.STL",
+    "brainco__left_wrist_yaw_link.STL": "../meshes/left_wrist_yaw_link_5010.STL",
+    "brainco__right_base2_link.STL": "meshes/brainco__left_base2_link.STL",
+    "brainco__right_base_link.STL": "meshes/brainco__right_base_link.STL",
+    "brainco__right_index_distal_link.STL": "meshes/brainco__right_index_distal_link.STL",
+    "brainco__right_index_proximal_link.STL": "meshes/brainco__right_index_proximal_link.STL",
+    "brainco__right_index_tip.STL": "meshes/brainco__right_index_tip.STL",
+    "brainco__right_middle_distal_link.STL": "meshes/brainco__right_middle_distal_link.STL",
+    "brainco__right_middle_proximal_link.STL": "meshes/brainco__right_middle_proximal_link.STL",
+    "brainco__right_middle_tip.STL": "meshes/brainco__right_middle_tip.STL",
+    "brainco__right_pinky_distal_link.STL": "meshes/brainco__right_pinky_distal_link.STL",
+    "brainco__right_pinky_proximal_link.STL": "meshes/brainco__right_pinky_proximal_link.STL",
+    "brainco__right_pinky_tip.STL": "meshes/brainco__right_pinky_tip.STL",
+    "brainco__right_ring_distal_link.STL": "meshes/brainco__right_ring_distal_link.STL",
+    "brainco__right_ring_proximal_link.STL": "meshes/brainco__right_ring_proximal_link.STL",
+    "brainco__right_ring_tip.STL": "meshes/brainco__right_ring_tip.STL",
+    "brainco__right_thumb_distal_link.STL": "meshes/brainco__right_thumb_distal_link.STL",
+    "brainco__right_thumb_metacarpal_link.STL": "meshes/brainco__right_thumb_metacarpal_link.STL",
+    "brainco__right_thumb_proximal_link.STL": "meshes/brainco__right_thumb_proximal_link.STL",
+    "brainco__right_thumb_tip.STL": "meshes/brainco__right_thumb_tip.STL",
+    "brainco__right_wrist_pitch_link.STL": "../meshes/right_wrist_pitch_link_5010.STL",
+    "brainco__right_wrist_roll_link.STL": "../meshes/right_wrist_roll_link_5010.STL",
+    "brainco__right_wrist_yaw_link.STL": "../meshes/right_wrist_yaw_link_5010.STL",
+    "d455_link.STL": "../meshes/d455_link.STL",
+    "dex1_col_1.stl": "meshes/dex1_col_1.stl",
+    "dex1_col_2.stl": "meshes/dex1_col_2.stl",
+    "head_link.STL": "../meshes/head_link.STL",
+    "head_servo_link.STL": "../meshes/head_servo_link.STL",
+    "left_ankle_pitch_link.STL": "../meshes/left_ankle_pitch_link.STL",
+    "left_ankle_roll_link.STL": "../meshes/left_ankle_roll_link.STL",
+    "left_base_link.STL": "../meshes/left_base_link.STL",
+    "left_elbow_link.STL": "../meshes/left_elbow_link.STL",
+    "left_hand_index_0_link.STL": "meshes/left_hand_index_0_link.STL",
+    "left_hand_index_1_link.STL": "meshes/left_hand_index_1_link.STL",
+    "left_hand_middle_0_link.STL": "meshes/left_hand_index_0_link.STL",
+    "left_hand_middle_1_link.STL": "meshes/left_hand_index_1_link.STL",
+    "left_hand_palm_link.STL": "../meshes/left_hand_palm_link.STL",
+    "left_hand_thumb_0_link.STL": "meshes/left_hand_thumb_0_link.STL",
+    "left_hand_thumb_1_link.STL": "meshes/left_hand_thumb_1_link.STL",
+    "left_hand_thumb_2_link.STL": "meshes/left_hand_thumb_2_link.STL",
+    "left_hip_pitch_link.STL": "../meshes/left_hip_pitch_link.STL",
+    "left_hip_roll_link.STL": "../meshes/left_hip_roll_link.STL",
+    "left_hip_yaw_link.STL": "../meshes/left_hip_yaw_link.STL",
+    "left_index_1.STL": "../meshes/left_index_1.STL",
+    "left_index_2.STL": "../meshes/left_index_2.STL",
+    "left_index_force_sensor_1.STL": "../meshes/left_index_force_sensor_1.STL",
+    "left_index_force_sensor_2.STL": "../meshes/left_index_force_sensor_2.STL",
+    "left_index_force_sensor_3.STL": "../meshes/left_index_force_sensor_3.STL",
+    "left_knee_link.STL": "../meshes/left_knee_link.STL",
+    "left_little_1.STL": "../meshes/left_little_1.STL",
+    "left_little_2.STL": "../meshes/left_little_2.STL",
+    "left_little_force_sensor_1.STL": "../meshes/left_little_force_sensor_1.STL",
+    "left_little_force_sensor_2.STL": "../meshes/left_little_force_sensor_2.STL",
+    "left_little_force_sensor_3.STL": "../meshes/left_little_force_sensor_3.STL",
+    "left_middle_1.STL": "../meshes/left_middle_1.STL",
+    "left_middle_2.STL": "../meshes/left_middle_2.STL",
+    "left_middle_force_sensor_1.STL": "../meshes/left_middle_force_sensor_1.STL",
+    "left_middle_force_sensor_2.STL": "../meshes/left_middle_force_sensor_2.STL",
+    "left_middle_force_sensor_3.STL": "../meshes/left_middle_force_sensor_3.STL",
+    "left_palm_force_sensor.STL": "../meshes/left_palm_force_sensor.STL",
+    "left_ring_1.STL": "../meshes/left_ring_1.STL",
+    "left_ring_2.STL": "../meshes/left_ring_2.STL",
+    "left_ring_force_sensor_1.STL": "../meshes/left_ring_force_sensor_1.STL",
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+    "left_ring_force_sensor_3.STL": "../meshes/left_ring_force_sensor_3.STL",
