diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..f008151939dfd76060a5e525ff2a9f10c7e637d5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -57,3 +57,123 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/d455_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/head_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/head_servo_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/L_hand_base_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_base_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_hand_palm_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_index_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_index_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_index_force_sensor_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_index_force_sensor_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_little_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_little_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_little_force_sensor_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_little_force_sensor_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_middle_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_middle_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_middle_force_sensor_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_middle_force_sensor_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_palm_force_sensor.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_ring_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_ring_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_ring_force_sensor_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_ring_force_sensor_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_thumb_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_thumb_3.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_thumb_4.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_thumb_force_sensor_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_thumb_force_sensor_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_thumb_force_sensor_3.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_wrist_roll_link_5010.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_wrist_roll_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_wrist_yaw_link_5010.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/left_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link12_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link12_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link13_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link13_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link14_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link14_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link15_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link15_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link16_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link16_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link17_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link17_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link18_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link18_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link19_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link19_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link20_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link20_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link21_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link21_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link22_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/Link22_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/logo_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/pelvis_contour_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/pelvis.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/R_hand_base_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_base_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_hand_palm_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_index_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_index_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_index_force_sensor_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_index_force_sensor_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_little_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_little_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_little_force_sensor_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_little_force_sensor_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_middle_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_middle_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_middle_force_sensor_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_middle_force_sensor_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_palm_force_sensor.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_ring_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_ring_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_ring_force_sensor_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_ring_force_sensor_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_thumb_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_thumb_3.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_thumb_4.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_thumb_force_sensor_1.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_thumb_force_sensor_2.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_thumb_force_sensor_3.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_wrist_roll_link_5010.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_wrist_roll_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_wrist_yaw_link_5010.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/right_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/shell_support_s100_transformed.stl filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/torso_constraint_L_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/torso_constraint_R_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/torso_link_23dof_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/torso_link_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/torso_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/waist_constraint_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/waist_constraint_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/robots/unitree/G1/meshes/waist_support_link.STL filter=lfs diff=lfs merge=lfs -text
+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
diff --git a/assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0.urdf b/assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ea4aa1d6aa188e8fafe0508c8cf16490530ff733
--- /dev/null
+++ b/assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0.urdf
@@ -0,0 +1,995 @@
