diff --git a/.gitattributes b/.gitattributes
index f008151939dfd76060a5e525ff2a9f10c7e637d5..9652b3450bf1d1070be15d80e3140eefc9826a29 100644
--- a/.gitattributes
+++ b/.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
diff --git a/assets/robots/unitree/G1/modular/LICENSE.unitree_ros b/assets/robots/unitree/G1/modular/LICENSE.unitree_ros
new file mode 100644
index 0000000000000000000000000000000000000000..6dfdadaa90baa4f7bea7400d3c4e8b9c784ae37f
--- /dev/null
+++ b/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.
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/README.md b/assets/robots/unitree/G1/modular/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..919c892bc3b456a91d033ef62bf086f31adbd8f7
--- /dev/null
+++ b/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`.
diff --git a/assets/robots/unitree/G1/modular/components/bodies/mode11.xml b/assets/robots/unitree/G1/modular/components/bodies/mode11.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ee84bd65d601d8b36ae9c61be4a5140e66b0782f
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/components/bodies/mode11.xml
@@ -0,0 +1,869 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/components/bodies/mode13.xml b/assets/robots/unitree/G1/modular/components/bodies/mode13.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa742ac9bfed6778ef3f778f62b053b8f412549c
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/components/bodies/mode13.xml
@@ -0,0 +1,893 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/components/bodies/mode15.xml b/assets/robots/unitree/G1/modular/components/bodies/mode15.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3133bfc1e867a1c8bd66323b5acbc0b514e242b1
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/components/bodies/mode15.xml
@@ -0,0 +1,869 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/components/bodies/mode18.xml b/assets/robots/unitree/G1/modular/components/bodies/mode18.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8fca48a2df05a369549552849a24d0841c8fc022
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/components/bodies/mode18.xml
@@ -0,0 +1,869 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/components/bodies/mode5.xml b/assets/robots/unitree/G1/modular/components/bodies/mode5.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1c8f432305d45a36cf4fd5b0ebbcb1efd9f6d709
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/components/bodies/mode5.xml
@@ -0,0 +1,893 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/components/hands/brainco.xml b/assets/robots/unitree/G1/modular/components/hands/brainco.xml
new file mode 100644
index 0000000000000000000000000000000000000000..37e8d487c9f61e3baaabf5c348e367410e9a5d31
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/components/hands/brainco.xml
@@ -0,0 +1,1228 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/components/hands/dex1_1.xml b/assets/robots/unitree/G1/modular/components/hands/dex1_1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..44bae9ae81a4d0edbf153e7279f2b45bf3faf6c7
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/components/hands/dex1_1.xml
@@ -0,0 +1,178 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/components/hands/dex3_1.xml b/assets/robots/unitree/G1/modular/components/hands/dex3_1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..190bbe22d7955a015c53f888fcd1d33ffda8324c
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/components/hands/dex3_1.xml
@@ -0,0 +1,436 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/components/hands/inspire_dfq.xml b/assets/robots/unitree/G1/modular/components/hands/inspire_dfq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4c56fa1b05035b2f490330d91e1d83cf2d1fa76e
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/components/hands/inspire_dfq.xml
@@ -0,0 +1,770 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/components/hands/inspire_ftp.xml b/assets/robots/unitree/G1/modular/components/hands/inspire_ftp.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7325521dcc4a6cda5fde53f9dd89379e2e8a529b
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/components/hands/inspire_ftp.xml
@@ -0,0 +1,1722 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/components/hands/rubber.xml b/assets/robots/unitree/G1/modular/components/hands/rubber.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4295022befd4579628e575ecc27d998df7346fff
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/components/hands/rubber.xml
@@ -0,0 +1,46 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/components/heads/comp.xml b/assets/robots/unitree/G1/modular/components/heads/comp.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8f844792fe57d6a6bf689fd9865f7bd69a027e73
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/components/heads/comp.xml
@@ -0,0 +1,118 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/components/heads/normal.xml b/assets/robots/unitree/G1/modular/components/heads/normal.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ee29e1b4b6729ef27ae378d59d3e124581f7b07d
