diff --git a/.gitattributes b/.gitattributes
index c02b85eb61248af91a04d7a77c937509d403529e..1a7e2f93a7b10c0b265e55b67b2de3e5c2d2fdaa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -60,3 +60,131 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Custom
 scenes/GRScenes-100/home_scenes.z01 filter=lfs diff=lfs merge=lfs -text
 scenes/GRScenes-100/home_scenes.z02 filter=lfs diff=lfs merge=lfs -textbenchmark/sn_episodes.json filter=lfs diff=lfs merge=lfs -text
+robots/aliengo/aliengo_camera.usdz filter=lfs diff=lfs merge=lfs -text
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diff --git a/robots/franka/franka_rmpflow_common.yaml b/robots/franka/franka_rmpflow_common.yaml
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+# Copyright (c) 2019-2021, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+joint_limit_buffers: [.01, .03, .01, .01, .01, .01, .01]
+
+rmp_params:
+    cspace_target_rmp:
+        metric_scalar: 50.
+        position_gain: 100.
+        damping_gain: 50.
+        robust_position_term_thresh: .5
+        inertia: 1.
+    cspace_trajectory_rmp:
+        p_gain: 100.
+        d_gain: 10.
+        ff_gain: .25
+        weight: 50.
+    cspace_affine_rmp:
+        final_handover_time_std_dev: .25
+        weight: 2000.
+    joint_limit_rmp:
+        metric_scalar: 1000.
+        metric_length_scale: .01
+        metric_exploder_eps: 1e-3
+        metric_velocity_gate_length_scale: .01
+        accel_damper_gain: 200.
+        accel_potential_gain: 1.
+        accel_potential_exploder_length_scale: .1
+        accel_potential_exploder_eps: 1e-2
+    joint_velocity_cap_rmp:
+        max_velocity: 4.  # max_xd
+        velocity_damping_region: 1.5
+        damping_gain: 1000.0
+        metric_weight: 100. # metric_scalar
+    target_rmp:
+        accel_p_gain: 30.
+        accel_d_gain: 85.
+        accel_norm_eps: .075
+        metric_alpha_length_scale: .05
+        min_metric_alpha: .01
+        max_metric_scalar: 10000
+        min_metric_scalar: 2500
+        proximity_metric_boost_scalar: 20.
+        proximity_metric_boost_length_scale: .02
+        xi_estimator_gate_std_dev: 20000.
+        accept_user_weights: false  # Values >= .5 are true and < .5 are false
+    axis_target_rmp:
+        accel_p_gain: 210.
+        accel_d_gain: 60.
+        metric_scalar: 10
+        proximity_metric_boost_scalar: 3000.
+        proximity_metric_boost_length_scale: .08
+        xi_estimator_gate_std_dev: 20000.
+        accept_user_weights: false
+    collision_rmp:
+        damping_gain: 50.
+        damping_std_dev: .04
+        damping_robustness_eps: 1e-2
+        damping_velocity_gate_length_scale: .01
+        repulsion_gain: 800.
+        repulsion_std_dev: .01
+        metric_modulation_radius: .5
+        metric_scalar: 10000.  # Real value should be this.
+        #metric_scalar: 0.  # Turns off collision avoidance.
+        metric_exploder_std_dev: .02
+        metric_exploder_eps: .001
+    damping_rmp:
+        accel_d_gain: 30.
+        metric_scalar: 50.
+        inertia: 100.
+
+canonical_resolve:
+    max_acceleration_norm: 50.
+    projection_tolerance: .01
+    verbose: false
+
+body_cylinders:
+    - name: base_stem
+      pt1: [0,0,.333]
+      pt2: [0,0,0.]
+      radius: .05
+    - name: base_tee
+      pt1: [0,0,.333]
+      pt2: [0,0,.333]
+      radius: .15
+
+# Each arm is approx. 1m from (arm) base to gripper center.
+# .1661 between links (approx .15)
+body_collision_controllers:
+    - name: panda_link7
+      radius: .05
+    - name: panda_wrist_end_pt
+      radius: .05
+    - name: panda_hand
+      radius: .05
+    - name: panda_face_left
+      radius: .05
+    - name: panda_face_right
+      radius: .05
+    - name: panda_leftfingertip
+      radius: .075
+    - name: panda_rightfingertip
+      radius: .075
diff --git a/robots/franka/lula_franka_gen.urdf b/robots/franka/lula_franka_gen.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..36de758bc81399bce582595e036551028252261e
--- /dev/null
+++ b/robots/franka/lula_franka_gen.urdf
@@ -0,0 +1,413 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from lula_franka.urdf.xacro         | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="franka" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="0 -1.57079632679 3.14159265359" xyz="0.0358116 0 0.0360562"/>
+    <parent link="panda_hand"/>
+    <child link="camera_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_bottom_screw_frame"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.02 0.0115"/>
+    <parent link="camera_bottom_screw_frame"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0.00987 -0.02 0"/>
+      <geometry>
+        <box size="0.099 0.023 0.02005"/>
+        <!--<mesh filename="package://realsense2_camera/meshes/d415.stl" />-->
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.02 0"/>
+      <geometry>
+        <box size="0.02005 0.099 0.023"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.564"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <!-- camera depth joints and links -->
+  <joint name="camera_depth_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_depth_frame"/>
+  </joint>
+  <link name="camera_depth_frame"/>
+  <joint name="camera_depth_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="camera_depth_frame"/>
+    <child link="camera_depth_optical_frame"/>
+  </joint>
+  <link name="camera_depth_optical_frame"/>
+  <!-- camera left IR joints and links -->
+  <joint name="camera_left_ir_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0 0"/>
+    <parent link="camera_depth_frame"/>
+    <child link="camera_left_ir_frame"/>
+  </joint>
+  <link name="camera_left_ir_frame"/>
+  <joint name="camera_left_ir_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="camera_left_ir_frame"/>
+    <child link="camera_left_ir_optical_frame"/>
+  </joint>
+  <link name="camera_left_ir_optical_frame"/>
+  <!-- camera right IR joints and links -->
+  <joint name="camera_right_ir_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.055 0"/>
+    <parent link="camera_depth_frame"/>
+    <child link="camera_right_ir_frame"/>
+  </joint>
+  <link name="camera_right_ir_frame"/>
+  <joint name="camera_right_ir_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="camera_right_ir_frame"/>
+    <child link="camera_right_ir_optical_frame"/>
+  </joint>
+  <link name="camera_right_ir_optical_frame"/>
+  <!-- camera color joints and links -->
+  <joint name="camera_color_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.015 0"/>
+    <parent link="camera_depth_frame"/>
+    <child link="camera_color_frame"/>
+  </joint>
+  <link name="camera_color_frame"/>
+  <joint name="camera_color_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="camera_color_frame"/>
+    <child link="camera_color_optical_frame"/>
+  </joint>
+  <link name="camera_color_optical_frame"/>
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link0.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link7.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/hand.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/hand.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+  </joint>
+  <link name="base_link"/>
+  <joint name="base_link_robot" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="base_link"/>
+    <child link="panda_link0"/>
+  </joint>
+  <link name="right_gripper"/>
+  <joint name="right_gripper" type="fixed">
+    <origin rpy="0 0 2.35619449019" xyz="0.0 0 0.1"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_link8"/>
+    <child link="right_gripper"/>
+  </joint>
+  <link name="panda_rightfingertip"/>
+  <joint name="panda_rightfingertip" type="fixed">
+    <origin rpy="0 0 3.14159265359" xyz="0.0 0 0.045"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_rightfinger"/>
+    <child link="panda_rightfingertip"/>
+  </joint>
+  <link name="panda_leftfingertip"/>
+  <joint name="panda_leftfingertip" type="fixed">
+    <origin rpy="0 0 3.14159265359" xyz="0.0 0 0.045"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_leftfinger"/>
+    <child link="panda_leftfingertip"/>
+  </joint>
+  <link name="panda_forearm_end_pt"/>
+  <joint name="panda_forearm_end_pt" type="fixed">
+    <origin rpy="0 0 0.0" xyz="-0.09 0.02 0.0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_link4"/>
+    <child link="panda_forearm_end_pt"/>
+  </joint>
+  <link name="panda_forearm_mid_pt"/>
+  <joint name="panda_forearm_mid_pt" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.175 0.0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_forearm_end_pt"/>
+    <child link="panda_forearm_mid_pt"/>
+  </joint>
+  <link name="panda_forearm_mid_pt_shifted"/>
+  <joint name="panda_forearm_mid_pt_shifted" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 -0.05"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_forearm_mid_pt"/>
+    <child link="panda_forearm_mid_pt_shifted"/>
+  </joint>
+  <link name="panda_forearm_distal"/>
+  <joint name="panda_forearm_distal" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.1 0.0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_link5"/>
+    <child link="panda_forearm_distal"/>
+  </joint>
+  <link name="panda_wrist_end_pt"/>
+  <joint name="panda_wrist_end_pt" type="fixed">
+    <origin rpy="0 0 0.0" xyz="0.0 0.0 -0.07"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_link7"/>
+    <child link="panda_wrist_end_pt"/>
+  </joint>
+  <link name="panda_face_left"/>
+  <joint name="panda_face_left" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.07 0.04"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_hand"/>
+    <child link="panda_face_left"/>
+  </joint>
+  <link name="panda_face_right"/>
+  <joint name="panda_face_right" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.07 0.04"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_hand"/>
+    <child link="panda_face_right"/>
+  </joint>
+  <link name="panda_face_back_left"/>
+  <joint name="panda_face_back_left" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.07 0.0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_hand"/>
+    <child link="panda_face_back_left"/>
+  </joint>
+  <link name="panda_face_back_right"/>
+  <joint name="panda_face_back_right" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.07 0.0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_hand"/>
+    <child link="panda_face_back_right"/>
+  </joint>
+  <!--<link name="left_gripper"/>
+  <joint name="left_gripper" type="fixed">
+    <origin rpy="0 0 ${pi/2}" xyz="0 0 0.13"/>
+    <axis xyz="0 0 1"/>
+    <parent link="gripper_l_base"/>
+    <child link="left_gripper"/>
+  </joint>
+  -->
+</robot>
+
diff --git a/robots/franka/mocap_teleop_franka.usd b/robots/franka/mocap_teleop_franka.usd
new file mode 100644
index 0000000000000000000000000000000000000000..080eddb37a3373683edd069240f9f85d9deff9fa
--- /dev/null
+++ b/robots/franka/mocap_teleop_franka.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b31587078c5ef9a14190d47befff18e8662ab7acce2618804889fa97a40c47df
+size 130607
diff --git a/robots/franka/rmpflow/config.json b/robots/franka/rmpflow/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..bef8baf0195731db717bb397ac403375a4afc3c9
--- /dev/null
+++ b/robots/franka/rmpflow/config.json
@@ -0,0 +1,10 @@
+{
+    "end_effector_frame_name": "right_gripper",
+    "maximum_substep_size" : 0.00334,
+    "ignore_robot_state_updates" : false,
+    "relative_asset_paths": {
+        "robot_description_path" : "robot_descriptor.yaml",
+        "urdf_path": "../lula_franka_gen.urdf",
+        "rmpflow_config_path" : "franka_rmpflow_common.yaml"
+    }
+}
diff --git a/robots/franka/rmpflow/config_cortex.json b/robots/franka/rmpflow/config_cortex.json
new file mode 100644
index 0000000000000000000000000000000000000000..412b3d8a867fcdcea61c817bc6a24d045b13f079
--- /dev/null
+++ b/robots/franka/rmpflow/config_cortex.json
@@ -0,0 +1,10 @@
+{
+    "end_effector_frame_name": "right_gripper",
+    "maximum_substep_size" : 0.00167,
+    "ignore_robot_state_updates" : true,
+    "relative_asset_paths": {
+        "robot_description_path" : "robot_descriptor.yaml",
+        "urdf_path": "../lula_franka_gen.urdf",
+        "rmpflow_config_path" : "franka_rmpflow_common.yaml"
+    }
+}
diff --git a/robots/franka/rmpflow/config_no_feedback.json b/robots/franka/rmpflow/config_no_feedback.json
new file mode 100644
index 0000000000000000000000000000000000000000..412b3d8a867fcdcea61c817bc6a24d045b13f079
--- /dev/null
+++ b/robots/franka/rmpflow/config_no_feedback.json
@@ -0,0 +1,10 @@
+{
+    "end_effector_frame_name": "right_gripper",
+    "maximum_substep_size" : 0.00167,
+    "ignore_robot_state_updates" : true,
+    "relative_asset_paths": {
+        "robot_description_path" : "robot_descriptor.yaml",
+        "urdf_path": "../lula_franka_gen.urdf",
+        "rmpflow_config_path" : "franka_rmpflow_common.yaml"
+    }
+}
diff --git a/robots/franka/rmpflow/franka_rmpflow_common.yaml b/robots/franka/rmpflow/franka_rmpflow_common.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..45db0a077caabfe0590b23b5250fd12131650dc7
--- /dev/null
+++ b/robots/franka/rmpflow/franka_rmpflow_common.yaml
@@ -0,0 +1,108 @@
+# Copyright (c) 2019-2021, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+joint_limit_buffers: [.01, .03, .01, .01, .01, .01, .01]
+
+rmp_params:
+    cspace_target_rmp:
+        metric_scalar: 50.
+        position_gain: 100.
+        damping_gain: 50.
+        robust_position_term_thresh: .5
+        inertia: 1.
+    cspace_trajectory_rmp:
+        p_gain: 100.
+        d_gain: 10.
+        ff_gain: .25
+        weight: 50.
+    cspace_affine_rmp:
+        final_handover_time_std_dev: .25
+        weight: 2000.
+    joint_limit_rmp:
+        metric_scalar: 1000.
+        metric_length_scale: .01
+        metric_exploder_eps: 1e-3
+        metric_velocity_gate_length_scale: .01
+        accel_damper_gain: 200.
+        accel_potential_gain: 1.
+        accel_potential_exploder_length_scale: .1
+        accel_potential_exploder_eps: 1e-2
+    joint_velocity_cap_rmp:
+        max_velocity: 4.  # max_xd
+        velocity_damping_region: 1.5
+        damping_gain: 1000.0
+        metric_weight: 100. # metric_scalar
+    target_rmp:
+        accel_p_gain: 30.
+        accel_d_gain: 85.
+        accel_norm_eps: .075
+        metric_alpha_length_scale: .05
+        min_metric_alpha: .01
+        max_metric_scalar: 10000
+        min_metric_scalar: 2500
+        proximity_metric_boost_scalar: 20.
+        proximity_metric_boost_length_scale: .02
+        xi_estimator_gate_std_dev: 20000.
+        accept_user_weights: false  # Values >= .5 are true and < .5 are false
+    axis_target_rmp:
+        accel_p_gain: 210.
+        accel_d_gain: 60.
+        metric_scalar: 10
+        proximity_metric_boost_scalar: 3000.
