diff --git a/.gitattributes b/.gitattributes
index 0f5929cf4dfbe648283cd3b4125d3c0d1769d112..2c9d488331a7869cb13f19f654d2c64012993ced 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -70,3 +70,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.usdc filter=lfs diff=lfs merge=lfs -text
 scenes/guanglun/CoffeeStore001/CoffeeStore_01.usda filter=lfs diff=lfs merge=lfs -text
 *.nurec filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text
diff --git a/background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_bc.png b/background/common/rlinf_place_workpiece/objects/materials/textures/T_material_bc.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_bc.png
rename to background/common/rlinf_place_workpiece/objects/materials/textures/T_material_bc.png
diff --git a/background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_bc_2.png b/background/common/rlinf_place_workpiece/objects/materials/textures/T_material_bc_2.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_bc_2.png
rename to background/common/rlinf_place_workpiece/objects/materials/textures/T_material_bc_2.png
diff --git a/background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_met.png b/background/common/rlinf_place_workpiece/objects/materials/textures/T_material_met.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_met.png
rename to background/common/rlinf_place_workpiece/objects/materials/textures/T_material_met.png
diff --git a/background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_met_2.png b/background/common/rlinf_place_workpiece/objects/materials/textures/T_material_met_2.png
similarity index 100%
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rename to background/common/rlinf_place_workpiece/objects/materials/textures/T_material_met_2.png
diff --git a/background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_nor.png b/background/common/rlinf_place_workpiece/objects/materials/textures/T_material_nor.png
similarity index 100%
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rename to background/common/rlinf_place_workpiece/objects/materials/textures/T_material_nor.png
diff --git a/background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_nor_2.png b/background/common/rlinf_place_workpiece/objects/materials/textures/T_material_nor_2.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_nor_2.png
rename to background/common/rlinf_place_workpiece/objects/materials/textures/T_material_nor_2.png
diff --git a/background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_rgh.png b/background/common/rlinf_place_workpiece/objects/materials/textures/T_material_rgh.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_rgh.png
rename to background/common/rlinf_place_workpiece/objects/materials/textures/T_material_rgh.png
diff --git a/background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_rgh_2.png b/background/common/rlinf_place_workpiece/objects/materials/textures/T_material_rgh_2.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/materials/textures/T_junpu_rgh_2.png
rename to background/common/rlinf_place_workpiece/objects/materials/textures/T_material_rgh_2.png
diff --git a/background/common/rlinf_place_workpiece/objects/textures/T_junpu_bc.png b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws01_bc.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/textures/T_junpu_bc.png
rename to background/common/rlinf_place_workpiece/objects/textures/T_material_ws01_bc.png
diff --git a/background/common/rlinf_place_workpiece/objects/textures/T_junpu_met.png b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws01_met.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/textures/T_junpu_met.png
rename to background/common/rlinf_place_workpiece/objects/textures/T_material_ws01_met.png
diff --git a/background/common/rlinf_place_workpiece/objects/textures/T_junpu_nor.png b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws01_nor.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/textures/T_junpu_nor.png
rename to background/common/rlinf_place_workpiece/objects/textures/T_material_ws01_nor.png
diff --git a/background/common/rlinf_place_workpiece/objects/textures/T_junpu_rgh.png b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws01_rgh.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/textures/T_junpu_rgh.png
rename to background/common/rlinf_place_workpiece/objects/textures/T_material_ws01_rgh.png
diff --git a/background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_junpu_bc.png b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_bc.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_junpu_bc.png
rename to background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_bc.png
diff --git a/background/common/rlinf_place_workpiece/objects/textures/T_junpu_bc_2.png b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_bc_2.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/textures/T_junpu_bc_2.png
rename to background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_bc_2.png