+<robot name="g1_29dof_rev_1_0">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1"/>
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1"/>
+  </material>
+
+  <mujoco>
+    <compiler meshdir="../meshes" discardvisual="false"/>
+  </mujoco>
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world"/>
+    <child link="pelvis"/>
+  </joint> -->
+
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="0 0 -0.07605" rpy="0 0 0"/>
+      <mass value="3.813"/>
+      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/pelvis.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+  </link>
+  <link name="pelvis_contour_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/pelvis_contour_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/pelvis_contour_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pelvis_contour_joint" type="fixed">
+    <parent link="pelvis"/>
+    <child link="pelvis_contour_link"/>
+  </joint>
+
+  <!-- Legs -->
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
+      <mass value="1.35"/>
+      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_hip_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="left_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
+      <mass value="1.52"/>
+      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_hip_roll_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_hip_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
+    <parent link="left_hip_pitch_link"/>
+    <child link="left_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20"/>
+  </joint>
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
+      <mass value="1.702"/>
+      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_hip_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
+    <parent link="left_hip_roll_link"/>
+    <child link="left_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
+      <mass value="1.932"/>
+      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_knee_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_knee_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
+    <parent link="left_hip_yaw_link"/>
+    <child link="left_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
+      <mass value="0.074"/>
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_ankle_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
+    <parent link="left_knee_link"/>
+    <child link="left_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
+      <mass value="0.608"/>
+      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_ankle_roll_link.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
+    <parent link="left_ankle_pitch_link"/>
+    <child link="left_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
+      <mass value="1.35"/>
+      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_hip_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="right_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
+      <mass value="1.52"/>
+      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_hip_roll_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_hip_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
+    <parent link="right_hip_pitch_link"/>
+    <child link="right_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20"/>
+  </joint>
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
+      <mass value="1.702"/>
+      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_hip_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
+    <parent link="right_hip_roll_link"/>
+    <child link="right_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
+      <mass value="1.932"/>
+      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_knee_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_knee_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
+    <parent link="right_hip_yaw_link"/>
+    <child link="right_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
+      <mass value="0.074"/>
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_ankle_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
+    <parent link="right_knee_link"/>
+    <child link="right_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
+      <mass value="0.608"/>
+      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_ankle_roll_link.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
+    <parent link="right_ankle_pitch_link"/>
+    <child link="right_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
+  </joint>
+
+  <!-- Torso -->
+  <link name="waist_yaw_link">
+    <inertial>
+      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0"/>
+      <mass value="0.214"/>
+      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/waist_yaw_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+  <joint name="waist_yaw_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="waist_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
+  </joint>
+  <link name="waist_roll_link">
+    <inertial>
+      <origin xyz="0 2.3E-05 0" rpy="0 0 0"/>
+      <mass value="0.086"/>
+      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/waist_roll_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+  <joint name="waist_roll_joint" type="revolute">
+    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
+    <parent link="waist_yaw_link"/>
+    <child link="waist_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
+  </joint>
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
+      <mass value="6.78"/>
+      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/torso_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/torso_link_rev_1_0.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="waist_pitch_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="waist_roll_link"/>
+    <child link="torso_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
+  </joint>
+
+  <!-- LOGO -->
+  <joint name="logo_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="logo_link"/>
+  </joint>
+  <link name="logo_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/logo_link.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/logo_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Head -->
+  <link name="head_link">
+    <inertial>
+      <origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
+      <mass value="1.036"/>
+      <inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/head_link.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/head_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="head_link"/>
+  </joint>
+
+
+  <!-- IMU -->
+  <link name="imu_in_torso"></link>
+  <joint name="imu_in_torso_joint" type="fixed">
+    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="imu_in_torso"/>
+  </joint>
+
+  <link name="imu_in_pelvis"></link>
+  <joint name="imu_in_pelvis_joint" type="fixed">
+    <origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="imu_in_pelvis"/>
+  </joint>