+        proximity_metric_boost_length_scale: .08
+        xi_estimator_gate_std_dev: 20000.
+        accept_user_weights: false
+    collision_rmp:
+        damping_gain: 50.
+        damping_std_dev: .04
+        damping_robustness_eps: 1e-2
+        damping_velocity_gate_length_scale: .01
+        repulsion_gain: 800.
+        repulsion_std_dev: .01
+        metric_modulation_radius: .5
+        metric_scalar: 10000.  # Real value should be this.
+        #metric_scalar: 0.  # Turns off collision avoidance.
+        metric_exploder_std_dev: .02
+        metric_exploder_eps: .001
+    damping_rmp:
+        accel_d_gain: 30.
+        metric_scalar: 50.
+        inertia: 100.
+
+canonical_resolve:
+    max_acceleration_norm: 50.
+    projection_tolerance: .01
+    verbose: false
+
+body_cylinders:
+    - name: base_stem
+      pt1: [0,0,.333]
+      pt2: [0,0,0.]
+      radius: .05
+    - name: base_tee
+      pt1: [0,0,.333]
+      pt2: [0,0,.333]
+      radius: .15
+
+# Each arm is approx. 1m from (arm) base to gripper center.
+# .1661 between links (approx .15)
+body_collision_controllers:
+    - name: panda_link7
+      radius: .05
+    - name: panda_wrist_end_pt
+      radius: .05
+    - name: panda_hand
+      radius: .05
+    - name: panda_face_left
+      radius: .05
+    - name: panda_face_right
+      radius: .05
+    - name: panda_leftfingertip
+      radius: .075
+    - name: panda_rightfingertip
+      radius: .075
diff --git a/robots/franka/rmpflow/robot_descriptor.yaml b/robots/franka/rmpflow/robot_descriptor.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0389a3cfcabb281cfd1bb1c48def5d22ba2dfa00
--- /dev/null
+++ b/robots/franka/rmpflow/robot_descriptor.yaml
@@ -0,0 +1,165 @@
+# Copyright (c) 2019-2021, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+# The robot descriptor defines the generalized coordinates and how to map those
+# to the underlying URDF dofs.
+
+api_version: 1.0
+
+# Defines the generalized coordinates. Each generalized coordinate is assumed
+# to have an entry in the URDF, except when otherwise specified below under
+# cspace_urdf_bridge
+cspace:
+    - panda_joint1
+    - panda_joint2
+    - panda_joint3
+    - panda_joint4
+    - panda_joint5
+    - panda_joint6
+    - panda_joint7
+
+root_link: base_link
+
+default_q: [
+    # Original version
+    # 0.00, 0.00, 0.00, -1.57, 0.00, 1.50, 0.75
+
+    # New config
+    0.00, -1.3, 0.00, -2.87, 0.00, 2.00, 0.75
+]
+
+acceleration_limits: [15.0, 7.5, 10.0, 12.5, 15.0, 20.0, 20.0]
+jerk_limits: [7500.0, 3750.0, 5000.0, 6250.0, 7500.0, 10000.0, 10000.0]
+
+# Most dimensions of the cspace have a direct corresponding element
+# in the URDF. This list of rules defines how unspecified coordinates
+# should be extracted.
+cspace_to_urdf_rules:
+    - {name: panda_finger_joint1, rule: fixed, value: 0.025}
+    - {name: panda_finger_joint2, rule: fixed, value: 0.025}
+
+collision_spheres:
+    - panda_link0:
+        - "center": [0.0, 0.0, 0.05]
+          "radius": 0.045
+    - panda_link1:
+        - "center": [0.0, -0.08, 0.0]
+          "radius": 0.06
+        - "center": [0.0, -0.03, 0.0]
+          "radius": 0.06
+        - "center": [0.0, 0.0, -0.12]
+          "radius": 0.06
+        - "center": [0.0, 0.0, -0.17]
+          "radius": 0.06
+    - panda_link2:
+        - "center": [0.0, 0.0, 0.03]
+          "radius": 0.06
+        - "center": [0.0, 0.0, 0.08]
+          "radius": 0.06
+        - "center": [0.0, -0.12, 0.0]
+          "radius": 0.06
+        - "center": [0.0, -0.17, 0.0]
+          "radius": 0.06
+    - panda_link3:
+        - "center": [0.0, 0.0, -0.06]
+          "radius": 0.05
+        - "center": [0.0, 0.0, -0.1]
+          "radius": 0.06
+        - "center": [0.08, 0.06, 0.0]
+          "radius": 0.055
+        - "center": [0.08, 0.02, 0.0]
+          "radius": 0.055
+    - panda_link4:
+        - "center": [0.0, 0.0, 0.02]
+          "radius": 0.055
+        - "center": [0.0, 0.0, 0.06]
+          "radius": 0.055
+        - "center": [-0.08, 0.095, 0.0]
+          "radius": 0.06
+        - "center": [-0.08, 0.06, 0.0]
+          "radius": 0.055
+    - panda_link5:
+        - "center": [0.0, 0.055, 0.0]
+          "radius": 0.06
+        - "center": [0.0, 0.075, 0.0]
+          "radius": 0.06
+        - "center": [0.0, 0.000, -0.22]
+          "radius": 0.06
+        - "center": [0.0, 0.05, -0.18]
+          "radius": 0.05
+        - "center": [0.01, 0.08, -0.14]
+          "radius": 0.025
+        - "center": [0.01, 0.085, -0.11]
+          "radius": 0.025
+        - "center": [0.01, 0.09, -0.08]
+          "radius": 0.025
+        - "center": [0.01, 0.095, -0.05]
+          "radius": 0.025
+        - "center": [-0.01, 0.08, -0.14]
+          "radius": 0.025
+        - "center": [-0.01, 0.085, -0.11]
+          "radius": 0.025
+        - "center": [-0.01, 0.09, -0.08]
+          "radius": 0.025
+        - "center": [-0.01, 0.095, -0.05]
+          "radius": 0.025
+    - panda_link6:
+        - "center": [0.0, 0.0, 0.0]
+          "radius": 0.06
+        - "center": [0.08, 0.03, 0.0]
+          "radius": 0.06
+        - "center": [0.08, -0.01, 0.0]
+          "radius": 0.06
+    - panda_link7:
+        - "center": [0.0, 0.0, 0.07]
+          "radius": 0.05
+        - "center": [0.02, 0.04, 0.08]
+          "radius": 0.025
+        - "center": [0.04, 0.02, 0.08]
+          "radius": 0.025
+        - "center": [0.04, 0.06, 0.085]
+          "radius": 0.02
+        - "center": [0.06, 0.04, 0.085]
+          "radius": 0.02
+    - panda_hand:
+        - "center": [0.0, -0.075, 0.01]
+          "radius": 0.028
+        - "center": [0.0, -0.045, 0.01]
+          "radius": 0.028
+        - "center": [0.0, -0.015, 0.01]
+          "radius": 0.028
+        - "center": [0.0, 0.015, 0.01]
+          "radius": 0.028
+        - "center": [0.0, 0.045, 0.01]
+          "radius": 0.028
+        - "center": [0.0, 0.075, 0.01]
+          "radius": 0.028
+        - "center": [0.0, -0.075, 0.03]
+          "radius": 0.026
+        - "center": [0.0, -0.045, 0.03]
+          "radius": 0.026
+        - "center": [0.0, -0.015, 0.03]
+          "radius": 0.026
+        - "center": [0.0, 0.015, 0.03]
+          "radius": 0.026
+        - "center": [0.0, 0.045, 0.03]
+          "radius": 0.026
+        - "center": [0.0, 0.075, 0.03]
+          "radius": 0.026
+        - "center": [0.0, -0.075, 0.05]
+          "radius": 0.024
+        - "center": [0.0, -0.045, 0.05]
+          "radius": 0.024
+        - "center": [0.0, -0.015, 0.05]
+          "radius": 0.024
+        - "center": [0.0, 0.015, 0.05]
+          "radius": 0.024
+        - "center": [0.0, 0.045, 0.05]
+          "radius": 0.024
+        - "center": [0.0, 0.075, 0.05]
+          "radius": 0.024
\ No newline at end of file
diff --git a/robots/g1/g1_29dof_color.usd b/robots/g1/g1_29dof_color.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b47571d09de4d3665a0c9a556452874d06a68664
--- /dev/null
+++ b/robots/g1/g1_29dof_color.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a56ce1a4817883cb7aa4bfc3047f217b2835a6f77f66a6aad317d9a2f01343
+size 26623375
diff --git a/robots/g1/policy/move_by_speed/g1_15000.onnx b/robots/g1/policy/move_by_speed/g1_15000.onnx
new file mode 100644
index 0000000000000000000000000000000000000000..ad492e859fd4d98e6d7fbc3609285b752d7c9ad3
--- /dev/null
+++ b/robots/g1/policy/move_by_speed/g1_15000.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f2a7d83723889df4b149774eec1253a82ee5623e755070d1a49d10d2e48b777
+size 1924558
diff --git a/robots/gr1/gr1.usd b/robots/gr1/gr1.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f08d71aad1e5e78a74813bfaaa2143374e109069
--- /dev/null
+++ b/robots/gr1/gr1.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ff67e854400d36c52b855477c1bc253a692b40a68c96dd5cbbf6dfbdd2dd25
+size 33576457
diff --git a/robots/gr1/inspire_hand/inspire_hand.yml b/robots/gr1/inspire_hand/inspire_hand.yml
new file mode 100644
index 0000000000000000000000000000000000000000..669b8887c2de66556d0ba1f3a915f04c263fc6eb
--- /dev/null
+++ b/robots/gr1/inspire_hand/inspire_hand.yml
@@ -0,0 +1,35 @@
+left:
+  type: vector
+  urdf_path: inspire_hand_left.urdf
+  wrist_link_name: "L_hand_base_link"
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: null
+  target_origin_link_names: [ "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link" ]
+  target_task_link_names: [ "L_thumb_tip", "L_index_tip", "L_middle_tip", "L_ring_tip", "L_pinky_tip" ]
+  scaling_factor: 1.1
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.5
+
+right:
+  type: vector
+  urdf_path: inspire_hand_right.urdf
+  wrist_link_name: "R_hand_base_link"
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: null
+  target_origin_link_names: [ "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link" ]
+  target_task_link_names: [ "R_thumb_tip", "R_index_tip", "R_middle_tip", "R_ring_tip", "R_pinky_tip" ]
+  scaling_factor: 1.1
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.5
diff --git a/robots/gr1/inspire_hand/inspire_hand_left.urdf b/robots/gr1/inspire_hand/inspire_hand_left.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..86299b3ae1582bcd850472efb2b4c808baae4df6
--- /dev/null
+++ b/robots/gr1/inspire_hand/inspire_hand_left.urdf
@@ -0,0 +1,819 @@
+<robot
+  name="h1">
+
+    <link name="L_hand_base_link">
+      <inertial>
+        <origin
+          xyz="-0.002551 -0.066047 -0.0019357"
+          rpy="0 0 0" />
+        <mass
+          value="0.14143" />
+        <inertia
+          ixx="0.0001234"
+          ixy="2.1995E-06"
+          ixz="-1.7694E-06"
+          iyy="8.3835E-05"
+          iyz="1.5968E-06"
+          izz="7.7231E-05" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/L_hand_base_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/L_hand_base_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="L_thumb_proximal_base">
+      <inertial>
+        <origin
+          xyz="0.0048817 0.00038782 -0.00722"
+          rpy="0 0 0" />
+        <mass
+          value="0.0018869" />
+        <inertia
+          ixx="5.5158E-08"
+          ixy="-1.1803E-08"
+          ixz="-4.6743E-09"
+          iyy="8.2164E-08"
+          iyz="-1.3521E-09"
+          izz="6.7434E-08" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link11_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link11_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_yaw_joint"
+      type="revolute">
+      <origin
+        xyz="-0.01696 -0.0691 0.02045"
+        rpy="1.5708 -1.5708 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_thumb_proximal_base" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        lower="-0.1"
+        upper="1.3"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_proximal">
+      <inertial>
+        <origin
+          xyz="0.021936 -0.01279 -0.0080386"
+          rpy="0 0 0" />
+        <mass
+          value="0.0066101" />
+        <inertia
+          ixx="1.5693E-06"
+          ixy="7.8339E-07"
+          ixz="8.5959E-10"
+          iyy="1.7356E-06"
+          iyz="1.0378E-09"
+          izz="2.787E-06" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link12_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link12_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_pitch_joint"
+      type="revolute">
+      <origin
+        xyz="0.0099867 0.0098242 -0.0089"
+        rpy="-1.5708 0 0.16939" />
+      <parent
+        link="L_thumb_proximal_base" />
+      <child
+        link="L_thumb_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0.0"
+        upper="0.5"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0095531 0.0016282 -0.0072002"
+          rpy="0 0 0" />
+        <mass
+          value="0.0037844" />
+        <inertia
+          ixx="3.6981E-07"
+          ixy="9.8603E-08"
+          ixz="-2.8173E-12"
+          iyy="3.2395E-07"
+          iyz="-2.8028E-12"
+          izz="4.6532E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link13_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link13_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="0.04407 -0.034553 -0.0008"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_proximal" />
+      <child
+        link="L_thumb_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="0.8"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_thumb_proximal_pitch_joint"
+        multiplier="1.6"
+        offset="0" />
+    </joint>
+
+    <link name="L_thumb_distal">
+      <inertial>
+        <origin
+          xyz="0.0092888 -0.004953 -0.0060033"
+          rpy="0 0 0" />
+        <mass
+          value="0.003344" />
+        <inertia
+          ixx="1.3632E-07"
+          ixy="5.6787E-08"
+          ixz="-9.1939E-11"
+          iyy="1.4052E-07"
+          iyz="1.2145E-10"
+          izz="2.0026E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link14_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link14_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_distal_joint"
+      type="revolute">
+      <origin
+        xyz="0.020248 -0.010156 -0.0012"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_intermediate" />
+      <child
+        link="L_thumb_distal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.2"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_thumb_proximal_pitch_joint"
+        multiplier="2.4"
+        offset="0" />
+    </joint>
+
+    <link name="L_index_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059998"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.3746E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4773E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link15_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link15_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="L_thumb_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_thumb_tip_joint" type="fixed">
+    <parent link="L_thumb_distal"/>
+    <child link="L_thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.015 -0.013 -0.004"/>
+  </joint>
+
+    <joint
+      name="L_index_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13653 0.032268"
+        rpy="-0.034907 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_index_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_index_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6284E-07"
+          ixy="-8.063E-08"
+          ixz="3.6797E-13"
+          iyy="9.4308E-08"
+          iyz="1.5743E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link16_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link16_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_index_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_index_proximal" />
+      <child
+        link="L_index_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_index_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_index_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_index_tip_joint" type="fixed">
+    <parent link="L_index_intermediate"/>
+    <child link="L_index_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 -0.04 -0.004"/>
+  </joint>
+
+    <link name="L_middle_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.2299E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4484E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link17_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link17_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_middle_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.1371 0.01295"
+        rpy="0 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_middle_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_middle_intermediate">
+      <inertial>
+        <origin
+          xyz="0.001921 -0.020796 -0.0049999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0050397" />
+        <inertia
+          ixx="9.5823E-07"
+          ixy="-1.1425E-07"
+          ixz="-2.4186E-12"
+          iyy="1.0646E-07"
+          iyz="3.6974E-12"
+          izz="9.8385E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link18_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link18_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+    
+    <joint
+      name="L_middle_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_middle_proximal" />
+      <child
+        link="L_middle_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_middle_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_middle_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_middle_tip_joint" type="fixed">
+    <parent link="L_middle_intermediate"/>
+    <child link="L_middle_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 -0.045 -0.004"/>
+  </joint>
+
+    <link name="L_ring_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="9.6052E-13"
+          iyy="2.1167E-07"
+          iyz="-1.4124E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link19_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link19_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13691 -0.0062872"
+        rpy="0.05236 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_ring_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_ring_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6285E-07"
+          ixy="-8.0631E-08"
+          ixz="3.3472E-14"
+          iyy="9.4308E-08"
+          iyz="-4.4773E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link20_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link20_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_ring_proximal" />
+      <child
+        link="L_ring_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_ring_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_ring_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_ring_tip_joint" type="fixed">
+    <parent link="L_ring_intermediate"/>
+    <child link="L_ring_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 -0.04 -0.004"/>
+  </joint>
+
+    <link name="L_pinky_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.0279E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4277E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link21_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link21_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13571 -0.025488"