+    "left_rubber_hand.STL": "../meshes/left_rubber_hand.STL",
+    "left_shoulder_pitch_link.STL": "../meshes/left_shoulder_pitch_link.STL",
+    "left_shoulder_roll_link.STL": "../meshes/left_shoulder_roll_link.STL",
+    "left_shoulder_yaw_link.STL": "../meshes/left_shoulder_yaw_link.STL",
+    "left_thumb_1.STL": "../meshes/left_thumb_1.STL",
+    "left_thumb_2.STL": "../meshes/left_thumb_2.STL",
+    "left_thumb_3.STL": "../meshes/left_thumb_3.STL",
+    "left_thumb_4.STL": "../meshes/left_thumb_4.STL",
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+    "left_thumb_force_sensor_2.STL": "../meshes/left_thumb_force_sensor_2.STL",
+    "left_thumb_force_sensor_3.STL": "../meshes/left_thumb_force_sensor_3.STL",
+    "left_thumb_force_sensor_4.STL": "../meshes/left_thumb_force_sensor_4.STL",
+    "left_wrist_pitch_link.STL": "../meshes/left_wrist_pitch_link.STL",
+    "left_wrist_pitch_link_5010.STL": "../meshes/left_wrist_pitch_link_5010.STL",
+    "left_wrist_roll_link.STL": "../meshes/left_wrist_roll_link.STL",
+    "left_wrist_roll_link_5010.STL": "../meshes/left_wrist_roll_link_5010.STL",
+    "left_wrist_yaw_link.STL": "../meshes/left_wrist_yaw_link.STL",
+    "left_wrist_yaw_link_5010.STL": "../meshes/left_wrist_yaw_link_5010.STL",
+    "logo_link.STL": "../meshes/logo_link.STL",
+    "pelvis.STL": "../meshes/pelvis.STL",
+    "pelvis_contour_link.STL": "../meshes/pelvis_contour_link.STL",
+    "pelvis_ver0529.STL": "meshes/pelvis_ver0529.STL",
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+    "right_ankle_roll_link.STL": "../meshes/right_ankle_roll_link.STL",
+    "right_base_link.STL": "../meshes/right_base_link.STL",
+    "right_elbow_link.STL": "../meshes/right_elbow_link.STL",
+    "right_hand_index_0_link.STL": "meshes/right_hand_index_0_link.STL",
+    "right_hand_index_1_link.STL": "meshes/right_hand_index_1_link.STL",
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+    "right_hip_roll_link.STL": "../meshes/right_hip_roll_link.STL",
+    "right_hip_yaw_link.STL": "../meshes/right_hip_yaw_link.STL",
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+    "right_index_2.STL": "../meshes/right_index_2.STL",
+    "right_index_force_sensor_1.STL": "../meshes/right_index_force_sensor_1.STL",
+    "right_index_force_sensor_2.STL": "../meshes/right_index_force_sensor_2.STL",
+    "right_index_force_sensor_3.STL": "../meshes/right_index_force_sensor_3.STL",
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+    "right_middle_2.STL": "../meshes/right_middle_2.STL",
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+    "right_middle_force_sensor_2.STL": "../meshes/right_middle_force_sensor_2.STL",
+    "right_middle_force_sensor_3.STL": "../meshes/right_middle_force_sensor_3.STL",
+    "right_palm_force_sensor.STL": "../meshes/right_palm_force_sensor.STL",
+    "right_ring_1.STL": "../meshes/right_ring_1.STL",
+    "right_ring_2.STL": "../meshes/right_ring_2.STL",
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+    "right_ring_force_sensor_2.STL": "../meshes/right_ring_force_sensor_2.STL",
+    "right_ring_force_sensor_3.STL": "../meshes/right_ring_force_sensor_3.STL",
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+    "right_shoulder_pitch_link.STL": "../meshes/right_shoulder_pitch_link.STL",
+    "right_shoulder_roll_link.STL": "../meshes/right_shoulder_roll_link.STL",
+    "right_shoulder_yaw_link.STL": "../meshes/right_shoulder_yaw_link.STL",
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+    "right_thumb_2.STL": "../meshes/right_thumb_2.STL",
+    "right_thumb_3.STL": "../meshes/right_thumb_3.STL",
+    "right_thumb_4.STL": "../meshes/right_thumb_4.STL",
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+    "right_thumb_force_sensor_2.STL": "../meshes/right_thumb_force_sensor_2.STL",
+    "right_thumb_force_sensor_3.STL": "../meshes/right_thumb_force_sensor_3.STL",
+    "right_thumb_force_sensor_4.STL": "../meshes/right_thumb_force_sensor_4.STL",
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+    "right_wrist_pitch_link_5010.STL": "../meshes/right_wrist_pitch_link_5010.STL",
+    "right_wrist_roll_link.STL": "../meshes/right_wrist_roll_link.STL",
+    "right_wrist_roll_link_5010.STL": "../meshes/right_wrist_roll_link_5010.STL",
+    "right_wrist_yaw_link.STL": "../meshes/right_wrist_yaw_link.STL",
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+    "torso_link_rev_1_0.STL": "../meshes/torso_link_rev_1_0.STL",
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+    "xl330_link.STL": "../meshes/xl330_link.STL"
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+  "schema": "holomotion-g1-mesh-index-v1"
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