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/components/heads/normal.xml
@@ -0,0 +1,45 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/g1_urdf_composer.py b/assets/robots/unitree/G1/modular/g1_urdf_composer.py
new file mode 100644
index 0000000000000000000000000000000000000000..f0bec5643adfc8d6358601125b1be99a970e295f
--- /dev/null
+++ b/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()
diff --git a/assets/robots/unitree/G1/modular/manifest.json b/assets/robots/unitree/G1/modular/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..6876960396f0c09adb66a7d2eb9bf411d3743e54
--- /dev/null
+++ b/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
+ }
+ ]
+}
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/modular/mesh_index.json b/assets/robots/unitree/G1/modular/mesh_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..444ddfe99b8bdcf6f6411659ed73387794c5e3da
--- /dev/null
+++ b/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",
+ "left_ring_force_sensor_2.STL": "../meshes/left_ring_force_sensor_2.STL",
+ "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",
+ "left_thumb_force_sensor_1.STL": "../meshes/left_thumb_force_sensor_1.STL",
+ "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",
+ "right_ankle_pitch_link.STL": "../meshes/right_ankle_pitch_link.STL",
+ "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",
+ "right_hand_middle_0_link.STL": "meshes/right_hand_index_0_link.STL",
+ "right_hand_middle_1_link.STL": "meshes/right_hand_index_1_link.STL",
+ "right_hand_palm_link.STL": "../meshes/right_hand_palm_link.STL",
+ "right_hand_thumb_0_link.STL": "meshes/right_hand_thumb_0_link.STL",
+ "right_hand_thumb_1_link.STL": "meshes/right_hand_thumb_1_link.STL",
+ "right_hand_thumb_2_link.STL": "meshes/right_hand_thumb_2_link.STL",
+ "right_hip_pitch_link.STL": "../meshes/right_hip_pitch_link.STL",
+ "right_hip_roll_link.STL": "../meshes/right_hip_roll_link.STL",
+ "right_hip_yaw_link.STL": "../meshes/right_hip_yaw_link.STL",
+ "right_index_1.STL": "../meshes/right_index_1.STL",
+ "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",
+ "right_knee_link.STL": "../meshes/right_knee_link.STL",
+ "right_little_1.STL": "../meshes/right_little_1.STL",
+ "right_little_2.STL": "../meshes/right_little_2.STL",
+ "right_little_force_sensor_1.STL": "../meshes/right_little_force_sensor_1.STL",
+ "right_little_force_sensor_2.STL": "../meshes/right_little_force_sensor_2.STL",
+ "right_little_force_sensor_3.STL": "../meshes/right_little_force_sensor_3.STL",
+ "right_middle_1.STL": "../meshes/right_middle_1.STL",
+ "right_middle_2.STL": "../meshes/right_middle_2.STL",
+ "right_middle_force_sensor_1.STL": "../meshes/right_middle_force_sensor_1.STL",
+ "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",
+ "right_ring_force_sensor_1.STL": "../meshes/right_ring_force_sensor_1.STL",
+ "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",
+ "right_rubber_hand.STL": "../meshes/right_rubber_hand.STL",
+ "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",
+ "right_thumb_1.STL": "../meshes/right_thumb_1.STL",
+ "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",
+ "right_thumb_force_sensor_1.STL": "../meshes/right_thumb_force_sensor_1.STL",
+ "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",
+ "right_wrist_pitch_link.STL": "../meshes/right_wrist_pitch_link.STL",
+ "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",
+ "right_wrist_yaw_link_5010.STL": "../meshes/right_wrist_yaw_link_5010.STL",
+ "torso_link_rev_1_0.STL": "../meshes/torso_link_rev_1_0.STL",
+ "waist_roll_link_rev_1_0.STL": "../meshes/waist_roll_link_rev_1_0.STL",
+ "waist_yaw_link_rev_1_0.STL": "../meshes/waist_yaw_link_rev_1_0.STL",
+ "xl330_link.STL": "../meshes/xl330_link.STL"
+ },
+ "schema": "holomotion-g1-mesh-index-v1"
+}
diff --git a/assets/robots/unitree/G1/modular/meshes/Dex1_base_link.STL b/assets/robots/unitree/G1/modular/meshes/Dex1_base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..054f3a9f02891b2441b025ede6c701825cda3cee
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/Dex1_base_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03f1cb02f94d6b280953f6c5a10da2eab6220ea5c301408d3c4decca66c8cdad
+size 2824984
diff --git a/assets/robots/unitree/G1/modular/meshes/Dex1_finger_link_1.STL b/assets/robots/unitree/G1/modular/meshes/Dex1_finger_link_1.STL
new file mode 100644
index 0000000000000000000000000000000000000000..5c191a8c15c5294233c5f0f698f7376b0cf0d77f
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/Dex1_finger_link_1.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cd2ff199556e3955547a34c75ed9ea777fb7d704fc98e7318d0f67e4aaedf5a
+size 313884
diff --git a/assets/robots/unitree/G1/modular/meshes/Dex1_finger_link_2.STL b/assets/robots/unitree/G1/modular/meshes/Dex1_finger_link_2.STL
new file mode 100644
index 0000000000000000000000000000000000000000..66e501f16cd67eb03ef0426a97a9de66591d8f74