+        rpy="0.10472 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_pinky_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_pinky_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0024788 -0.016208 -0.0050001"
+          rpy="0 0 0" />
+        <mass
+          value="0.0036036" />
+        <inertia
+          ixx="4.3923E-07"
+          ixy="-4.1355E-08"
+          ixz="1.2263E-12"
+          iyy="7.0315E-08"
+          iyz="3.1311E-12"
+          izz="4.4881E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link22_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link22_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_pinky_proximal" />
+      <child
+        link="L_pinky_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_pinky_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_pinky_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_pinky_tip_joint" type="fixed">
+    <parent link="L_pinky_intermediate"/>
+    <child link="L_pinky_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 -0.032 -0.004"/>
+  </joint>
+
+</robot>
\ No newline at end of file
diff --git a/robots/gr1/inspire_hand/inspire_hand_left.yml b/robots/gr1/inspire_hand/inspire_hand_left.yml
new file mode 100644
index 0000000000000000000000000000000000000000..4e3bec726194ff1d06b1d549261bd01dd8d25f6c
--- /dev/null
+++ b/robots/gr1/inspire_hand/inspire_hand_left.yml
@@ -0,0 +1,19 @@
+type: vector
+urdf_path: inspire_hand_left.urdf
+wrist_link_name: "L_hand_base_link"
+
+
+# Target refers to the retargeting target, which is the robot hand
+target_joint_names: null
+target_origin_link_names: [ "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link" ]
+target_task_link_names: [ "L_thumb_tip", "L_index_tip", "L_middle_tip", "L_ring_tip", "L_pinky_tip" ]
+scaling_factor: 1.1
+
+# Source refers to the retargeting input, which usually corresponds to the human hand
+# The joint indices of human hand joint which corresponds to each link in the target_link_names
+target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+# A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+low_pass_alpha: 0.5
+
+# ignore_mimic_joint: True
diff --git a/robots/gr1/inspire_hand/inspire_hand_left/inspire_hand_left.usd b/robots/gr1/inspire_hand/inspire_hand_left/inspire_hand_left.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2b3c0ff4c91e4182f76a4e888084d4cb71fa551c
--- /dev/null
+++ b/robots/gr1/inspire_hand/inspire_hand_left/inspire_hand_left.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f5c22f6aa01ababe54eecfe4a3b06ebbe50ac33c104b733663ad3defe168e92
+size 8170968
diff --git a/robots/gr1/inspire_hand/inspire_hand_right.urdf b/robots/gr1/inspire_hand/inspire_hand_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8b9101a6f2c5dd91c95e3155fec07b881ba83643
--- /dev/null
+++ b/robots/gr1/inspire_hand/inspire_hand_right.urdf
@@ -0,0 +1,830 @@
+<robot
+  name="h1">
+
+  <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="R_hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.0025264 -0.066047 0.0019598"
+        rpy="0 0 0" />
+      <mass
+        value="0.14143" />
+      <inertia
+        ixx="0.00012281"
+        ixy="2.1711E-06"
+        ixz="1.7709E-06"
+        iyy="8.3832E-05"
+        iyz="-1.6551E-06"
+        izz="7.6663E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/R_hand_base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/R_hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="R_thumb_proximal_base">
+    <inertial>
+      <origin
+        xyz="-0.0048064 0.0009382 -0.00757"
+        rpy="0 0 0" />
+      <mass
+        value="0.0018869" />
+      <inertia
+        ixx="5.816E-08"
+        ixy="1.4539E-08"
+        ixz="4.491E-09"
+        iyy="7.9161E-08"
+        iyz="-1.8727E-09"
+        izz="6.7433E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link11_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link11_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.01696 -0.0691 -0.02045"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_thumb_proximal_base" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.1"
+      upper="1.3"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.021932 0.012785 -0.0080386"
+        rpy="0 0 0" />
+      <mass
+        value="0.0066075" />
+      <inertia
+        ixx="1.5686E-06"
+        ixy="-7.8296E-07"
+        ixz="8.9143E-10"
+        iyy="1.7353E-06"
+        iyz="-1.0191E-09"
+        izz="2.786E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link12_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link12_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0088099 0.010892 -0.00925"
+      rpy="1.5708 0 2.8587" />
+    <parent
+      link="R_thumb_proximal_base" />
+    <child
+      link="R_thumb_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0.0"
+      upper="0.5"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0095544 -0.0016282 -0.0071997"
+        rpy="0 0 0" />
+      <mass
+        value="0.0037847" />
+      <inertia
+        ixx="3.6981E-07"
+        ixy="-9.8581E-08"
+        ixz="-4.7469E-12"
+        iyy="3.2394E-07"
+        iyz="1.0939E-12"
+        izz="4.6531E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link13_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link13_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.04407 0.034553 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_proximal" />
+    <child
+      link="R_thumb_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.8"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_thumb_proximal_pitch_joint"
+      multiplier="1.6"
+      offset="0" />
+  </joint>
+
+  <link name="R_thumb_distal">
+    <inertial>
+      <origin
+        xyz="0.0092888 0.0049529 -0.0060033"
+        rpy="0 0 0" />
+      <mass
+        value="0.0033441" />
+      <inertia
+        ixx="1.3632E-07"
+        ixy="-5.6788E-08"
+        ixz="-9.2764E-11"
+        iyy="1.4052E-07"
+        iyz="-1.2283E-10"
+        izz="2.0026E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link14_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link14_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_distal_joint"
+    type="revolute">
+    <origin
+      xyz="0.020248 0.010156 -0.0012"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_intermediate" />
+    <child
+      link="R_thumb_distal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.2"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_thumb_proximal_pitch_joint"
+      multiplier="2.4"
+      offset="0" />
+  </joint>
+
+  <link name="R_thumb_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_thumb_tip_joint" type="fixed">
+    <parent link="R_thumb_distal"/>
+    <child link="R_thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.015 0.013 -0.004"/>
+  </joint>
+
+  <link name="R_index_proximal">
+    <inertial>
+      <origin
+        xyz="0.0012259 0.011942 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6232E-07"
+        ixy="-1.5775E-08"
+        ixz="1.8515E-12"
+        iyy="2.1146E-07"
+        iyz="-5.0828E-12"
+        izz="6.9398E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link15_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link15_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13653 -0.032268"
+      rpy="-3.1067 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_index_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_index_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0019697 0.019589 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6111E-07"
+        ixy="8.7637E-08"
+        ixz="-3.7751E-13"
+        iyy="9.6076E-08"
+        iyz="9.9444E-13"
+        izz="7.8179E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link16_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link16_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0026138 0.032026 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_index_proximal" />
+    <child
+      link="R_index_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_index_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_index_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_index_tip_joint" type="fixed">
+    <parent link="R_index_intermediate"/>
+    <child link="R_index_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 0.04 -0.004"/>
+  </joint>
+
+  <link name="R_middle_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.8002E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6808E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link17_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link17_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.1371 -0.01295"
+      rpy="-3.1416 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_middle_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_middle_intermediate">
+    <inertial>
+      <origin
+        xyz="0.001921 0.020796 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0050396" />
+      <inertia
+        ixx="9.5822E-07"
+        ixy="1.1425E-07"
+        ixz="-2.4791E-12"
+        iyy="1.0646E-07"
+        iyz="5.9173E-12"
+        izz="9.8384E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link18_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link18_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_middle_proximal" />
+    <child
+      link="R_middle_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_middle_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_middle_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_middle_tip_joint" type="fixed">
+    <parent link="R_middle_intermediate"/>
+    <child link="R_middle_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 0.045 -0.004"/>
+  </joint>
+
+  <link name="R_ring_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060002"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.5793E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6868E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link19_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link19_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13691 0.0062872"
+      rpy="3.0892 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_ring_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_ring_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0021753 0.019567 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6286E-07"
+        ixy="8.0635E-08"
+        ixz="-6.1562E-13"
+        iyy="9.431E-08"
+        iyz="5.8619E-13"
+        izz="7.8177E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link20_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link20_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_ring_proximal" />
+    <child
+      link="R_ring_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_ring_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_ring_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_ring_tip_joint" type="fixed">
+    <parent link="R_ring_intermediate"/>
+    <child link="R_ring_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 0.04 -0.004"/>
+  </joint>
+
+  <link name="R_pinky_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.6907E-12"
+        iyy="2.1167E-07"
+        iyz="-6.9334E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link21_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link21_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13571 0.025488"
+      rpy="3.0369 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_pinky_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_pinky_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0024748 0.016203 -0.0050031"
+        rpy="0 0 0" />
+      <mass
+        value="0.0035996" />
+      <inertia
+        ixx="4.3913E-07"
+        ixy="4.1418E-08"
+        ixz="3.7168E-11"
+        iyy="7.0247E-08"
+        iyz="5.8613E-11"
+        izz="4.4867E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link22_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link22_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_pinky_proximal" />
+    <child
+      link="R_pinky_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_pinky_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_pinky_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_pinky_tip_joint" type="fixed">
+    <parent link="R_pinky_intermediate"/>
+    <child link="R_pinky_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 0.032 -0.004"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/robots/gr1/inspire_hand/inspire_hand_right.yml b/robots/gr1/inspire_hand/inspire_hand_right.yml
new file mode 100644
index 0000000000000000000000000000000000000000..89072e3a47759ec754af1af34592781839be193b
--- /dev/null
+++ b/robots/gr1/inspire_hand/inspire_hand_right.yml
@@ -0,0 +1,18 @@
+type: vector
+urdf_path: inspire_hand_right.urdf
+wrist_link_name: "R_hand_base_link"
+
+# Target refers to the retargeting target, which is the robot hand
+target_joint_names: null
+target_origin_link_names: [ "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link" ]
+target_task_link_names: [ "R_thumb_tip", "R_index_tip", "R_middle_tip", "R_ring_tip", "R_pinky_tip" ]
+scaling_factor: 1.1
+
+# Source refers to the retargeting input, which usually corresponds to the human hand
+# The joint indices of human hand joint which corresponds to each link in the target_link_names
+target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+# A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+low_pass_alpha: 0.5
+
+# ignore_mimic_joint: True
diff --git a/robots/gr1/inspire_hand/meshes/L_hand_base_link.STL b/robots/gr1/inspire_hand/meshes/L_hand_base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..88d668d9b03e3a74577668bb7c073d3a415f27bd
--- /dev/null
+++ b/robots/gr1/inspire_hand/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/robots/gr1/inspire_hand/meshes/L_hand_base_link.STL.convex.stl b/robots/gr1/inspire_hand/meshes/L_hand_base_link.STL.convex.stl
new file mode 100644
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diff --git a/robots/gr1/inspire_hand/meshes/Link12_R.STL.convex.stl b/robots/gr1/inspire_hand/meshes/Link12_R.STL.convex.stl
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diff --git a/robots/gr1/inspire_hand/meshes/Link14_R.STL.convex.stl b/robots/gr1/inspire_hand/meshes/Link14_R.STL.convex.stl
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diff --git a/robots/gr1/inspire_hand/meshes/Link15_L.STL.convex.stl b/robots/gr1/inspire_hand/meshes/Link15_L.STL.convex.stl
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diff --git a/robots/gr1/meshes/L_index_proximal.STL.convex.stl b/robots/gr1/meshes/L_index_proximal.STL.convex.stl
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diff --git a/robots/gr1/meshes/L_middle_proximal.STL.convex.stl b/robots/gr1/meshes/L_middle_proximal.STL.convex.stl
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diff --git a/robots/gr1/meshes/L_thumb_proximal.STL.convex.stl b/robots/gr1/meshes/L_thumb_proximal.STL.convex.stl
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diff --git a/robots/gr1/meshes/R_index_intermediate.STL.convex.stl b/robots/gr1/meshes/R_index_intermediate.STL.convex.stl
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diff --git a/robots/gr1/meshes/R_index_proximal.STL.convex.stl b/robots/gr1/meshes/R_index_proximal.STL.convex.stl
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diff --git a/robots/gr1/meshes/R_middle_proximal.STL.convex.stl b/robots/gr1/meshes/R_middle_proximal.STL.convex.stl
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diff --git a/robots/gr1/meshes/right_end_effector_link.STL b/robots/gr1/meshes/right_end_effector_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..d066797a7170f058256c95e53e4d587b4c0e0d86
--- /dev/null
+++ b/robots/gr1/meshes/right_end_effector_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:157b20269507d376c7502024b770ebc32a403ca866ea6bac4d14a6999e3cca52
+size 450084
diff --git a/robots/gr1/meshes/right_foot_pitch_link.STL b/robots/gr1/meshes/right_foot_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..bad1e00138173d101bdc0f5158c37f5ce4e058e0
--- /dev/null
+++ b/robots/gr1/meshes/right_foot_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fefd397cba98524756057c1ef632de92c5e431b98c2e72d6d3a290f8b81ebcb1
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--- /dev/null
+++ b/robots/gr1/meshes/right_foot_roll_link.STL
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/gr1/meshes/right_hand_pitch_link.STL b/robots/gr1/meshes/right_hand_pitch_link.STL
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index 0000000000000000000000000000000000000000..d066797a7170f058256c95e53e4d587b4c0e0d86
--- /dev/null
+++ b/robots/gr1/meshes/right_hand_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/robots/gr1/meshes/right_hand_roll_link.STL
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+version https://git-lfs.github.com/spec/v1
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new file mode 100644
index 0000000000000000000000000000000000000000..b4c905c07f75ccd08157b06695661a09dc154c3c
--- /dev/null
+++ b/robots/gr1/meshes/right_hand_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e91fa088fabd561684f6aab6be66f958a1178b970b14074e150180593d7531a
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diff --git a/robots/gr1/meshes/right_lower_arm_pitch_link.STL b/robots/gr1/meshes/right_lower_arm_pitch_link.STL
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index 0000000000000000000000000000000000000000..e8b2e854256c242a70ebb9ef5c29f69e1cdb2362
--- /dev/null
+++ b/robots/gr1/meshes/right_lower_arm_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..500d0eeaea0b4083f0621fcff4c64233e358dd2d
--- /dev/null
+++ b/robots/gr1/meshes/right_shank_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/robots/gr1/meshes/right_thigh_pitch_link.STL
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+version https://git-lfs.github.com/spec/v1
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+++ b/robots/gr1/meshes/right_thigh_roll_link.STL
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+++ b/robots/gr1/meshes/torso_link.STL