+
+  <!-- d435 -->
+  <link name="d435_link"></link>
+  <joint name="d435_joint" type="fixed">
+    <origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0"/>
+    <parent link="torso_link"/>
+    <child link="d435_link"/>
+  </joint>
+
+  <!-- mid360 -->
+  <link name="mid360_link"></link>
+  <joint name="mid360_joint" type="fixed">
+    <origin xyz="0.0002835 0.00003 0.41618" rpy="0 0.04014257279586953 0"/>
+    <parent link="torso_link"/>
+    <child link="mid360_link"/>
+  </joint>
+
+  <!-- Arm -->
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
+      <mass value="0.718"/>
+      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
+    <parent link="torso_link"/>
+    <child link="left_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
+      <mass value="0.643"/>
+      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
+    <parent link="left_shoulder_pitch_link"/>
+    <child link="left_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
+      <mass value="0.734"/>
+      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
+    <parent link="left_shoulder_roll_link"/>
+    <child link="left_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
+      <mass value="0.6"/>
+      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_elbow_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_elbow_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
+    <parent link="left_shoulder_yaw_link"/>
+    <child link="left_elbow_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
+  </joint>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="left_elbow_link"/>
+    <child link="left_wrist_roll_link"/>
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
+  </joint>
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0"/>
+      <mass value="0.08544498"/>
+      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_wrist_roll_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_wrist_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="left_wrist_roll_link"/>
+    <child link="left_wrist_pitch_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0 0 0"/>
+      <mass value="0.48404956"/>
+      <inertia ixx="0.00016579646273" ixy="-0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="0.00000081417712" izz="0.00042953697654"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_wrist_pitch_link"/>
+    <child link="left_wrist_yaw_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0"/>
+      <mass value="0.08457647"/>
+      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_wrist_yaw_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_wrist_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 0.003 0" rpy="0 0 0"/>
+    <parent link="left_wrist_yaw_link"/>
+    <child link="left_rubber_hand"/>
+  </joint>
+  <link name="left_rubber_hand">
+    <inertial>
+      <origin xyz="0.05361310808 -0.00295905240 0.00215413091" rpy="0 0 0"/>
+      <mass value="0.170"/>
+      <inertia ixx="0.00010099485234748" ixy="0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="0.00000330189743286" izz="0.00021894770413514"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_rubber_hand.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
+      <mass value="0.718"/>
+      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
+    <parent link="torso_link"/>
+    <child link="right_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
+      <mass value="0.643"/>
+      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
+    <parent link="right_shoulder_pitch_link"/>
+    <child link="right_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
+      <mass value="0.734"/>
+      <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
+    <parent link="right_shoulder_roll_link"/>
+    <child link="right_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
+      <mass value="0.6"/>
+      <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_elbow_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_elbow_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
+    <parent link="right_shoulder_yaw_link"/>
+    <child link="right_elbow_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
+  </joint>
+  <joint name="right_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="right_elbow_link"/>
+    <child link="right_wrist_roll_link"/>
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
+  </joint>
+  <link name="right_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0"/>
+      <mass value="0.08544498"/>
+      <inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_wrist_roll_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_wrist_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="right_wrist_roll_link"/>
+    <child link="right_wrist_pitch_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="right_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 0.00111685314 -0.00111658096" rpy="0 0 0"/>
+      <mass value="0.48404956"/>
+      <inertia ixx="0.00016579646273" ixy="0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="-0.00000081417712" izz="0.00042953697654"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_wrist_pitch_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_wrist_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_wrist_pitch_link"/>
+    <child link="right_wrist_yaw_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="right_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0"/>
+      <mass value="0.08457647"/>
+      <inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_wrist_yaw_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_wrist_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 -0.003 0" rpy="0 0 0"/>
+    <parent link="right_wrist_yaw_link"/>
+    <child link="right_rubber_hand"/>
+  </joint>
+  <link name="right_rubber_hand">
+    <inertial>
+      <origin xyz="0.05361310808 0.00295905240 0.00215413091" rpy="0 0 0"/>
+      <mass value="0.170"/>
+      <inertia ixx="0.00010099485234748" ixy="-0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="-0.00000330189743286" izz="0.00021894770413514"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_rubber_hand.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0.xml b/assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0.xml
new file mode 100644
index 0000000000000000000000000000000000000000..30a6420113a559f8656c7b217940e7e9baa2794c
--- /dev/null
+++ b/assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0.xml
@@ -0,0 +1,309 @@
+<mujoco model="g1_29dof_rev_1_0">
+  <compiler angle="radian" meshdir="../meshes"/>
+
+  <statistic meansize="0.144785" extent="1.23314" center="0.025392 2.0634e-05 -0.245975"/>
+  <default>
+    <joint damping="0.00" armature="0.001" frictionloss="0.03"/>
+  </default>
+
+  <asset>
+    <mesh name="pelvis" file="pelvis.STL"/>
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
+    <mesh name="left_knee_link" file="left_knee_link.STL"/>