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/Dex1_finger_link_2.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8297ce8184c64d34d70cd9d6c7b583fba6a3adae2075523e97fb956ada65eb3
+size 313884
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_base2_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_base2_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..b867ca7044bf2980b08dc4b4280081a644e833d9
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_base2_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a0ca805910d235ea1bab123fce8d05b951196421801a3aed9a9beddd9f88852
+size 123384
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_base_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..bf6062b866873669cc8e2bc515c04459e2c6d199
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_base_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8851e50188ac14edba1552b37d4ccb8f61c0d7ad7338a8db9623512476e968b
+size 2518884
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_index_distal_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_index_distal_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..56e21e1369b45faa2f62cde13ee30197d7b2e588
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_index_distal_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:188a5ef9e447ee78932d072d3ced223a66990e8216b413f1a85f67bb3bd2ebd6
+size 441984
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_index_proximal_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_index_proximal_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..5da0045dfb455a6a192be4a2a729f2bb7e757660
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_index_proximal_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fed32c1a8451282b314579eed3903a288a62524dc7d8b08464fb559261bb580
+size 339884
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_index_tip_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_index_tip_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..74a8ec2f1ffaa36a9c9990f82dae724e26cfb6de
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_index_tip_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f5a11d72375073e8373a02ce604ca99abcb583074ba2f520510b48abc4c5b86
+size 117684
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_middle_distal_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_middle_distal_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..1a803bbabd4fad47b9bf04401e31012bb9876813
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_middle_distal_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc4dec97e13c6be231b07f5d092e0d292a9a77c6a707062caf17d3602c22ad73
+size 435984
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_middle_proximal_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_middle_proximal_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..e855240d222456d86adb8ffdf3cd2101c51c7eae
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_middle_proximal_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50122ebf6e75698ba2c469efd58e07ad3f82b1a002728cd15802f1c435d54c0c
+size 334284
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_middle_tip_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_middle_tip_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..a090626365edef6f24071bf472afc93e91984cd3
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_middle_tip_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef4ac885d12e603918722c22000a59827f168f276d9c41651ef0d94175113486
+size 117684
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_pinky_distal_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_pinky_distal_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..2b24fcb109042460720a57b6eb93b97b453e5fa7
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_pinky_distal_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2f6a2150559d01e6f07a55cda141d3363de7e6e4259457740dee8afdb17b20f
+size 596184
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_pinky_proximal_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_pinky_proximal_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..ae8645a7d35bed2cda5d22217add578152155703
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_pinky_proximal_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f1408568638fbbec4cf32507d4b233fbd8cdb9c862e07cc7da6cd826497caa6
+size 346784
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_pinky_tip_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_pinky_tip_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..a8780b0ea659da5469211f940da8da4339ad907c
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_pinky_tip_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56eae1cc71cf6acab0a20c1a8e2e470c9ec96f520386c1ea22f10f51e2dbf758
+size 117684
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_ring_distal_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_ring_distal_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..1378338f447cce9bb8c87507a91b7627765bc5fb
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_ring_distal_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:100a748e3038ed3ce5969f0696133dd3bf9bfa6f1546287272cf44d76a3cacce