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/gr1/meshes/waist_pitch_link.STL b/robots/gr1/meshes/waist_pitch_link.STL
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--- /dev/null
+++ b/robots/gr1/meshes/waist_pitch_link.STL
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/gr1/policy/move_by_speed/gr1_policy.onnx b/robots/gr1/policy/move_by_speed/gr1_policy.onnx
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/gr1/urdf/robot.urdf b/robots/gr1/urdf/robot.urdf
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index 0000000000000000000000000000000000000000..ebd1d655f45e9caecfc7831b34d6d19090f840a9
--- /dev/null
+++ b/robots/gr1/urdf/robot.urdf
@@ -0,0 +1,3695 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<!-- 08242024ver1 -->
+
+<robot
+  name="GR1T2_fourier_hand">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.07224 -8.4E-5 -0.01164"
+        rpy="0 0 0" />
+      <mass
+        value="4.72" />
+      <inertia
+        ixx="0.050636"
+        ixy="-4.24E-06"
+        ixz="-0.0028997"
+        iyy="0.01640487"
+        iyz="-7.15E-06"
+        izz="0.05387458" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="left_thigh_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.01654 1.8E-5 0.00139"
+        rpy="0 0 0" />
+      <mass
+        value="1.86" />
+      <inertia
+        ixx="1.96428E-3"
+        ixy="4.21E-6"
+        ixz="-5.157E-5"
+        iyy="4.23576E-3"
+        iyz="-9.10E-6"
+        izz="4.32952E-3" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_thigh_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_thigh_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_roll_joint"
+    type="revolute">
+    <origin
+      xyz="-0.031635 0.105 -0.0276"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="left_thigh_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.09"
+      upper="0.79"
+      effort="48"
+      velocity="12.15" />
+  </joint>
+  <link
+    name="left_thigh_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.00132 0.03063 -0.08383"
+        rpy="0 0 0" />
+      <mass
+        value="1.85" />
+      <inertia
+        ixx="0.011354"
+        ixy="8E-08"
+        ixz="-8.53E-06"
+        iyy="0.011865"
+        iyz="0.0029025"
+        izz="0.004631" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_thigh_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_thigh_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.033135 -7.7152E-05 0.00075"
+      rpy="0 0 0" />
+    <parent
+      link="left_thigh_roll_link" />
+    <child
+      link="left_thigh_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.7"
+      upper="0.7"
+      effort="66"
+      velocity="16.76" />
+  </joint>
+  <link
+    name="left_thigh_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.00039 -0.03984 -0.05016"
+        rpy="0 0 0" />
+      <mass
+        value="9.66" />
+      <inertia
+        ixx="0.097882"
+        ixy="0.0021823"
+        ixz="0.00048992"
+        iyy="0.084216"
+        iyz="-0.0094886"
+        izz="0.037358" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_thigh_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_thigh_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.0408 -0.14027"
+      rpy="0 0 0" />
+    <parent
+      link="left_thigh_yaw_link" />
+    <child
+      link="left_thigh_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.75"
+      upper="0.7"
+      effort="225"
+      velocity="37.38" />
+  </joint>
+  <link
+    name="left_shank_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00112 -0.00093 -0.11349"
+        rpy="0 0 0" />
+      <mass
+        value="2.35" />
+      <inertia
+        ixx="0.01145"
+        ixy="-6.69E-6"
+        ixz="-0.00011863"
+        iyy="0.011303"
+        iyz="-0.00039101"
+        izz="0.00140363" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shank_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shank_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_knee_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.039262 -0.36"
+      rpy="0 0 0" />
+    <parent
+      link="left_thigh_pitch_link" />
+    <child
+      link="left_shank_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.09"
+      upper="1.92"
+      effort="225"
+      velocity="37.38" />
+  </joint>
+  <link
+    name="left_foot_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.0357 9.8e-5 -0.03643"
+        rpy="0 0 0" />
+      <mass
+        value="1.13" />
+      <inertia
+        ixx="0.000852"
+        ixy="4E-6"
+        ixz="0.000323"
+        iyy="0.005248"
+        iyz="-1E-6"
+        izz="0.005643" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_foot_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_foot_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ankle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="3.2116E-05 -0.00125 -0.34"
+      rpy="0 0 0" />
+    <parent
+      link="left_shank_pitch_link" />
+    <child
+      link="left_foot_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.05"
+      upper="0.52"
+      effort="15"
+      velocity="20.32" />
+  </joint>
+  <link
+    name="left_foot_roll_link">
+    <inertial>
+      <origin
+        xyz="0.0357 9.8e-5 -0.03643"
+        rpy="0 0 0" />
+      <mass
+        value="1.13" />
+      <inertia
+        ixx="0.000852"
+        ixy="4E-6"
+        ixz="0.000323"
+        iyy="0.005248"
+        iyz="-1E-6"
+        izz="0.005643" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_foot_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_foot_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ankle_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_foot_pitch_link" />
+    <child
+      link="left_foot_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.44"
+      upper="0.44"
+      effort="30"
+      velocity="20.32" />
+  </joint>
+  <link
+    name="right_thigh_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.01637 -0.00008 0.00139 "
+        rpy="0 0 0" />
+      <mass
+        value="1.86" />
+      <inertia
+        ixx="0.001961"
+        ixy="1.524E-05"
+        ixz="-5.127E-5"
+        iyy="0.00427122"
+        iyz="6.15E-6"
+        izz="0.0043622" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_thigh_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_thigh_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_roll_joint"
+    type="revolute">
+    <origin
+      xyz="-0.031635 -0.105 -0.0276"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="right_thigh_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.79"
+      upper="0.09"
+      effort="48"
+      velocity="12.15" />
+  </joint>
+  <link
+    name="right_thigh_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.00132 -0.03063 -0.08398"
+        rpy="0 0 0" />
+      <mass
+        value="1.85" />
+      <inertia
+        ixx="0.011384"
+        ixy="-1E-08"
+        ixz="3.99E-06"
+        iyy="0.011895"
+        iyz="-0.0029016"
+        izz="0.0046311" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_thigh_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_thigh_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.033135 0 0.00075"
+      rpy="0 0 0" />
+    <parent
+      link="right_thigh_roll_link" />
+    <child
+      link="right_thigh_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.7"
+      upper="0.7"
+      effort="66"
+      velocity="16.76" />
+  </joint>
+  <link
+    name="right_thigh_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.00035 0.03987 -0.04960"
+        rpy="0 0 0" />
+      <mass
+        value="9.66" />
+      <inertia
+        ixx="0.098373"
+        ixy="0.0010518"
+        ixz="0.0018654"
+        iyy="0.084271"
+        iyz="0.0038792"
+        izz="0.037018" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_thigh_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_thigh_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.0408 -0.14027"
+      rpy="0 0 0" />
+    <parent
+      link="right_thigh_yaw_link" />
+    <child
+      link="right_thigh_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.75"
+      upper="0.7"
+      effort="225"
+      velocity="37.38" />
+  </joint>
+  <link
+    name="right_shank_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00112 0.00090 -0.11329"
+        rpy="0 0 0" />
+      <mass
+        value="2.35" />
+      <inertia
+        ixx="0.01133847"
+        ixy="6.66E-6"
+        ixz="-1.1885E-4"
+        iyy="0.01123485"
+        iyz="3.8645E-4"
+        izz="1.40639E-3" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shank_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shank_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_knee_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.039512 -0.36"
+      rpy="0 0 0" />
+    <parent
+      link="right_thigh_pitch_link" />
+    <child
+      link="right_shank_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.09"
+      upper="1.92"
+      effort="225"
+      velocity="37.38" />
+  </joint>
+  <link
+    name="right_foot_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.0370 -0.000306 -0.03642"
+        rpy="0 0 0" />
+      <mass
+        value="1.13" />
+      <inertia
+        ixx="0.000852"
+        ixy="-1E-6"
+        ixz="0.000332"
+        iyy="0.005248"
+        iyz="0"
+        izz="0.005675" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_foot_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_foot_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ankle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.00125 -0.34"
+      rpy="0 0 0" />
+    <parent
+      link="right_shank_pitch_link" />
+    <child
+      link="right_foot_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.05"
+      upper="0.52"
+      effort="15"
+      velocity="20.32" />
+  </joint>
+  <link
+    name="right_foot_roll_link">
+    <inertial>
+      <origin
+        xyz="0.0370 -0.000306 -0.03642"
+        rpy="0 0 0" />
+      <mass
+        value="1.13" />
+      <inertia
+        ixx="0.000852"
+        ixy="-1E-6"
+        ixz="0.000332"
+        iyy="0.005248"
+        iyz="0"
+        izz="0.005675" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_foot_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_foot_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ankle_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_foot_pitch_link" />
+    <child
+      link="right_foot_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.44"
+      upper="0.44"
+      effort="30"
+      velocity="20.32" />
+  </joint>
+  <link
+    name="waist_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.00152 -0.00691 0.05223"
+        rpy="0 0 0" />
+      <mass
+        value="1.66" />
+      <inertia
+        ixx="0.003573"
+        ixy="1.476E-05"
+        ixz="5.805E-05"
+        iyy="0.0031429"
+        iyz="0.00039781"
+        izz="0.0023119" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/waist_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/waist_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="waist_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="waist_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.05"
+      upper="1.05"
+      effort="66"
+      velocity="16.76" />
+  </joint>
+  <link
+    name="waist_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00458 -0.00805 0.03454"
+        rpy="0 0 0" />
+      <mass
+        value="1.54" />
+      <inertia
+        ixx="0.0046064" 
+        ixy="-2.297E-05"
+        ixz="-0.00026084"
+        iyy="0.0045722"
+        iyz="-0.00024591"
+        izz="0.0018747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/waist_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/waist_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="waist_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.00335 0.0927"
+      rpy="0 0 0" />
+    <parent
+      link="waist_yaw_link" />
+    <child
+      link="waist_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.52"
+      upper="1.22"
+      effort="66"
+      velocity="16.76" />
+  </joint>
+  <link
+    name="waist_roll_link">
+    <inertial>
+      <origin
+        xyz="0.00823 0.00004 0.01227"
+        rpy="0 0 0" />
+      <mass
+        value="0.96" />
+      <inertia
+        ixx="0.00100959" 
+        ixy="4.9E-7"
+        ixz="9.99E-5"
+        iyy="1.30981E-3"
+        iyz="-5.3E-7"
+        izz="1.16922E-3"/>
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/waist_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/waist_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="waist_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.00525 -0.00385 0.0752"
+      rpy="0 0 0" />
+    <parent
+      link="waist_pitch_link" />
+    <child
+      link="waist_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.7"
+      upper="0.7"
+      effort="66"
+      velocity="16.76" />
+  </joint>
+  <link
+    name="torso_link">
+    <inertial>
+      <origin
+        xyz="-0.01218 0.00028 0.01154"
+        rpy="0 0 0" />
+      <mass
+        value="5.118" />
+      <inertia
+        ixx="0.03858418"
+        ixy="1.82E-6"
+        ixz="-3.0935E-4"
+        iyy="0.03425317"
+        iyz="-1.496E-5"
+        izz="0.03126211" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/torso_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/torso_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="torso_joint"
+    type="fixed">
+    <origin
+      xyz="-0.00225 0.00057443 0.16035"
+      rpy="0 0 0" />
+    <parent
+      link="waist_roll_link" />
+    <child
+      link="torso_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_upper_arm_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.0033 0.05361 -0.00011"
+        rpy="0 0 0" />
+      <mass
+        value="0.82" />
+      <inertia
+        ixx="2.04209E-3"
+        ixy="-1.0845E-4"
+        ixz="-5.7E-6"
+        iyy="5.02E-4"
+        iyz="-1.88E-6"
+        izz="1.98176E-3" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_upper_arm_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_upper_arm_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.10128 0.046651"
+      rpy="0.43275 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="left_upper_arm_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.79"
+      upper="1.92"
+      effort="38"
+      velocity="9.11" />
+  </joint>
+  <link
+    name="left_upper_arm_roll_link">
+    <inertial>
+      <origin
+        xyz="0.00418 0.01740 -0.02398"
+        rpy="0 0 0" />
+      <mass
+        value="0.61" />
+      <inertia
+        ixx="0.0010175"
+        ixy="8.5E-07"
+        ixz="-2.686E-05"
+        iyy="0.00080346"
+        iyz="0.00031013"
+        izz="0.00056524" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_upper_arm_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_upper_arm_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.00085 0.09515 0"
+      rpy="-0.43275 0 0" />
+    <parent
+      link="left_upper_arm_pitch_link" />
+    <child
+      link="left_upper_arm_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.57"
+      upper="2.53"
+      effort="38"
+      velocity="9.11" />
+  </joint>
+  <link
+    name="left_upper_arm_yaw_link">
+    <inertial>
+      <origin
+        xyz="-4E-6 -0.0002 -0.08761"
+        rpy="0 0 0" />
+      <mass
+        value="0.54" />
+      <inertia
+        ixx="0.0035571"
+        ixy="-1.6E-07"
+        ixz="-7.1E-07"
+        iyy="0.003544"
+        iyz="4.560E-05"
+        izz="0.00026034" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_upper_arm_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_upper_arm_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00085 0.04 -0.0749"
+      rpy="0 0 0" />
+    <parent
+      link="left_upper_arm_roll_link" />
+    <child
+      link="left_upper_arm_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.97"
+      upper="2.97"
+      effort="30"
+      velocity="7.33" />
+  </joint>
+  <link
+    name="left_lower_arm_pitch_link">
+    <inertial>
+      <origin
+        xyz="0 0.00405 -0.02528"
+        rpy="0 0 0" />
+      <mass
+        value="0.33" />
+      <inertia
+        ixx="0.00029558"
+        ixy="2E-08"
+        ixz="7E-08"
+        iyy="0.000287"
+        iyz="-5.014E-05"
+        izz="0.00011171" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_lower_arm_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_lower_arm_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_elbow_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.0051 -0.1786"
+      rpy="0 0 0" />
+    <parent
+      link="left_upper_arm_yaw_link" />
+    <child
+      link="left_lower_arm_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.27"
+      upper="2.27"
+      effort="30"
+      velocity="7.33" />
+  </joint>
+  <link
+    name="left_hand_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.00034 0.00196 -0.07313"
+        rpy="0 0 0" />
+      <mass
+        value="0.86" />
+      <inertia
+        ixx="0.0026215"
+        ixy="1.29E-06"
+        ixz="6.12E-06"
+        iyy="0.0025491"
+        iyz="-1.585E-05"
+        izz="0.00049784" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hand_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hand_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wrist_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.0040497 -0.05945"
+      rpy="0 0 0" />
+    <parent
+      link="left_lower_arm_pitch_link" />
+    <child
+      link="left_hand_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.97"
+      upper="2.97"
+      effort="10.2"
+      velocity="24.4" />
+  </joint>
+  <link
+    name="left_hand_roll_link">
+    <inertial>
+      <origin
+        xyz="0 0.005104 -0.008485"
+        rpy="0 0 0" />
+      <mass
+        value="0.055" />
+      <inertia
+        ixx="1.1E-5"
+        ixy="0"
+        ixz="0"
+        iyy="2E-5"
+        iyz="-1E-6"