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
+    <mesh name="right_knee_link" file="right_knee_link.STL"/>
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
+    <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
+    <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
+    <mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
+    <mesh name="logo_link" file="logo_link.STL"/>
+    <mesh name="head_link" file="head_link.STL"/>
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
+    <mesh name="left_elbow_link" file="left_elbow_link.STL"/>
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
+    <mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
+    <mesh name="right_elbow_link" file="right_elbow_link.STL"/>
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
+    <mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
+  </asset>
+
+  <worldbody>
+    <body name="pelvis" pos="0 0 0.793">
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
+      <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205"/>
+        <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
+          <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
+          <body name="torso_link">
+            <inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
+            <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
+            <geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
+            <geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
+              <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
+                <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
+                          <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
+                          <!-- <body name="left_rubber_hand" pos="0.0415 0.003 0"> -->
+                            <!-- <inertial pos="0.05361310808 -0.00295905240 0.00215413091" quat="1 0 0 0" mass="0.170" diaginertia="0.00010099485234748 0.00028135871571621 0.00021894770413514"/> -->
+                            <!-- <joint name="left_hand_palm_joint" pos="0 0 0" type="fixed"/> -->
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
+                          <!-- </body> -->
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
+              <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
+                <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
+                          <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
+                          <!-- <body name="right_rubber_hand" pos="0.0415 -0.003 0"> -->
+                            <!-- <inertial pos="0.05361310808 0.00295905240 0.00215413091" quat="1 0 0 0" mass="0.170" diaginertia="0.00010099485234748 0.00028135871571621 0.00021894770413514"/> -->
+                            <!-- <joint name="right_hand_palm_joint" pos="0 0 0" type="fixed"/> -->
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
+                          <!-- </body> -->
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
+    <motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
+    <motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
+    <motor name="left_knee_joint" joint="left_knee_joint"/>
+    <motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
+    <motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
+    <motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
+    <motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
+    <motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
+    <motor name="right_knee_joint" joint="right_knee_joint"/>
+    <motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
+    <motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
+    <motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
+    <motor name="waist_roll_joint" joint="waist_roll_joint"/>
+    <motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
+    <motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
+    <motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
+    <motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
+    <motor name="left_elbow_joint" joint="left_elbow_joint"/>
+    <motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
+    <motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
+    <motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
+    <motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
+    <motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
+    <motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
+    <motor name="right_elbow_joint" joint="right_elbow_joint"/>
+    <motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
+    <motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
+    <motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
+  </actuator>
+
+  <sensor>
+    <gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
+  </sensor>
+
+
+  <!-- setup scene -->
+  <statistic center="1.0 0.7 1.0" extent="0.8"/>
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-140" elevation="-20"/>
+  </visual>
+  <asset>
+    <texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+  <worldbody>
+    <light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0_s100.urdf b/assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0_s100.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cccc21ccea2b6f0fc65fc5094a4cab85f222174e
--- /dev/null
+++ b/assets/robots/unitree/G1/29dof/g1_29dof_rev_1_0_s100.urdf
@@ -0,0 +1,1036 @@
+<robot name="g1_29dof_rev_1_0">
+  <material name="dark">
+    <color rgba="0.2 0.2 0.2 1"/>
+  </material>
+  <material name="white">
+    <color rgba="0.7 0.7 0.7 1"/>
+  </material>
+  <material name="red">
+    <color rgba="1.0 0.0 0.0 1"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.0 1.0 1"/>
+  </material>
+  <material name="green">
+    <color rgba="0.0 1.0 0.0 1"/>
+  </material>
+  <material name="yellow">
+    <color rgba="1.0 1.0 0.0 1"/>
+  </material>
+  <material name="purple">
+    <color rgba="1.0 0.0 1.0 1"/>
+  </material>
+
+  <mujoco>
+    <compiler meshdir="../meshes" discardvisual="false"/>
+  </mujoco>
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world"/>
+    <child link="pelvis"/>
+  </joint> -->
+
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="0 0 -0.07605" rpy="0 0 0"/>
+      <mass value="3.813"/>
+      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/pelvis.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+  </link>
+  <link name="pelvis_contour_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/pelvis_contour_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/pelvis_contour_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pelvis_contour_joint" type="fixed">
+    <parent link="pelvis"/>
+    <child link="pelvis_contour_link"/>
+  </joint>
+
+  <!-- Legs -->
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