diff --git a/background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_met.png b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_met.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a77b636a16567ea3d04ae443648d500e383db1f
--- /dev/null
+++ b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_met.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3995b43d9cc4f21e96e07acc0d74d24b297ec73204432a140151314a0d5e1923
+size 29051
diff --git a/background/common/rlinf_place_workpiece/objects/textures/T_junpu_met_2.png b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_met_2.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/textures/T_junpu_met_2.png
rename to background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_met_2.png
diff --git a/background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_junpu_nor.png b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_nor.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_junpu_nor.png
rename to background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_nor.png
diff --git a/background/common/rlinf_place_workpiece/objects/textures/T_junpu_nor_2.png b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_nor_2.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/textures/T_junpu_nor_2.png
rename to background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_nor_2.png
diff --git a/background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_rgh.png b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_rgh.png
new file mode 100644
index 0000000000000000000000000000000000000000..26f81c304746e256456549aad0bf14cd9e079127
--- /dev/null
+++ b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_rgh.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf242a6e1e71beaa052e99ba267b84dea0004a4ee02c86aa0ff977e7b19a6cee
+size 4320152
diff --git a/background/common/rlinf_place_workpiece/objects/textures/T_junpu_rgh_2.png b/background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_rgh_2.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/textures/T_junpu_rgh_2.png
rename to background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_rgh_2.png
diff --git a/background/common/rlinf_place_workpiece/objects/textures/junsheng_bc.png b/background/common/rlinf_place_workpiece/objects/textures/workpiece_bc.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/textures/junsheng_bc.png
rename to background/common/rlinf_place_workpiece/objects/textures/workpiece_bc.png
diff --git a/background/common/rlinf_place_workpiece/objects/textures/junsheng_m.png b/background/common/rlinf_place_workpiece/objects/textures/workpiece_m.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/textures/junsheng_m.png
rename to background/common/rlinf_place_workpiece/objects/textures/workpiece_m.png
diff --git a/background/common/rlinf_place_workpiece/objects/textures/junsheng_n.png b/background/common/rlinf_place_workpiece/objects/textures/workpiece_n.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/textures/junsheng_n.png
rename to background/common/rlinf_place_workpiece/objects/textures/workpiece_n.png
diff --git a/background/common/rlinf_place_workpiece/objects/textures/junsheng_r.png b/background/common/rlinf_place_workpiece/objects/textures/workpiece_r.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/textures/junsheng_r.png
rename to background/common/rlinf_place_workpiece/objects/textures/workpiece_r.png
diff --git a/background/common/rlinf_place_workpiece/objects/workspace01.usd b/background/common/rlinf_place_workpiece/objects/workspace01.usd
index 0b202a5cb037e8f196079ed6f3295265284a0b6f..e880f46da3a872b64354228bf1cff4418c65110d 100644
--- a/background/common/rlinf_place_workpiece/objects/workspace01.usd
+++ b/background/common/rlinf_place_workpiece/objects/workspace01.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1d2dac04afb616f248452ca0e2ef4e86597ac90ef3280ac724039b89c39fe61d
-size 2909902
+oid sha256:fa8dd4b0364f55b8bd46b69941a8e1eb2c6627c84a6b44e38cd79a7dc7bb304a
+size 2902517
diff --git a/background/common/rlinf_place_workpiece/objects/workspace01_fixed.usd b/background/common/rlinf_place_workpiece/objects/workspace01_fixed.usd
index a9cf0278d8c1fbdb84627a051f0284b8395597fb..12ffc49c8c052c294c938991e1cf3c70055ec1d7 100644
--- a/background/common/rlinf_place_workpiece/objects/workspace01_fixed.usd
+++ b/background/common/rlinf_place_workpiece/objects/workspace01_fixed.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4f9f59ff685f0e3855c50107c49267c03eede6ae73299f37086551782491d156
-size 2687387
+oid sha256:63c8ff0637f8276bdfab9757967f180ad526f7383079f34ef9a4799c9ef13cdf
+size 2686873
diff --git a/background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_material_bc.png b/background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_material_bc.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd473a2d48f403365c6e5077639900d84df24354
--- /dev/null
+++ b/background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_material_bc.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:760fce72006426d9ad98f03c0fe7832c26f3d42a516b9af4b2ad725951fdd0d6