+        izz="2.1E-5" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hand_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hand_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wrist_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.19115"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_yaw_link" />
+    <child
+      link="left_hand_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.61"
+      upper="0.61"
+      effort="3.95"
+      velocity="27.96" />
+  </joint>
+  <link
+    name="left_hand_pitch_link">
+    <inertial>
+      <origin
+        xyz="0 0.005104 -0.008485"
+        rpy="0 0 0" />
+      <mass
+        value="0.055" />
+      <inertia
+        ixx="1.1E-5"
+        ixy="0"
+        ixz="0"
+        iyy="2E-5"
+        iyz="-1E-6"
+        izz="2.1E-5" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hand_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hand_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wrist_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_roll_link" />
+    <child
+      link="left_hand_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.96"
+      upper="0.87"
+      effort="3.95"
+      velocity="27.96" />
+  </joint>
+
+
+
+   <link
+    name="left_end_effector_link">
+  </link>
+  <joint
+    name="left_end_effector_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_pitch_link" />
+    <child
+      link="left_end_effector_link" />
+  </joint>
+
+
+
+
+    <link
+    name="l_hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000341219118062869 -0.00502824269426091 -0.0449280446308069"
+        rpy="0 0 0" />
+      <mass
+        value="0.099947" />
+      <inertia
+        ixx="0.00030651"
+        ixy="-2.324E-05"
+        ixz="-3.2E-07"
+        iyy="0.0004015"
+        iyz="3.1E-07"
+        izz="0.00019218" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_hand_base_joint"
+    type="fixed">
+    <origin
+      xyz="-0.00143750472419189 -5.94019892983799E-05 -0.0210000216633744"
+      rpy="0 0 0" />
+    <parent
+      link="left_end_effector_link" />
+    <child
+      link="l_hand_base_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="L_thumb_proximal_base">
+    <inertial>
+      <origin
+        xyz="0.0110171865188146 -2.47672281110389E-05 0.000776047913919345"
+        rpy="0 0 0" />
+      <mass
+        value="0.0094853" />
+      <inertia
+        ixx="3.2E-07"
+        ixy="1.3E-07"
+        ixz="-4E-08"
+        iyy="9.2E-07"
+        iyz="0"
+        izz="9.7E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_thumb_proximal_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_thumb_proximal_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="L_thumb_proximal_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.0220003063830263 -0.0154982849769962 -0.0250926444440346"
+      rpy="0 -1.22105233317497E-05 0" />
+    <parent
+      link="l_hand_base_link" />
+    <child
+      link="L_thumb_proximal_base" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.74"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+  </joint>
+  <link
+    name="L_thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.0312833670370602 0.000740495699468297 -2.32089545953995E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.033247" />
+      <inertia
+        ixx="1.214E-05"
+        ixy="4.25E-06"
+        ixz="-1E-07"
+        iyy="3.292E-05"
+        iyz="3E-08"
+        izz="3.183E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="L_thumb_proximal_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.02175 0 0"
+      rpy="-1.57072797771317 0 0" />
+    <parent
+      link="L_thumb_proximal_base" />
+    <child
+      link="L_thumb_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="10"
+      velocity="0.8" />
+  </joint>
+  <link
+    name="L_thumb_distal">
+    <inertial>
+      <origin
+        xyz="0.0132168665788391 -0.00326175003895993 -5.06101471370313E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.020321" />
+      <inertia
+        ixx="9.7E-07"
+        ixy="2.7E-07"
+        ixz="9E-08"
+        iyy="2.29E-06"
+        iyz="-2E-08"
+        izz="2.48E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="L_thumb_distal_joint"
+    type="revolute">
+    <origin
+      xyz="0.0615493701717829 0.00746157030770586 0"
+      rpy="0 0 1.22106056547031E-05" />
+    <parent
+      link="L_thumb_proximal" />
+    <child
+      link="L_thumb_distal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.04"
+      effort="10"
+      velocity="0.8" />
+    <mimic
+      joint="L_thumb_proximal_pitch_joint"
+      multiplier="0.974"
+      offset="0" />
+  </joint>
+
+  <link name="L_thumb_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+      <material name="yellow">
+        <color rgba="0.9 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_thumb_tip_joint" type="fixed">
+    <parent link="L_thumb_distal" />
+    <child link="L_thumb_tip" />
+    <origin rpy="0 0 0" xyz="0.031 0 0" />
+  </joint>
+
+  <link
+    name="L_index_proximal">
+    <inertial>
+      <origin
+        xyz="0.00960018118915809 0.00044353185078605 2.958628109756E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.019118" />
+      <inertia
+        ixx="3.83E-06"
+        ixy="3E-08"
+        ixz="1.8E-07"
+        iyy="3.72E-06"
+        iyz="-8E-08"
+        izz="8.7E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="L_index_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.026869067504082 -0.0122934392405636 -0.0959894118552304"
+      rpy="0.00130566300740641 1.51842419415245 0.00130387280614764" />
+    <parent
+      link="l_hand_base_link" />
+    <child
+      link="L_index_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+  </joint>
+  <link
+    name="L_index_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0180093666798108 0.00300055705134525 -8.82089827167198E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.012927" />
+      <inertia
+        ixx="2.03E-06"
+        ixy="2E-08"
+        ixz="1.4E-07"
+        iyy="2.01E-06"
+        iyz="-2.3E-07"
+        izz="3.8E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_index_intermediate.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_index_intermediate.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="L_index_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.0315316061985493 -0.00545507200132231 0"
+      rpy="0 0 -6.82553680074393E-05" />
+    <parent
+      link="L_index_proximal" />
+    <child
+      link="L_index_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.74"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+    <mimic
+      joint="L_index_proximal_joint"
+      multiplier="1.128"
+      offset="0" />
+  </joint>
+
+
+  <link name="L_index_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+      <material name="yellow">
+        <color rgba="0.9 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_index_tip_joint" type="fixed">
+    <parent link="L_index_intermediate" />
+    <child link="L_index_tip" />
+    <origin rpy="0 0 0" xyz="0.038 -0.0038 0" />
+  </joint>
+
+
+  
+  <link
+    name="L_middle_proximal">
+    <inertial>
+      <origin
+        xyz="0.00955705245388191 0.00071918425895251 3.00382438536695E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.019118" />
+      <inertia
+        ixx="3.84E-06"
+        ixy="3E-08"
+        ixz="1E-08"
+        iyy="3.73E-06"
+        iyz="-6E-08"
+        izz="8.6E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="L_middle_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00850119653118567 -0.0122933023251572 -0.0979925903933238"
+      rpy="1.39401189702948 1.57072689557984 1.3940118966122" />
+    <parent
+      link="l_hand_base_link" />
+    <child
+      link="L_middle_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+  </joint>
+  <link
+    name="L_middle_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0212893549719316 0.00408289770373668 -9.13198765574441E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.015352" />
+      <inertia
+        ixx="3.29E-06"
+        ixy="0"
+        ixz="5E-08"
+        iyy="3.28E-06"
+        iyz="-2.2E-07"
+        izz="4.1E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_middle_intermediate.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_middle_intermediate.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="L_middle_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.0316616941629316 -0.00464081056852417 0"
+      rpy="0 0 -6.83490817261459E-05" />
+    <parent
+      link="L_middle_proximal" />
+    <child
+      link="L_middle_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.74"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+    <mimic
+      joint="L_middle_proximal_joint"
+      multiplier="1.131"
+      offset="0" />
+  </joint>
+
+
+  <link name="L_middle_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+      <material name="yellow">
+        <color rgba="0.9 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_middle_tip_joint" type="fixed">
+    <parent link="L_middle_intermediate" />
+    <child link="L_middle_tip" />
+    <origin rpy="0 0 0" xyz="0.045 -0.0032 0" />
+  </joint>
+
+
+  <link
+    name="L_ring_proximal">
+    <inertial>
+      <origin
+        xyz="0.00960002708086655 0.000443602585259689 3.01251546439701E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.019117" />
+      <inertia
+        ixx="3.84E-06"
+        ixy="2E-08"
+        ixz="-1.2E-07"
+        iyy="3.72E-06"
+        iyz="-1.5E-07"
+        izz="8.7E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="L_ring_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0099599699075906 -0.012293306060256 -0.0979379429013024"
+      rpy="3.14028638202668 1.51844861517835 3.14028817139281" />
+    <parent
+      link="l_hand_base_link" />
+    <child
+      link="L_ring_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+  </joint>
+  <link
+    name="L_ring_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0180097013870772 0.00300008137097776 -8.39742864479354E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.012926" />
+      <inertia
+        ixx="2.04E-06"
+        ixy="0"
+        ixz="-3E-08"
+        iyy="2E-06"
+        iyz="-2.6E-07"
+        izz="3.8E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_ring_intermediate.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_ring_intermediate.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="L_ring_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.0315316061985493 -0.00545507200132236 0"
+      rpy="0 0 -6.82554553643455E-05" />
+    <parent
+      link="L_ring_proximal" />
+    <child
+      link="L_ring_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.74"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+    <mimic
+      joint="L_ring_proximal_joint"
+      multiplier="1.143"
+      offset="0" />
+  </joint>
+
+
+  <link name="L_ring_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+      <material name="green">
+        <color rgba="0.9 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_ring_tip_joint" type="fixed">
+    <parent link="L_ring_intermediate" />
+    <child link="L_ring_tip" />
+    <origin rpy="0 0 0" xyz="0.038 -0.0038 0" />
+  </joint>
+
+
+  <link
+    name="L_pinky_proximal">
+    <inertial>
+      <origin
+        xyz="0.00964509278679124 9.44866526330912E-05 3.06424748800632E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.019118" />
+      <inertia
+        ixx="3.82E-06"
+        ixy="0"
+        ixz="-2.6E-07"
+        iyy="3.7E-06"
+        iyz="-2.6E-07"
+        izz="9.1E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="L_pinky_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0282266675554703 -0.012293437629494 -0.0960129830601813"
+      rpy="3.14093869761107 1.46608875997235 3.14094227921624" />
+    <parent
+      link="l_hand_base_link" />
+    <child
+      link="L_pinky_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+  </joint>
+  <link
+    name="L_pinky_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0160981065679005 0.00118818281307698 -9.37496349673328E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.0056868" />
+      <inertia
+        ixx="6.6E-07"
+        ixy="0"
+        ixz="-2E-08"
+        iyy="6.2E-07"
+        iyz="-1.4E-07"
+        izz="1.8E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_pinky_intermediate.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/L_pinky_intermediate.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="L_pinky_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.0313378020543266 -0.00647627689369765 0"
+      rpy="0 0 -6.79747455421694E-05" />
+    <parent
+      link="L_pinky_proximal" />
+    <child
+      link="L_pinky_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.74"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+    <mimic
+      joint="L_pinky_proximal_joint"
+      multiplier="1.129"
+      offset="0" />
+  </joint>
+
+
+  <link name="L_pinky_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+      <material name="yellow">
+        <color rgba="0.9 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_pinky_tip_joint" type="fixed">
+    <parent link="L_pinky_intermediate" />
+    <child link="L_pinky_tip" />
+    <origin rpy="0 0 0" xyz="0.031 -0.007 0" />
+  </joint>
+
+
+  
+
+
+  <link
+    name="right_upper_arm_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00338 -0.05364 0.00021"
+        rpy="0 0 0" />
+      <mass
+        value="0.82" />
+      <inertia
+        ixx="0.0020452"
+        ixy="0.00011066"
+        ixz="-3.5E-07"
+        iyy="0.00050607"
+        iyz="-3.27E-06"
+        izz="0.0019775"/>
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_upper_arm_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_upper_arm_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.10094 0.047376"
+      rpy="-0.43992 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="right_upper_arm_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.79"
+      upper="1.92"
+      effort="38"
+      velocity="9.11" />
+  </joint>
+  <link
+    name="right_upper_arm_roll_link">
+    <inertial>
+      <origin
+        xyz="0.00418 -0.0174 -0.02398"
+        rpy="0 0 0" />
+      <mass
+        value="0.61" />
+      <inertia
+        ixx="0.0010174"
+        ixy="-8.4E-07"
+        ixz="-2.687E-05"
+        iyy="0.0008033"
+        iyz="-0.00031043"
+        izz="0.00056542" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_upper_arm_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_upper_arm_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.00085 -0.09515 0"
+      rpy="0.43992 0 0" />
+    <parent
+      link="right_upper_arm_pitch_link" />
+    <child
+      link="right_upper_arm_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-2.53"
+      upper="0.57"
+      effort="38"
+      velocity="9.11" />
+  </joint>
+  <link
+    name="right_upper_arm_yaw_link">
+    <inertial>
+      <origin
+        xyz="-1E-5 0.0002 -0.08761"
+        rpy="0 0 0" />
+      <mass
+        value="0.54" />
+      <inertia
+        ixx="0.0035706"
+        ixy="3E-08"
+        ixz="7E-08"
+        iyy="0.0035441"
+        iyz="-4.555E-05"
+        izz="0.00026029" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_upper_arm_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_upper_arm_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00085 -0.04 -0.0709"
+      rpy="0 0 0" />
+    <parent
+      link="right_upper_arm_roll_link" />
+    <child
+      link="right_upper_arm_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.97"
+      upper="2.97"
+      effort="30"
+      velocity="7.33" />
+  </joint>
+  <link
+    name="right_lower_arm_pitch_link">
+    <inertial>
+      <origin
+        xyz="0 -0.00405 -0.02528"
+        rpy="0 0 0" />
+      <mass
+        value="0.33" />
+      <inertia
+        ixx="0.00029558"
+        ixy="2E-08"
+        ixz="-7E-08"
+        iyy="0.000287"
+        iyz="5.014E-05"
+        izz="0.0001171" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_lower_arm_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_lower_arm_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_elbow_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.0051 -0.1786"
+      rpy="0 0 0" />
+    <parent
+      link="right_upper_arm_yaw_link" />
+    <child
+      link="right_lower_arm_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.27"
+      upper="2.27"
+      effort="30"
+      velocity="7.33" />
+  </joint>
+  <link
+    name="right_hand_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.00047 -0.00196 -0.07239"
+        rpy="0 0 0" />
+      <mass
+        value="0.86" />
+      <inertia
+        ixx="0.0025979"
+        ixy="3.47E-06"
+        ixz="2.86E-06"
+        iyy="0.0025255"
+        iyz="1.62E-05"
+        izz="0.00049776" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hand_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hand_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wrist_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.0040497 -0.05945"
+      rpy="0 0 0" />
+    <parent
+      link="right_lower_arm_pitch_link" />
+    <child
+      link="right_hand_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.97"
+      upper="2.97"
+      effort="10.2"
+      velocity="24.4" />
+  </joint>
+  <link
+    name="right_hand_roll_link">
+    <inertial>
+      <origin
+        xyz="0 -0.005104 -0.008485"
+        rpy="0 0 0" />
+      <mass
+        value="0.055" />
+      <inertia
+        ixx="1.1e-5"
+        ixy="0"
+        ixz="0"
+        iyy="2E-05"
+        iyz="1E-6"
+        izz="2.1E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hand_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hand_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wrist_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.19021"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_yaw_link" />
+    <child
+      link="right_hand_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.61"
+      upper="0.61"
+      effort="3.95"
+      velocity="27.96" />
+  </joint>
+  <link
+    name="right_hand_pitch_link">
+    <inertial>
+      <origin