+      <mass value="1.35"/>
+      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_hip_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="left_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
+      <mass value="1.52"/>
+      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_hip_roll_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_hip_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
+    <parent link="left_hip_pitch_link"/>
+    <child link="left_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20"/>
+  </joint>
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
+      <mass value="1.702"/>
+      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_hip_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
+    <parent link="left_hip_roll_link"/>
+    <child link="left_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
+      <mass value="1.932"/>
+      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_knee_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_knee_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
+    <parent link="left_hip_yaw_link"/>
+    <child link="left_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
+      <mass value="0.074"/>
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_ankle_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
+    <parent link="left_knee_link"/>
+    <child link="left_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
+      <mass value="0.608"/>
+      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_ankle_roll_link.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
+    <parent link="left_ankle_pitch_link"/>
+    <child link="left_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
+      <mass value="1.35"/>
+      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_hip_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="right_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
+      <mass value="1.52"/>
+      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_hip_roll_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_hip_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
+    <parent link="right_hip_pitch_link"/>
+    <child link="right_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20"/>
+  </joint>
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
+      <mass value="1.702"/>
+      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_hip_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
+    <parent link="right_hip_roll_link"/>
+    <child link="right_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
+      <mass value="1.932"/>
+      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_knee_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_knee_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
+    <parent link="right_hip_yaw_link"/>
+    <child link="right_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
+      <mass value="0.074"/>
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_ankle_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
+    <parent link="right_knee_link"/>
+    <child link="right_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
+      <mass value="0.608"/>
+      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_ankle_roll_link.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
+    <parent link="right_ankle_pitch_link"/>
+    <child link="right_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
+  </joint>
+
+  <!-- Torso -->
+  <link name="waist_yaw_link">
+    <inertial>
+      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0"/>
+      <mass value="0.214"/>
+      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/waist_yaw_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+  <joint name="waist_yaw_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="waist_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
+  </joint>
+  <link name="waist_roll_link">
+    <inertial>
+      <origin xyz="0 2.3E-05 0" rpy="0 0 0"/>
+      <mass value="0.086"/>
+      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/waist_roll_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+  <joint name="waist_roll_joint" type="revolute">
+    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
+    <parent link="waist_yaw_link"/>
+    <child link="waist_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
+  </joint>
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
+      <mass value="6.78"/>
+      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/torso_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/torso_link_rev_1_0.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="waist_pitch_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="waist_roll_link"/>
+    <child link="torso_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
+  </joint>
+
+  <!-- LOGO -->
+  <joint name="logo_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="logo_link"/>
+  </joint>
+  <link name="logo_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/logo_link.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/logo_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Head -->
+  <link name="head_link">
+    <inertial>
+      <origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
+      <mass value="1.036"/>
+      <inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/head_link.STL"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/head_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="head_link"/>
+  </joint>
+
+
+  <!-- IMU -->
+  <link name="imu_in_torso"></link>
+  <joint name="imu_in_torso_joint" type="fixed">
+    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="imu_in_torso"/>
+  </joint>
+
+  <link name="imu_in_pelvis"></link>
+  <joint name="imu_in_pelvis_joint" type="fixed">
+    <origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="imu_in_pelvis"/>
+  </joint>
+
+  <!-- d435 -->
+  <link name="d435_link"></link>
+  <joint name="d435_joint" type="fixed">
+    <origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0"/>
+    <parent link="torso_link"/>
+    <child link="d435_link"/>
+  </joint>
+
+  <!-- mid360 -->
+  <link name="mid360_link"></link>
+  <joint name="mid360_joint" type="fixed">
+    <origin xyz="0.0002835 0.00003 0.41618" rpy="0 0.04014257279586953 0"/>
+    <parent link="torso_link"/>
+    <child link="mid360_link"/>
+  </joint>
+    <!-- S100 Processor - Using STL -->
+  <link name="shell_support">
+    <inertial>
+      <origin xyz="0.0 0.0 -0.0" rpy="0 0 0"/>
+      <mass value="0.6"/>
+      <inertia ixx="0.000943" ixy="-2.1e-08" ixz="-2.70e-05"
+              iyy="0.000991" iyz="1.8e-08"  izz="0.001600"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/shell_support_s100_transformed.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="purple"/>
+    </visual>
+    <collision>