+size 564884
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_ring_proximal_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_ring_proximal_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..a031617e322ea61600c88ceb2c04e1403cd1cd2e
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_ring_proximal_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77220c07d5bbc119cb828af89f35cb4cef755bbc98a1cae2dda846268ff59501
+size 281184
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_ring_tip_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_ring_tip_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..aeb65e967db6f36a6feb4e5f5caeb60f0d640087
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_ring_tip_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:870a5b7890a41c8fb8e91cd0c4f74f01c64778bf33f29c135b0b0431a489cde1
+size 117684
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_distal_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_distal_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c805b8d28a92d2deb286e57dcca1308c93d70753
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_distal_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9d74a4c4025b3d14fb2f67d3326c4be20002b1c51ef21971cc848d70be630e
+size 221284
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_metacarpal_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_metacarpal_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..f40067834046685d7e5ff445bd3a12dbd0e2e86a
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_metacarpal_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:415a75193e7773572b0df8a80fa4e1d187a67901a5ff381a89ee5b7df64735ea
+size 290384
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_proximal_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_proximal_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7d3dae31c2584a8a4780d4727e630f24edec050c
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_proximal_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:191650b13c24d76d7cf58e4ba51e3a79ac07906db8639c557da5a98b87b5f316
+size 657684
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_tip_Link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_tip_Link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..a9d9818aa0c89a3babbbdd357bb71050464be0cd
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__left_thumb_tip_Link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5177296e2426d118cc15ca74db26ebbdedf129f7a2b7c1194b2752f19e1fa3cd
+size 117684
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_base_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7d0a155cf57b3a3c23cdd4517f5b2fc6db85644c
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_base_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c506bceeb28732ea1220d4a62000064a0621994c4efe711c954cc6605abd4a34
+size 2513484
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_index_distal_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_index_distal_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..1af488c11800156504a647c6f3c06957d0b9234f
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_index_distal_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9f2ff38d27d39713915d41996a335a4a7f272b51f2b663fd253df4890d2ea7d
+size 444884
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_index_proximal_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_index_proximal_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..e3117058993b6eddf9d52382e3ecc0f834d73e94
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_index_proximal_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94fdff414f1c29940495d1f0264a50621340cfc30f9b5365b3490d39ae367f2f
+size 339884
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_index_tip.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_index_tip.STL
new file mode 100644
index 0000000000000000000000000000000000000000..91dc6c28f0a0f264cc8f8f4ef9b80189da39b692
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_index_tip.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4af36131feedb7f83a695ff8e7d09a7e8893df96f971b2d363c0d359e3a82bbf
+size 117684
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_middle_distal_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_middle_distal_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c75b47bb92b6c5e1f2ff0918bea8a58b3165a7a9
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_middle_distal_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ca6556cbe479398a4adece02ea2220f7088a237937f9129e6fa8f37a3f8d779
+size 437084
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_middle_proximal_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_middle_proximal_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..d3bf00a5f4d7d0444a6c71c42f145624a6811f2b
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_middle_proximal_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56d9f019bad093daf93a736596ab4e7d9b17fb3c79e2be4181d909958cf76a37