+        xyz="0 -0.005104 -0.008485"
+        rpy="0 0 0" />
+      <mass
+        value="0.055" />
+      <inertia
+        ixx="1.1e-5"
+        ixy="0"
+        ixz="0"
+        iyy="2E-05"
+        iyz="1E-6"
+        izz="2.1E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hand_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hand_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wrist_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_roll_link" />
+    <child
+      link="right_hand_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.96"
+      upper="0.87"
+      effort="3.95"
+      velocity="27.96" />
+  </joint>
+
+
+   <link
+    name="right_end_effector_link">
+  </link>
+  <joint
+    name="right_end_effector_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_pitch_link" />
+    <child
+      link="right_end_effector_link" />
+  </joint>
+
+
+
+   <link
+    name="r_hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000386127877570155 0.00503962174027214 -0.0449101271034299"
+        rpy="0 0 0" />
+      <mass
+        value="0.09995" />
+      <inertia
+        ixx="0.00030106"
+        ixy="6E-08"
+        ixz="-3.7E-07"
+        iyy="0.0004068"
+        iyz="-3.2E-07"
+        izz="0.00019218" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_hand_base_joint"
+    type="fixed">
+    <origin
+      xyz="-0.00141711624232485 0 -0.0210000172555634"
+      rpy="0 0 0" />
+    <parent
+      link="right_end_effector_link" />
+    <child
+      link="r_hand_base_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="R_thumb_proximal_base">
+    <inertial>
+      <origin
+        xyz="0.0110212287050384 -3.32698098642614E-05 -0.000776780774953884"
+        rpy="0 0 0" />
+      <mass
+        value="0.0094822" />
+      <inertia
+        ixx="3E-07"
+        ixy="0"
+        ixz="-4E-08"
+        iyy="9.5E-07"
+        iyz="0"
+        izz="9.7E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_thumb_proximal_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_thumb_proximal_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="R_thumb_proximal_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.0219570995851234 0.0155628599102215 -0.0250905219673082"
+      rpy="3.14159265358979 0 0" />
+    <parent
+      link="r_hand_base_link" />
+    <child
+      link="R_thumb_proximal_base" />
+    <axis
+      xyz="-1.22100045962969E-05 6.83500415353481E-05 0.999999997589594" />
+    <limit
+      lower="-1.74"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+  </joint>
+  <link
+    name="R_thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.0317791766093077 0.00114667119068899 -2.28155954604681E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.033824" />
+      <inertia
+        ixx="1.132E-05"
+        ixy="3E-08"
+        ixz="1.7E-07"
+        iyy="3.419E-05"
+        iyz="1E-08"
+        izz="3.228E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="R_thumb_proximal_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0217499931849152 -1.72158354079244E-05 0"
+      rpy="1.57086466715046 1.22641020904056E-05 -0.000791532745143911" />
+    <parent
+      link="R_thumb_proximal_base" />
+    <child
+      link="R_thumb_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="10"
+      velocity="0.8" />
+  </joint>
+  <link
+    name="R_thumb_distal">
+    <inertial>
+      <origin
+        xyz="0.0137334892415782 -0.00277453154609453 -4.9718691799705E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.019744" />
+      <inertia
+        ixx="9E-07"
+        ixy="0"
+        ixz="9E-08"
+        iyy="2.19E-06"
+        iyz="0"
+        izz="2.33E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="R_thumb_distal_joint"
+    type="revolute">
+    <origin
+      xyz="0.0614443264755605 0.00828219439307844 0"
+      rpy="0 0 1.22100084212751E-05" />
+    <parent
+      link="R_thumb_proximal" />
+    <child
+      link="R_thumb_distal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.04"
+      effort="10"
+      velocity="0.8" />
+    <mimic
+      joint="R_thumb_proximal_pitch_joint"
+      multiplier="0.974"
+      offset="0" />
+  </joint>
+
+
+  <link name="R_thumb_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+      <material name="yellow">
+        <color rgba="0.9 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_thumb_tip_joint" type="fixed">
+    <parent link="R_thumb_distal" />
+    <child link="R_thumb_tip" />
+    <origin rpy="0 0 0" xyz="0.031 0 0" />
+  </joint>
+
+
+  <link
+    name="R_index_proximal">
+    <inertial>
+      <origin
+        xyz="0.00960002721978334 0.000443602715936658 3.01276850581123E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.019118" />
+      <inertia
+        ixx="3.84E-06"
+        ixy="0"
+        ixz="1.5E-07"
+        iyy="3.71E-06"
+        iyz="1.2E-07"
+        izz="8.7E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="R_index_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.0268347443648602 0.01238126080166 -0.0959877257832576"
+      rpy="-3.14028763091841 1.5184240046093 0.00408527869771669" />
+    <parent
+      link="r_hand_base_link" />
+    <child
+      link="R_index_proximal" />
+    <axis
+      xyz="0.0012744819545806 0.219189646097979 0.975681441219003" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+  </joint>
+  <link
+    name="R_index_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0180099074306208 0.00299885189981389 -8.39749152652114E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.012927" />
+      <inertia
+        ixx="2.03E-06"
+        ixy="-1E-08"
+        ixz="9E-08"
+        iyy="2.01E-06"
+        iyz="2.5E-07"
+        izz="3.8E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_index_intermediate.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_index_intermediate.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="R_index_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.0315316061985493 -0.00545507200132231 0"
+      rpy="0 0 0" />
+    <parent
+      link="R_index_proximal" />
+    <child
+      link="R_index_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.74"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+    <mimic
+      joint="R_index_proximal_joint"
+      multiplier="1.128"
+      offset="0" />
+  </joint>
+
+
+  <link name="R_index_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+      <material name="yellow">
+        <color rgba="0.9 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_index_tip_joint" type="fixed">
+    <parent link="R_index_intermediate" />
+    <child link="R_index_tip" />
+    <origin rpy="0 0 0" xyz="0.038 -0.0038 0" />
+  </joint>
+
+
+  <link
+    name="R_middle_proximal">
+    <inertial>
+      <origin
+        xyz="0.00955705255659736 0.000719184503009201 3.00388766753812E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.019118" />
+      <inertia
+        ixx="3.85E-06"
+        ixy="0"
+        ixz="0"
+        iyy="3.72E-06"
+        iyz="6E-08"
+        izz="8.6E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="R_middle_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00846694447258024 0.0123302974668429 -0.0979909078036594"
+      rpy="-1.75035301585144 1.57072689472437 1.39402168267738" />
+    <parent
+      link="r_hand_base_link" />
+    <child
+      link="R_middle_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+  </joint>
+  <link
+    name="R_middle_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0212896407543054 0.00408143996126112 -9.13148789218055E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.015352" />
+      <inertia
+        ixx="3.29E-06"
+        ixy="0"
+        ixz="0"
+        iyy="3.28E-06"
+        iyz="2.2E-07"
+        izz="4.1E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_middle_intermediate.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_middle_intermediate.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="R_middle_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.0316616941629307 -0.00464081056853635 0"
+      rpy="0 0 0" />
+    <parent
+      link="R_middle_proximal" />
+    <child
+      link="R_middle_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.74"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+      <mimic
+      joint="R_middle_proximal_joint"
+      multiplier="1.131"
+      offset="0" />
+  </joint>
+
+
+  <link name="R_middle_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+      <material name="yellow">
+        <color rgba="0.9 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_middle_tip_joint" type="fixed">
+    <parent link="R_middle_intermediate" />
+    <child link="R_middle_tip" />
+    <origin rpy="0 0 0" xyz="0.045 -0.0032 0" />
+  </joint>
+
+
+  <link
+    name="R_ring_proximal">
+    <inertial>
+      <origin
+        xyz="0.0096001470731025 0.00044427472300787 2.95897501418479E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.019117" />
+      <inertia
+        ixx="3.84E-06"
+        ixy="0"
+        ixz="-1.6E-07"
+        iyy="3.71E-06"
+        iyz="1.2E-07"
+        izz="8.7E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="R_ring_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00999415052356634 0.0122789339975533 -0.0979362638116289"
+      rpy="-0.00278180898871791 1.51844864673705 3.14159265358979" />
+    <parent
+      link="r_hand_base_link" />
+    <child
+      link="R_ring_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+  </joint>
+  <link
+    name="R_ring_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0180093387957889 0.00300072092575132 -8.8209720389143E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.012925" />
+      <inertia
+        ixx="2.03E-06"
+        ixy="1E-08"
+        ixz="-9E-08"
+        iyy="2.01E-06"
+        iyz="2.5E-07"
+        izz="3.8E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_ring_intermediate.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_ring_intermediate.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="R_ring_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.0315320280251494 -0.00545263318234326 0"
+      rpy="0 0 0" />
+    <parent
+      link="R_ring_proximal" />
+    <child
+      link="R_ring_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.74"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+    <mimic
+      joint="R_ring_proximal_joint"
+      multiplier="1.143"
+      offset="0" />
+  </joint>
+
+
+  <link name="R_ring_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+      <material name="green">
+        <color rgba="0.9 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_ring_tip_joint" type="fixed">
+    <parent link="R_ring_intermediate" />
+    <child link="R_ring_tip" />
+    <origin rpy="0 0 0" xyz="0.038 -0.0038 0" />
+  </joint>
+
+
+
+  <link
+    name="R_pinky_proximal">
+    <inertial>
+      <origin
+        xyz="0.0096385794510781 0.000350820790422174 2.97431465753201E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.019117" />
+      <inertia
+        ixx="3.82E-06"
+        ixy="2E-08"
+        ixz="-3.1E-07"
+        iyy="3.7E-06"
+        iyz="2E-07"
+        izz="9.1E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="R_pinky_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0282607774805067 0.012227983776169 -0.0960113074336258"
+      rpy="-0.248599525552003 1.46275517858851 2.89438415643823" />
+    <parent
+      link="r_hand_base_link" />
+    <child
+      link="R_pinky_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+  </joint>
+  <link
+    name="R_pinky_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0160982593015231 0.00119063979850093 -9.07695338753234E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.0056869" />
+      <inertia
+        ixx="6.6E-07"
+        ixy="1E-08"
+        ixz="-5E-08"
+        iyy="6.2E-07"
+        iyz="1.3E-07"
+        izz="1.8E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_pinky_intermediate.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/R_pinky_intermediate.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="R_pinky_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.0314990327566104 -0.00564011838510353 0"
+      rpy="0 0 0.0263892434774018" />
+    <parent
+      link="R_pinky_proximal" />
+    <child
+      link="R_pinky_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.74"
+      upper="0"
+      effort="10"
+      velocity="0.8" />
+    <mimic
+      joint="R_pinky_proximal_joint"
+      multiplier="1.129"
+      offset="0" />
+  </joint>
+
+
+  <link name="R_pinky_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+      <material name="yellow">
+        <color rgba="0.9 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_pinky_tip_joint" type="fixed">
+    <parent link="R_pinky_intermediate" />
+    <child link="R_pinky_tip" />
+    <origin rpy="0 0 0" xyz="0.031 -0.007 0" />
+  </joint>
+
+
+
+  <link
+    name="head_roll_link">
+    <inertial>
+      <origin
+        xyz="0.00424993779842203 -1.03395996764455E-07 7.56204054930265E-08"
+        rpy="0 0 0" />
+      <mass
+        value="0.01" />
+      <inertia
+        ixx="4.3E-07"
+        ixy="0"
+        ixz="0"
+        iyy="4.4E-07"
+        iyz="0"
+        izz="7.2E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/head_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/head_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="head_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.002 0.0005184 0.14465"
+      rpy="0 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="head_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.35"
+      upper="0.35"
+      effort="3.95"
+      velocity="27.96" />
+  </joint>
+  <link
+    name="head_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.0021765 -4.1784E-07 0.017509"
+        rpy="0 0 0" />
+      <mass
+        value="0.06" />
+      <inertia
+        ixx="2.509E-05"
+        ixy="0"
+        ixz="-1.3E-06"
+        iyy="1.707E-05"
+        iyz="0"
+        izz="2.462E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/head_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/head_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="head_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="head_roll_link" />
+    <child
+      link="head_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.87"
+      upper="0.87"
+      effort="3.95"
+      velocity="27.96" />
+  </joint>
+  <link
+    name="head_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.02710 -0.00206 0.09577"
+        rpy="0 0 0" />
+      <mass
+        value="1.58" />
+      <inertia
+        ixx="7.54439E-3"
+        ixy="7.210E-5"
+        ixz="9.5183E-4"
+        iyy="0.01013433"
+        iyz="5.051E-5"
+        izz="5.65975E-3" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/head_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/head_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="head_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0513"
+      rpy="0 0 0" />
+    <parent
+      link="head_pitch_link" />
+    <child
+      link="head_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.71"
+      upper="2.71"
+      effort="3.95"
+      velocity="27.96" />
+  </joint>
+  <link
+    name="imu_link">
+    <inertial>
+      <origin
+        xyz="-0.062133306918525 -1.51291195812919E-06 -0.003126433329721"
+        rpy="0 0 0" />
+      <mass
+        value="0.05" />
+      <inertia
+        ixx="1.125E-05"
+        ixy="0"
+        ixz="8.8E-07"
+        iyy="1.67E-05"
+        iyz="0"
+        izz="1.983E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/imu_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/imu_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="imu_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.0596"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="imu_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>
diff --git a/robots/h1/h1.usd b/robots/h1/h1.usd
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--- /dev/null
+++ b/robots/h1/h1.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1e1b709e155d7b8c31a7a897eef91c4784413e9b5857f950c0b86bb5d6cfb209
+size 40897382
diff --git a/robots/h1/h1_camera.usd b/robots/h1/h1_camera.usd
new file mode 100644
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+++ b/robots/h1/h1_camera.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e1b709e155d7b8c31a7a897eef91c4784413e9b5857f950c0b86bb5d6cfb209
+size 40897382
diff --git a/robots/h1/policy/move_by_speed/h1_loco_model_20000.pt b/robots/h1/policy/move_by_speed/h1_loco_model_20000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..c8cde386400dac45991a1a6763b9d14b495ab23a
--- /dev/null
+++ b/robots/h1/policy/move_by_speed/h1_loco_model_20000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34627080ac4c534f4359e135a3409a189735aff5db43b6883f4ac8c14a42db32
+size 37587798
diff --git a/robots/h1_with_hand/h1_with_hand.urdf b/robots/h1_with_hand/h1_with_hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..98504e49babea180a4ea0549815c5043a2a2cc36
--- /dev/null
+++ b/robots/h1_with_hand/h1_with_hand.urdf
@@ -0,0 +1,2644 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="h1">
+  <link
+    name="pelvis">
+    <inertial>
+      <origin
+        xyz="-0.0002 4E-05 -0.04522"
+        rpy="0 0 0" />
+      <mass
+        value="5.39" />
+      <inertia
+        ixx="0.044582"
+        ixy="8.7034E-05"
+        ixz="-1.9893E-05"
+        iyy="0.0082464"
+        iyz="4.021E-06"
+        izz="0.049021" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/pelvis.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="left_hip_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.04923 0.0001 0.0072"
+        rpy="0 0 0" />
+      <mass
+        value="2.244" />
+      <inertia
+        ixx="0.0025731"
+        ixy="9.159E-06"
+        ixz="-0.00051948"
+        iyy="0.0030444"
+        iyz="1.949E-06"
+        izz="0.0022883" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/left_hip_yaw_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.0875 -0.1742"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="left_hip_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_hip_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.0058 -0.00319 -9E-05"