+     <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/shell_support_s100_transformed.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="s100_joint" type="fixed">
+    <origin xyz="-0.09 -0.005 0.06" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="shell_support"/>
+  </joint>
+  <!-- Arm -->
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
+      <mass value="0.718"/>
+      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
+    <parent link="torso_link"/>
+    <child link="left_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
+      <mass value="0.643"/>
+      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
+    <parent link="left_shoulder_pitch_link"/>
+    <child link="left_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
+      <mass value="0.734"/>
+      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
+    <parent link="left_shoulder_roll_link"/>
+    <child link="left_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
+      <mass value="0.6"/>
+      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_elbow_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_elbow_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
+    <parent link="left_shoulder_yaw_link"/>
+    <child link="left_elbow_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
+  </joint>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="left_elbow_link"/>
+    <child link="left_wrist_roll_link"/>
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
+  </joint>
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0"/>
+      <mass value="0.08544498"/>
+      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_wrist_roll_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_wrist_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="left_wrist_roll_link"/>
+    <child link="left_wrist_pitch_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0 0 0"/>
+      <mass value="0.48404956"/>
+      <inertia ixx="0.00016579646273" ixy="-0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="0.00000081417712" izz="0.00042953697654"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_wrist_pitch_link"/>
+    <child link="left_wrist_yaw_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0"/>
+      <mass value="0.08457647"/>
+      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_wrist_yaw_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_wrist_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 0.003 0" rpy="0 0 0"/>
+    <parent link="left_wrist_yaw_link"/>
+    <child link="left_rubber_hand"/>
+  </joint>
+  <link name="left_rubber_hand">
+    <inertial>
+      <origin xyz="0.05361310808 -0.00295905240 0.00215413091" rpy="0 0 0"/>
+      <mass value="0.170"/>
+      <inertia ixx="0.00010099485234748" ixy="0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="0.00000330189743286" izz="0.00021894770413514"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/left_rubber_hand.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
+      <mass value="0.718"/>
+      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
+    <parent link="torso_link"/>
+    <child link="right_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
+      <mass value="0.643"/>
+      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
+    <parent link="right_shoulder_pitch_link"/>
+    <child link="right_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
+      <mass value="0.734"/>
+      <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
+    <parent link="right_shoulder_roll_link"/>
+    <child link="right_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
+      <mass value="0.6"/>
+      <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_elbow_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_elbow_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
+    <parent link="right_shoulder_yaw_link"/>
+    <child link="right_elbow_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
+  </joint>
+  <joint name="right_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="right_elbow_link"/>
+    <child link="right_wrist_roll_link"/>
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
+  </joint>
+  <link name="right_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0"/>
+      <mass value="0.08544498"/>
+      <inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_wrist_roll_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_wrist_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="right_wrist_roll_link"/>
+    <child link="right_wrist_pitch_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="right_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 0.00111685314 -0.00111658096" rpy="0 0 0"/>
+      <mass value="0.48404956"/>
+      <inertia ixx="0.00016579646273" ixy="0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="-0.00000081417712" izz="0.00042953697654"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_wrist_pitch_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_wrist_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_wrist_pitch_link"/>
+    <child link="right_wrist_yaw_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="right_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0"/>
+      <mass value="0.08457647"/>
+      <inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_wrist_yaw_link.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_wrist_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 -0.003 0" rpy="0 0 0"/>
+    <parent link="right_wrist_yaw_link"/>
+    <child link="right_rubber_hand"/>
+  </joint>
+  <link name="right_rubber_hand">
+    <inertial>
+      <origin xyz="0.05361310808 0.00295905240 0.00215413091" rpy="0 0 0"/>
+      <mass value="0.170"/>
+      <inertia ixx="0.00010099485234748" ixy="-0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="-0.00000330189743286" izz="0.00021894770413514"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/right_rubber_hand.STL"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/assets/robots/unitree/G1/meshes/.DS_Store b/assets/robots/unitree/G1/meshes/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/assets/robots/unitree/G1/meshes/.DS_Store differ
diff --git a/assets/robots/unitree/G1/meshes/L_hand_base_link.STL b/assets/robots/unitree/G1/meshes/L_hand_base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..88d668d9b03e3a74577668bb7c073d3a415f27bd
--- /dev/null
+++ b/assets/robots/unitree/G1/meshes/L_hand_base_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33ab4e97801bd5421903a78f5977a44e477ae8653eaf32358d35633e465411e0
+size 1448084
diff --git a/assets/robots/unitree/G1/meshes/Link11_L.STL b/assets/robots/unitree/G1/meshes/Link11_L.STL
new file mode 100644
index 0000000000000000000000000000000000000000..9933a6ce1083723badfbf22087776755ae318b93
Binary files /dev/null and b/assets/robots/unitree/G1/meshes/Link11_L.STL differ
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