+size 333384
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_middle_tip.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_middle_tip.STL
new file mode 100644
index 0000000000000000000000000000000000000000..930fb0790885216adabce333cdbf9c531c119489
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_middle_tip.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:844204b7bcf3de3ad500232e2e30ac15a8ec41728be281d0670c7ad1a2b09e34
+size 117684
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_pinky_distal_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_pinky_distal_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..abe6cbde5435101f7369294b73fa5f7a963e042c
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_pinky_distal_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0beaa421340096156daaa286364058f200b54bd81b079dd335169dd324ab3344
+size 595984
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_pinky_proximal_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_pinky_proximal_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..3642465d5df32757e880b79b760220ca017a91df
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_pinky_proximal_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a4ba525880efd4da2bcdfd5d2d69a684a02f8c7c01f8e185adf23f47469d0f4
+size 343284
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_pinky_tip.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_pinky_tip.STL
new file mode 100644
index 0000000000000000000000000000000000000000..a7508a480459e6375a721260a3a80549b11a3202
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_pinky_tip.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f632c67971d2d6dc8a5edcfcac4db8b3078e346540270bd89a9e9c783d304415
+size 117684
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_ring_distal_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_ring_distal_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..2bf70ffe6689665030eac0214de3d077e9be750d
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_ring_distal_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0075e39ae91e99ca042036d183fc1c0216e703555be258f39ef1bdf1f055d969
+size 563784
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_ring_proximal_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_ring_proximal_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5c8641dd2784e7f9f43b5bffaf72d948f77f1
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_ring_proximal_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aa7601fd8360252144de4475e30575277f6ca20dc019e90c7df8ff9f2fc8074
+size 281484
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_ring_tip.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_ring_tip.STL
new file mode 100644
index 0000000000000000000000000000000000000000..6f0da495186fd67bb0ea2932ed8fdeae461b8540
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_ring_tip.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3be3c69a1b7cba72d4b09c8ca4e04f3ad15ef2e47f8212bb547be7487f88022
+size 117684
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_distal_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_distal_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..d7de0f1a952a5560f0fbd98e3d535df860bedd19
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_distal_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aeb45f261a9b9b0010856d45188c6fa5c1ca23485568f2d30728bc23bcf4e44
+size 218834
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_metacarpal_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_metacarpal_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7d91ce5a0fdb0b7eaa0e9bb6faf25ab95ab82923
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_metacarpal_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf007bb8ddfd1eda5eba12dc802d9d6ac5b4b183c93c4e1cc9b025a816cfb68b
+size 289584
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_proximal_link.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_proximal_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..21e0bf247d399e5fb18092102392931befc0277d
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_proximal_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1d8154a4f00bb6237b5553a64dda8ef0d9026a87d3d862a643f18284d17f472
+size 657384
diff --git a/assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_tip.STL b/assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_tip.STL
new file mode 100644
index 0000000000000000000000000000000000000000..ae1f9ac35817aec84f3c81b56c3f3b8e11b0aadc
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/brainco__right_thumb_tip.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7c57cc3473e6709ffb95133274c7986adf23a812ff7afbf5d74dc8ccdc4dd45
+size 117684
diff --git a/assets/robots/unitree/G1/modular/meshes/dex1_col_1.stl b/assets/robots/unitree/G1/modular/meshes/dex1_col_1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..7066aa69ca07ffc5ec9e4b6f7bc3fbbdeb589f0d