+        rpy="0 0 0" />
+      <mass
+        value="2.232" />
+      <inertia
+        ixx="0.0020603"
+        ixy="3.2115E-05"
+        ixz="2.878E-06"
+        iyy="0.0022482"
+        iyz="-7.813E-06"
+        izz="0.0024323" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/left_hip_roll_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.02" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.039468 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_yaw_link" />
+    <child
+      link="left_hip_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00746 -0.02346 -0.08193"
+        rpy="0 0 0" />
+      <mass
+        value="4.152" />
+      <inertia
+        ixx="0.082618"
+        ixy="-0.00066654"
+        ixz="0.0040725"
+        iyy="0.081579"
+        iyz="0.0072024"
+        izz="0.0060081" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/left_hip_pitch_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.11536 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_roll_link" />
+    <child
+      link="left_hip_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="2.53"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_knee_link">
+    <inertial>
+      <origin
+        xyz="-0.00136 -0.00512 -0.1384"
+        rpy="0 0 0" />
+      <mass
+        value="1.721" />
+      <inertia
+        ixx="0.012205"
+        ixy="-6.8431E-05"
+        ixz="0.0010862"
+        iyy="0.012509"
+        iyz="0.00022549"
+        izz="0.0020629" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/left_knee_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_knee_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_pitch_link" />
+    <child
+      link="left_knee_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.26"
+      upper="2.05"
+      effort="300"
+      velocity="14" />
+  </joint>
+  <link
+    name="left_ankle_link">
+    <inertial>
+      <origin
+        xyz="0.042575 -0.000001 -0.044672"
+        rpy="0 0 0" />
+      <mass
+        value="0.474" />
+      <inertia
+        ixx="0.000159668"
+        ixy="-0.000000005"
+        ixz="0.000141063"
+        iyy="0.002900286"
+        iyz="0.000000014"
+        izz="0.002805438" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/left_ankle_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.05 0.0 -0.05" rpy="0 0 0" />
+      <geometry>
+        <box size="0.28 0.03 0.024"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ankle_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="left_knee_link" />
+    <child
+      link="left_ankle_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.87"
+      upper="0.52"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_hip_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.04923 -0.0001 0.0072"
+        rpy="0 0 0" />
+      <mass
+        value="2.244" />
+      <inertia
+        ixx="0.0025731"
+        ixy="-9.159E-06"
+        ixz="-0.00051948"
+        iyy="0.0030444"
+        iyz="-1.949E-06"
+        izz="0.0022883" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/right_hip_yaw_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.0875 -0.1742"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="right_hip_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_hip_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.0058 0.00319 -9E-05"
+        rpy="0 0 0" />
+      <mass
+        value="2.232" />
+      <inertia
+        ixx="0.0020603"
+        ixy="-3.2115E-05"
+        ixz="2.878E-06"
+        iyy="0.0022482"
+        iyz="7.813E-06"
+        izz="0.0024323" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/right_hip_roll_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.02" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.039468 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_yaw_link" />
+    <child
+      link="right_hip_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00746 0.02346 -0.08193"
+        rpy="0 0 0" />
+      <mass
+        value="4.152" />
+      <inertia
+        ixx="0.082618"
+        ixy="0.00066654"
+        ixz="0.0040725"
+        iyy="0.081579"
+        iyz="-0.0072024"
+        izz="0.0060081" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/right_hip_pitch_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.11536 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_roll_link" />
+    <child
+      link="right_hip_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="2.53"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_knee_link">
+    <inertial>
+      <origin
+        xyz="-0.00136 0.00512 -0.1384"
+        rpy="0 0 0" />
+      <mass
+        value="1.721" />
+      <inertia
+        ixx="0.012205"
+        ixy="6.8431E-05"
+        ixz="0.0010862"
+        iyy="0.012509"
+        iyz="-0.00022549"
+        izz="0.0020629" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/right_knee_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_knee_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_pitch_link" />
+    <child
+      link="right_knee_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.26"
+      upper="2.05"
+      effort="300"
+      velocity="14" />
+  </joint>
+  <link
+    name="right_ankle_link">
+    <inertial>
+      <origin
+        xyz="0.042575 0.000001 -0.044672"
+        rpy="0 0 0" />
+      <mass
+        value="0.474" />
+      <inertia
+        ixx="0.000159668"
+        ixy="0.000000005"
+        ixz="0.000141063"
+        iyy="0.002900286"
+        iyz="-0.000000014"
+        izz="0.002805438" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/right_ankle_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.05 0.0 -0.05" rpy="0 0 0" />
+      <geometry>
+        <box size="0.28 0.03 0.024"/> 
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ankle_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="right_knee_link" />
+    <child
+      link="right_ankle_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.87"
+      upper="0.52"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="torso_link">
+    <inertial>
+      <origin
+        xyz="0.000489 0.002797 0.20484"
+        rpy="0 0 0" />
+      <mass
+        value="17.789" />
+      <inertia
+        ixx="0.4873"
+        ixy="-0.00053763"
+        ixz="0.0020276"
+        iyy="0.40963"
+        iyz="-0.00074582"
+        izz="0.12785" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/torso_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.15" rpy="0 0 0" />
+      <geometry>
+        <box size="0.08 0.16 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="torso_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="torso_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.35"
+      upper="2.35"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_shoulder_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.005045 0.053657 -0.015715"
+        rpy="0 0 0" />
+      <mass
+        value="1.033" />
+      <inertia
+        ixx="0.0012985"
+        ixy="-1.7333E-05"
+        ixz="8.683E-06"
+        iyy="0.00087279"
+        iyz="3.9656E-05"
+        izz="0.00097338" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/left_shoulder_pitch_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.05  0" rpy="1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.04"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0055 0.15535 0.42999"
+      rpy="0.43633 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="left_shoulder_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.87"
+      upper="2.87"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="left_shoulder_roll_link">
+    <inertial>
+      <origin
+        xyz="0.000679 0.00115 -0.094076"
+        rpy="0 0 0" />
+      <mass
+        value="0.793" />
+      <inertia
+        ixx="0.0015742"
+        ixy="2.298E-06"
+        ixz="-7.2265E-05"
+        iyy="0.0016973"
+        iyz="-6.3691E-05"
+        izz="0.0010183" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/left_shoulder_roll_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.04" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_roll_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0055 0.0565 -0.0165"
+      rpy="-0.43633 0 0" />
+    <parent
+      link="left_shoulder_pitch_link" />
+    <child
+      link="left_shoulder_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.34"
+      upper="3.11"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="left_shoulder_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.01365 0.002767 -0.16266"
+        rpy="0 0 0" />
+      <mass
+        value="0.839" />
+      <inertia
+        ixx="0.003664"
+        ixy="-1.0671E-05"
+        ixz="0.00034733"
+        iyy="0.0040789"
+        iyz="7.0213E-05"
+        izz="0.00066383" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/left_shoulder_yaw_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.11" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.1343"
+      rpy="0 0 0" />
+    <parent
+      link="left_shoulder_roll_link" />
+    <child
+      link="left_shoulder_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.3"
+      upper="4.45"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="left_elbow_link">
+    <inertial>
+      <origin
+        xyz="0.164862 0.000118 -0.015734"
+        rpy="0 0 0" />
+      <mass
+        value="0.723" />
+      <inertia
+        ixx="0.00049639"
+        ixy="-0.000033971"
+        ixz="0.000316026"
+        iyy="0.006456355"
+        iyz="0.000004929"
+        izz="0.006450997" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/left_elbow_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.125 0 0" rpy="0 1.57 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_elbow_joint"
+    type="revolute">
+    <origin
+      xyz="0.0185 0 -0.198"
+      rpy="0 0 0" />
+    <parent
+      link="left_shoulder_yaw_link" />
+    <child
+      link="left_elbow_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.25"
+      upper="2.61"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="left_hand_link">
+    <inertial>
+      <origin
+        xyz="0.003993 -0.000094 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.014" />
+      <inertia
+        ixx="0.000003449"
+        ixy="0.000000006"
+        ixz="0"
+        iyy="0.000001917"
+        iyz="0"
+        izz="0.000001932" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/left_hand_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/left_hand_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hand_joint"
+    type="revolute">
+    <origin
+      xyz="0.2605 0 -0.0185"
+      rpy="0 0 0" />
+    <parent
+      link="left_elbow_link" />
+    <child
+      link="left_hand_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.0543261909900767596164588448551"
+      upper="3.0543261909900767596164588448551"
+      effort="6"
+      velocity="12" />
+  </joint>
+    <joint 
+      name="L_base_link_joint" 
+      type="fixed">
+      <origin
+      xyz="0.003 0 0"
+      rpy="0 0 1.5707963267948966192313216916398" />
+      <parent link="left_hand_link"/>
+      <child link="L_hand_base_link"/>
+    </joint>
+
+    <link name="L_hand_base_link">
+      <inertial>
+        <origin
+          xyz="-0.002551 -0.066047 -0.0019357"
+          rpy="0 0 0" />
+        <mass
+          value="0.14143" />
+        <inertia
+          ixx="0.0001234"
+          ixy="2.1995E-06"
+          ixz="-1.7694E-06"
+          iyy="8.3835E-05"
+          iyz="1.5968E-06"
+          izz="7.7231E-05" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/L_hand_base_link.dae" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/L_hand_base_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="L_thumb_proximal_base">
+      <inertial>
+        <origin
+          xyz="0.0048817 0.00038782 -0.00722"
+          rpy="0 0 0" />
+        <mass
+          value="0.0018869" />
+        <inertia
+          ixx="5.5158E-08"
+          ixy="-1.1803E-08"
+          ixz="-4.6743E-09"
+          iyy="8.2164E-08"
+          iyz="-1.3521E-09"
+          izz="6.7434E-08" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link11_L.dae" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link11_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_yaw_joint"
+      type="revolute">
+      <origin
+        xyz="-0.01696 -0.0691 0.02045"
+        rpy="1.5708 -1.5708 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_thumb_proximal_base" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        lower="-0.1"
+        upper="1.3"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_proximal">
+      <inertial>
+        <origin
+          xyz="0.021936 -0.01279 -0.0080386"
+          rpy="0 0 0" />
+        <mass
+          value="0.0066101" />
+        <inertia
+          ixx="1.5693E-06"
+          ixy="7.8339E-07"
+          ixz="8.5959E-10"
+          iyy="1.7356E-06"
+          iyz="1.0378E-09"
+          izz="2.787E-06" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link12_L.dae" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link12_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_pitch_joint"
+      type="revolute">
+      <origin
+        xyz="0.0099867 0.0098242 -0.0089"
+        rpy="-1.5708 0 0.16939" />
+      <parent
+        link="L_thumb_proximal_base" />
+      <child
+        link="L_thumb_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="-0.1"
+        upper="0.6"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0095531 0.0016282 -0.0072002"
+          rpy="0 0 0" />
+        <mass
+          value="0.0037844" />
+        <inertia
+          ixx="3.6981E-07"
+          ixy="9.8603E-08"
+          ixz="-2.8173E-12"
+          iyy="3.2395E-07"
+          iyz="-2.8028E-12"
+          izz="4.6532E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link13_L.dae" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link13_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="0.04407 -0.034553 -0.0008"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_proximal" />
+      <child
+        link="L_thumb_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="0.8"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_distal">
+      <inertial>
+        <origin
+          xyz="0.0092888 -0.004953 -0.0060033"
+          rpy="0 0 0" />
+        <mass
+          value="0.003344" />
+        <inertia
+          ixx="1.3632E-07"
+          ixy="5.6787E-08"
+          ixz="-9.1939E-11"
+          iyy="1.4052E-07"
+          iyz="1.2145E-10"
+          izz="2.0026E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link14_L.dae" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link14_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_distal_joint"
+      type="revolute">
+      <origin
+        xyz="0.020248 -0.010156 -0.0012"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_intermediate" />
+      <child
+        link="L_thumb_distal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.2"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_index_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059998"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.3746E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4773E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link15_L.dae" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link15_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_index_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13653 0.032268"
+        rpy="-0.034907 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_index_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_index_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6284E-07"
+          ixy="-8.063E-08"
+          ixz="3.6797E-13"
+          iyy="9.4308E-08"
+          iyz="1.5743E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link16_L.dae" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link16_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_index_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_index_proximal" />
+      <child
+        link="L_index_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_middle_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.2299E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4484E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link17_L.dae" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link17_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_middle_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.1371 0.01295"
+        rpy="0 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_middle_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_middle_intermediate">
+      <inertial>
+        <origin
+          xyz="0.001921 -0.020796 -0.0049999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0050397" />
+        <inertia
+          ixx="9.5823E-07"
+          ixy="-1.1425E-07"
+          ixz="-2.4186E-12"
+          iyy="1.0646E-07"
+          iyz="3.6974E-12"
+          izz="9.8385E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link18_L.dae" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link18_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+    
+    <joint
+      name="L_middle_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_middle_proximal" />
+      <child
+        link="L_middle_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_ring_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="9.6052E-13"
+          iyy="2.1167E-07"
+          iyz="-1.4124E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link19_L.dae" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link19_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13691 -0.0062872"
+        rpy="0.05236 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_ring_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_ring_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6285E-07"
+          ixy="-8.0631E-08"
+          ixz="3.3472E-14"