Binary files /dev/null and b/assets/robots/unitree/G1/modular/meshes/dex1_col_1.stl differ
diff --git a/assets/robots/unitree/G1/modular/meshes/dex1_col_2.stl b/assets/robots/unitree/G1/modular/meshes/dex1_col_2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..fb49684490facc26bf2ad773ecec7cb50aec84c8
Binary files /dev/null and b/assets/robots/unitree/G1/modular/meshes/dex1_col_2.stl differ
diff --git a/assets/robots/unitree/G1/modular/meshes/left_hand_index_0_link.STL b/assets/robots/unitree/G1/modular/meshes/left_hand_index_0_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..a87568d6835efb4f38efa6935c6ef30a2af633e0
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/left_hand_index_0_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b35f2f77211d5a366f0b9a4e47c4ee35e536731266f1a34e9efa12db579b892
+size 475984
diff --git a/assets/robots/unitree/G1/modular/meshes/left_hand_index_1_link.STL b/assets/robots/unitree/G1/modular/meshes/left_hand_index_1_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c6c91dd461805b2f0e89a1202e68f5b095b74a41
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/left_hand_index_1_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e315ebc8a7a0cb98e033985b586b20d81cf8aa761181ae61ce56fcb14077a06
+size 1521784
diff --git a/assets/robots/unitree/G1/modular/meshes/left_hand_thumb_0_link.STL b/assets/robots/unitree/G1/modular/meshes/left_hand_thumb_0_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..3028bb4d6e1ae3d30d2504259c08e4106bbacf63
Binary files /dev/null and b/assets/robots/unitree/G1/modular/meshes/left_hand_thumb_0_link.STL differ
diff --git a/assets/robots/unitree/G1/modular/meshes/left_hand_thumb_1_link.STL b/assets/robots/unitree/G1/modular/meshes/left_hand_thumb_1_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..54f77542da4eab84d91035acd25405c09fb9d2e8
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/left_hand_thumb_1_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:445c54a45bc13ce36001556f66bc0f49c83cb40321205ae4d676bb2874325684
+size 475984
diff --git a/assets/robots/unitree/G1/modular/meshes/left_hand_thumb_2_link.STL b/assets/robots/unitree/G1/modular/meshes/left_hand_thumb_2_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..3e4f124f2311fc11c2dcd7cec417da892ffd14c0
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/left_hand_thumb_2_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d8dbe5085acfc213d21aa8b0782e89cd79084e9678f3a85fc7b04a86b029db5
+size 1521784
diff --git a/assets/robots/unitree/G1/modular/meshes/pelvis_ver0529.STL b/assets/robots/unitree/G1/modular/meshes/pelvis_ver0529.STL
new file mode 100644
index 0000000000000000000000000000000000000000..07b0b948051ce35493eee4bcd2bf7a76dc40b9f3
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/pelvis_ver0529.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a249feb95d632aa648cd07757b2ccce6da36723875e7630fa75d66a4ae8f036
+size 1751184
diff --git a/assets/robots/unitree/G1/modular/meshes/right_hand_index_0_link.STL b/assets/robots/unitree/G1/modular/meshes/right_hand_index_0_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..5e2ef477e4666a8a26b9f02f89db5641cbbed0ab
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/right_hand_index_0_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12ab4300c95e437e834f9aef772b3b431c671bf34338930b52ad11aef73bbd0d
+size 475984
diff --git a/assets/robots/unitree/G1/modular/meshes/right_hand_index_1_link.STL b/assets/robots/unitree/G1/modular/meshes/right_hand_index_1_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..8572ae1c90f7c129b2d0a31c1ccfe23e02ed1820
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/right_hand_index_1_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9c34efce4563cacdcfd29fc838a982976d40f5442c71219811dcbbf3923a33d
+size 1521784
diff --git a/assets/robots/unitree/G1/modular/meshes/right_hand_thumb_0_link.STL b/assets/robots/unitree/G1/modular/meshes/right_hand_thumb_0_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..1cae7f18e16605cb9d6b1d1a0cf6e5c5c360a344
Binary files /dev/null and b/assets/robots/unitree/G1/modular/meshes/right_hand_thumb_0_link.STL differ
diff --git a/assets/robots/unitree/G1/modular/meshes/right_hand_thumb_1_link.STL b/assets/robots/unitree/G1/modular/meshes/right_hand_thumb_1_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c118de720dd2b5a467c397f9287f0ea01b2ad0a9
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/right_hand_thumb_1_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a9a820da8dd10f298778b714f1364216e8a5976f4fd3a05689ea26327d44bf6
+size 475984
diff --git a/assets/robots/unitree/G1/modular/meshes/right_hand_thumb_2_link.STL b/assets/robots/unitree/G1/modular/meshes/right_hand_thumb_2_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..0979fb671e215be58c914ce22f03d47bdd0b6bf3
--- /dev/null
+++ b/assets/robots/unitree/G1/modular/meshes/right_hand_thumb_2_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f1bfb37668e8f61801c8d25f171fa1949e08666be86c67acad7e0079937cc45
+size 1521784