+          iyy="9.4308E-08"
+          iyz="-4.4773E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link20_L.dae" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link20_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_ring_proximal" />
+      <child
+        link="L_ring_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_pinky_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.0279E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4277E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link21_L.dae" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link21_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13571 -0.025488"
+        rpy="0.10472 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_pinky_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_pinky_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0024788 -0.016208 -0.0050001"
+          rpy="0 0 0" />
+        <mass
+          value="0.0036036" />
+        <inertia
+          ixx="4.3923E-07"
+          ixy="-4.1355E-08"
+          ixz="1.2263E-12"
+          iyy="7.0315E-08"
+          iyz="3.1311E-12"
+          izz="4.4881E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link22_L.dae" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="H1/meshes/Link22_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_pinky_proximal" />
+      <child
+        link="L_pinky_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+  <link
+    name="right_shoulder_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.005045 -0.053657 -0.015715"
+        rpy="0 0 0" />
+      <mass
+        value="1.033" />
+      <inertia
+        ixx="0.0012985"
+        ixy="1.7333E-05"
+        ixz="8.683E-06"
+        iyy="0.00087279"
+        iyz="-3.9656E-05"
+        izz="0.00097338" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/right_shoulder_pitch_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.05  0" rpy="-1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.04"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0055 -0.15535 0.42999"
+      rpy="-0.43633 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="right_shoulder_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.87"
+      upper="2.87"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_shoulder_roll_link">
+    <inertial>
+      <origin
+        xyz="0.000679 -0.00115 -0.094076"
+        rpy="0 0 0" />
+      <mass
+        value="0.793" />
+      <inertia
+        ixx="0.0015742"
+        ixy="-2.298E-06"
+        ixz="-7.2265E-05"
+        iyy="0.0016973"
+        iyz="6.3691E-05"
+        izz="0.0010183" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/right_shoulder_roll_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.04" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_roll_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0055 -0.0565 -0.0165"
+      rpy="0.43633 0 0" />
+    <parent
+      link="right_shoulder_pitch_link" />
+    <child
+      link="right_shoulder_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.11"
+      upper="0.34"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_shoulder_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.01365 -0.002767 -0.16266"
+        rpy="0 0 0" />
+      <mass
+        value="0.839" />
+      <inertia
+        ixx="0.003664"
+        ixy="1.0671E-05"
+        ixz="0.00034733"
+        iyy="0.0040789"
+        iyz="-7.0213E-05"
+        izz="0.00066383" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/right_shoulder_yaw_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.11" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.1343"
+      rpy="0 0 0" />
+    <parent
+      link="right_shoulder_roll_link" />
+    <child
+      link="right_shoulder_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-4.45"
+      upper="1.3"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="right_elbow_link">
+    <inertial>
+      <origin
+        xyz="0.164862 -0.000118 -0.015734"
+        rpy="0 0 0" />
+      <mass
+        value="0.723" />
+      <inertia
+        ixx="0.00049639"
+        ixy="0.000033971"
+        ixz="0.000316026"
+        iyy="0.006456355"
+        iyz="-0.000004929"
+        izz="0.006450997" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/right_elbow_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.125 0 0" rpy="0 1.57 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_elbow_joint"
+    type="revolute">
+    <origin
+      xyz="0.0185 0 -0.198"
+      rpy="0 0 0" />
+    <parent
+      link="right_shoulder_yaw_link" />
+    <child
+      link="right_elbow_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.25"
+      upper="2.61"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="right_hand_link">
+    <inertial>
+      <origin
+        xyz="0.003993 0.000094 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.014" />
+      <inertia
+        ixx="0.000003449"
+        ixy="-0.000000006"
+        ixz="0"
+        iyy="0.000001917"
+        iyz="0"
+        izz="0.000001932" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/right_hand_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/right_hand_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_joint"
+    type="revolute">
+    <origin
+      xyz="0.2605 0 -0.0185"
+      rpy="0 0 0" />
+    <parent
+      link="right_elbow_link" />
+    <child
+      link="right_hand_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.0543261909900767596164588448551"
+      upper="3.0543261909900767596164588448551"
+      effort="6"
+      velocity="12" />
+  </joint>
+
+    <joint 
+      name="R_base_link_joint" 
+      type="fixed">
+      <origin
+      xyz="0.003 0 0"
+      rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398" />
+      <parent link="right_hand_link"/>
+      <child link="R_hand_base_link"/>
+    </joint>
+
+  <link name="R_hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.0025264 -0.066047 0.0019598"
+        rpy="0 0 0" />
+      <mass
+        value="0.14143" />
+      <inertia
+        ixx="0.00012281"
+        ixy="2.1711E-06"
+        ixz="1.7709E-06"
+        iyy="8.3832E-05"
+        iyz="-1.6551E-06"
+        izz="7.6663E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/R_hand_base_link.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/R_hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="R_thumb_proximal_base">
+    <inertial>
+      <origin
+        xyz="-0.0048064 0.0009382 -0.00757"
+        rpy="0 0 0" />
+      <mass
+        value="0.0018869" />
+      <inertia
+        ixx="5.816E-08"
+        ixy="1.4539E-08"
+        ixz="4.491E-09"
+        iyy="7.9161E-08"
+        iyz="-1.8727E-09"
+        izz="6.7433E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link11_R.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link11_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.01696 -0.0691 -0.02045"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_thumb_proximal_base" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.1"
+      upper="1.3"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.021932 0.012785 -0.0080386"
+        rpy="0 0 0" />
+      <mass
+        value="0.0066075" />
+      <inertia
+        ixx="1.5686E-06"
+        ixy="-7.8296E-07"
+        ixz="8.9143E-10"
+        iyy="1.7353E-06"
+        iyz="-1.0191E-09"
+        izz="2.786E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link12_R.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link12_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0088099 0.010892 -0.00925"
+      rpy="1.5708 0 2.8587" />
+    <parent
+      link="R_thumb_proximal_base" />
+    <child
+      link="R_thumb_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.1"
+      upper="0.6"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0095544 -0.0016282 -0.0071997"
+        rpy="0 0 0" />
+      <mass
+        value="0.0037847" />
+      <inertia
+        ixx="3.6981E-07"
+        ixy="-9.8581E-08"
+        ixz="-4.7469E-12"
+        iyy="3.2394E-07"
+        iyz="1.0939E-12"
+        izz="4.6531E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link13_R.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link13_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.04407 0.034553 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_proximal" />
+    <child
+      link="R_thumb_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.8"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_distal">
+    <inertial>
+      <origin
+        xyz="0.0092888 0.0049529 -0.0060033"
+        rpy="0 0 0" />
+      <mass
+        value="0.0033441" />
+      <inertia
+        ixx="1.3632E-07"
+        ixy="-5.6788E-08"
+        ixz="-9.2764E-11"
+        iyy="1.4052E-07"
+        iyz="-1.2283E-10"
+        izz="2.0026E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link14_R.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link14_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_distal_joint"
+    type="revolute">
+    <origin
+      xyz="0.020248 0.010156 -0.0012"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_intermediate" />
+    <child
+      link="R_thumb_distal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.2"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_index_proximal">
+    <inertial>
+      <origin
+        xyz="0.0012259 0.011942 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6232E-07"
+        ixy="-1.5775E-08"
+        ixz="1.8515E-12"
+        iyy="2.1146E-07"
+        iyz="-5.0828E-12"
+        izz="6.9398E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link15_R.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link15_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13653 -0.032268"
+      rpy="-3.1067 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_index_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_index_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0019697 0.019589 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6111E-07"
+        ixy="8.7637E-08"
+        ixz="-3.7751E-13"
+        iyy="9.6076E-08"
+        iyz="9.9444E-13"
+        izz="7.8179E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link16_R.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link16_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0026138 0.032026 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_index_proximal" />
+    <child
+      link="R_index_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_middle_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.8002E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6808E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link17_R.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link17_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.1371 -0.01295"
+      rpy="-3.1416 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_middle_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_middle_intermediate">
+    <inertial>
+      <origin
+        xyz="0.001921 0.020796 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0050396" />
+      <inertia
+        ixx="9.5822E-07"
+        ixy="1.1425E-07"
+        ixz="-2.4791E-12"
+        iyy="1.0646E-07"
+        iyz="5.9173E-12"
+        izz="9.8384E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link18_R.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link18_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_middle_proximal" />
+    <child
+      link="R_middle_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_ring_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060002"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.5793E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6868E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link19_R.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link19_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13691 0.0062872"
+      rpy="3.0892 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_ring_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_ring_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0021753 0.019567 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6286E-07"
+        ixy="8.0635E-08"
+        ixz="-6.1562E-13"
+        iyy="9.431E-08"
+        iyz="5.8619E-13"
+        izz="7.8177E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link20_R.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link20_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_ring_proximal" />
+    <child
+      link="R_ring_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_pinky_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.6907E-12"
+        iyy="2.1167E-07"
+        iyz="-6.9334E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link21_R.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link21_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13571 0.025488"
+      rpy="3.0369 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_pinky_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_pinky_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0024748 0.016203 -0.0050031"
+        rpy="0 0 0" />
+      <mass
+        value="0.0035996" />
+      <inertia
+        ixx="4.3913E-07"
+        ixy="4.1418E-08"
+        ixz="3.7168E-11"
+        iyy="7.0247E-08"
+        iyz="5.8613E-11"
+        izz="4.4867E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link22_R.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="H1/meshes/Link22_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_pinky_proximal" />
+    <child
+      link="R_pinky_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+  <link
+    name="logo_link">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="H1/meshes/logo_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+
+  </link>
+  <joint
+    name="logo_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="logo_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/robots/h1_with_hand/h1_with_hand_rt.usd b/robots/h1_with_hand/h1_with_hand_rt.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c130b0cb3757aad68d3ed93aed744b9f701318df
--- /dev/null
+++ b/robots/h1_with_hand/h1_with_hand_rt.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18f60def1e054f08dc695235c6d33f88201abed9944d727a35b70366e349612c
+size 62383907
diff --git a/robots/h1_with_hand/left_arm_descriptor.yaml b/robots/h1_with_hand/left_arm_descriptor.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..51f87677018a433ee575e6fdf421cec4f01dfe3f
--- /dev/null
+++ b/robots/h1_with_hand/left_arm_descriptor.yaml
@@ -0,0 +1,67 @@
+# Copyright (c) 2019-2021, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+# The robot descriptor defines the generalized coordinates and how to map those
+# to the underlying URDF dofs.
+
+api_version: 1.0
+
+# Defines the generalized coordinates. Each generalized coordinate is assumed
+# to have an entry in the URDF, except when otherwise specified below under
+# cspace_urdf_bridge
+cspace:
+    - left_shoulder_pitch_joint
+    - left_shoulder_roll_joint
+    - left_shoulder_yaw_joint
+    - left_elbow_joint
+    - left_hand_joint
+
+root_link: torso_link
+subtree_root_link: torso_link
+
+default_q: [
+    # Original version
+    # 0.00, 0.00, 0.00, -1.57, 0.00, 1.50, 0.75
+
+    # New config
+    0 ,0, 0, 0, 0
+]
+
+# Most dimensions of the cspace have a direct corresponding element
+# in the URDF. This list of rules defines how unspecified coordinates
+# should be extracted.
+cspace_to_urdf_rules: []
+
+# active_task_spaces:
+#     - base_link
+#     - estop_link
+#     - l_wheel_link
+#     - laser_link
+#     - r_wheel_link
+#     - torso_fixed_link
+#     - torso_lift_link
+#     - head_pan_link
+#     - head_tilt_link
+#     - head_camera_link
+#     - eyes
+#     - head_camera_depth_frame
+#     - head_camera_depth_optical_frame
+#     - head_camera_rgb_frame
+#     - head_camera_rgb_optical_frame
+#     - shoulder_pan_link
+#     - shoulder_lift_link
+#     - upperarm_roll_link
+#     - elbow_flex_link
+#     - forearm_roll_link
+#     - wrist_flex_link
+#     - wrist_roll_link
+#     - gripper_link
+#     - l_gripper_finger_link
+#     - r_gripper_finger_link
+
+composite_task_spaces: []
diff --git a/robots/h1_with_hand/right_arm_descriptor.yaml b/robots/h1_with_hand/right_arm_descriptor.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2389fe4a8288e4b9d54b171c137fd9e0761e3d74
--- /dev/null
+++ b/robots/h1_with_hand/right_arm_descriptor.yaml
@@ -0,0 +1,68 @@
+# Copyright (c) 2019-2021, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+# The robot descriptor defines the generalized coordinates and how to map those
+# to the underlying URDF dofs.
+
+api_version: 1.0
+
+# Defines the generalized coordinates. Each generalized coordinate is assumed
+# to have an entry in the URDF, except when otherwise specified below under
+# cspace_urdf_bridge
+cspace:
+    - right_shoulder_pitch_joint
+    - right_shoulder_roll_joint
+    - right_shoulder_yaw_joint
+    - right_elbow_joint
+    - right_hand_joint
+
+root_link: torso_link
+subtree_root_link: torso_link
+
+default_q: [
+    # Original version
+    # 0.00, 0.00, 0.00, -1.57, 0.00, 1.50, 0.75
+
+    # New config
+    # 0, 0, 0, 0
+    0 ,0, 0, 0, 0
+]
+
+# Most dimensions of the cspace have a direct corresponding element
+# in the URDF. This list of rules defines how unspecified coordinates
+# should be extracted.
+cspace_to_urdf_rules: []
+
+# active_task_spaces:
+#     - base_link
+#     - estop_link
+#     - l_wheel_link
+#     - laser_link
+#     - r_wheel_link
+#     - torso_fixed_link
+#     - torso_lift_link
+#     - head_pan_link
+#     - head_tilt_link
+#     - head_camera_link
+#     - eyes
+#     - head_camera_depth_frame
+#     - head_camera_depth_optical_frame
+#     - head_camera_rgb_frame
+#     - head_camera_rgb_optical_frame
+#     - shoulder_pan_link
+#     - shoulder_lift_link
+#     - upperarm_roll_link
+#     - elbow_flex_link
+#     - forearm_roll_link
+#     - wrist_flex_link
+#     - wrist_roll_link
+#     - gripper_link
+#     - l_gripper_finger_link
+#     - r_gripper_finger_link
+
+composite_task_spaces: []