+size 8653108
diff --git a/background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_junpu_bc_2.png b/background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_material_bc_2.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_junpu_bc_2.png
rename to background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_material_bc_2.png
diff --git a/background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_material_nor.png b/background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_material_nor.png
new file mode 100644
index 0000000000000000000000000000000000000000..da880a9c891eaae9dde843b223ecc25bae4af83c
--- /dev/null
+++ b/background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_material_nor.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82942f5a4f21c0748331f939d0c6baa0e83e8d3e154e0a506e3627e9b7223dc7
+size 5654433
diff --git a/background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_junpu_nor_2.png b/background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_material_nor_2.png
similarity index 100%
rename from background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_junpu_nor_2.png
rename to background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_material_nor_2.png
diff --git a/background/common/rlinf_place_workpiece/objects/workspace02.usd b/background/common/rlinf_place_workpiece/objects/workspace02.usd
index 8e2d7227cca7ec3d617bd8128fd1b5d0d6e438c3..0df0ae8533c7cd22366484c3f46f02db5dc2f102 100644
--- a/background/common/rlinf_place_workpiece/objects/workspace02.usd
+++ b/background/common/rlinf_place_workpiece/objects/workspace02.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:497c2a8e65b366cf7cf1bcabf585dc7eed6ab7f0197cf3ea3532c972a0bf49aa
-size 1695393
+oid sha256:0fcb7634480eb4034585eaa1694039b8279db706505521ce3d69fc150f13afde
+size 752733
diff --git a/background/common/rlinf_place_workpiece/workspace.usda b/background/common/rlinf_place_workpiece/workspace.usda
index a0ec4efc98d75a8e8758532647fc8f579b5848b2..3e8b05083264472fbc6efc60f9efe248d10a72a0 100644
--- a/background/common/rlinf_place_workpiece/workspace.usda
+++ b/background/common/rlinf_place_workpiece/workspace.usda
@@ -92,11 +92,11 @@ def Xform "World"
         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
     }
 
-    def "junsheng_12" (
+    def "workpiece_12" (
         active = false
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @../objects/junsheng_flat.usd@
+        prepend payload = @../objects/workpiece_flat.usd@
     )
     {
         bool physics:kinematicEnabled = 0
@@ -115,7 +115,7 @@ def Xform "World"
         double3 xformOp:translate = (0.6247019173345014, 0.004878922886737919, 0.9924285655937116)
         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
 
-        over "junpu_wuliao" (
+        over "material_wuliao" (
             delete apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
             prepend apiSchemas = ["PhysxSDFMeshCollisionAPI"]
         )
@@ -247,7 +247,7 @@ def Xform "World"
             }
         }
 
-        over "junpu_workspace01"
+        over "material_workspace01"
         {
             token visibility = "inherited"
         }
@@ -623,7 +623,7 @@ def Xform "World"
             float3[] extent = [(-1, -1, -1), (1, 1, 1)]
             int[] faceVertexCounts = [4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
             int[] faceVertexIndices = [0, 1, 33, 32, 1, 2, 34, 33, 2, 3, 35, 34, 3, 4, 36, 35, 4, 5, 37, 36, 5, 6, 38, 37, 6, 7, 39, 38, 7, 8, 40, 39, 8, 9, 41, 40, 9, 10, 42, 41, 10, 11, 43, 42, 11, 12, 44, 43, 12, 13, 45, 44, 13, 14, 46, 45, 14, 15, 47, 46, 15, 16, 48, 47, 16, 17, 49, 48, 17, 18, 50, 49, 18, 19, 51, 50, 19, 20, 52, 51, 20, 21, 53, 52, 21, 22, 54, 53, 22, 23, 55, 54, 23, 24, 56, 55, 24, 25, 57, 56, 25, 26, 58, 57, 26, 27, 59, 58, 27, 28, 60, 59, 28, 29, 61, 60, 29, 30, 62, 61, 30, 31, 63, 62, 31, 0, 32, 63, 32, 33, 65, 64, 33, 34, 66, 65, 34, 35, 67, 66, 35, 36, 68, 67, 36, 37, 69, 68, 37, 38, 70, 69, 38, 39, 71, 70, 39, 40, 72, 71, 40, 41, 73, 72, 41, 42, 74, 73, 42, 43, 75, 74, 43, 44, 76, 75, 44, 45, 77, 76, 45, 46, 78, 77, 46, 47, 79, 78, 47, 48, 80, 79, 48, 49, 81, 80, 49, 50, 82, 81, 50, 51, 83, 82, 51, 52, 84, 83, 52, 53, 85, 84, 53, 54, 86, 85, 54, 55, 87, 86, 55, 56, 88, 87, 56, 57, 89, 88, 57, 58, 90, 89, 58, 59, 91, 90, 59, 60, 92, 91, 60, 61, 93, 92, 61, 62, 94, 93, 62, 63, 95, 94, 63, 32, 64, 95, 64, 65, 97, 96, 65, 66, 98, 97, 66, 67, 99, 98, 67, 68, 100, 99, 68, 69, 101, 100, 69, 70, 102, 101, 70, 71, 103, 102, 71, 72, 104, 103, 72, 73, 105, 104, 73, 74, 106, 105, 74, 75, 107, 106, 75, 76, 108, 107, 76, 77, 109, 108, 77, 78, 110, 109, 78, 79, 111, 110, 79, 80, 112, 111, 80, 81, 113, 112, 81, 82, 114, 113, 82, 83, 115, 114, 83, 84, 116, 115, 84, 85, 117, 116, 85, 86, 118, 117, 86, 87, 119, 118, 87, 88, 120, 119, 88, 89, 121, 120, 89, 90, 122, 121, 90, 91, 123, 122, 91, 92, 124, 123, 92, 93, 125, 124, 93, 94, 126, 125, 94, 95, 127, 126, 95, 64, 96, 127, 96, 97, 129, 128, 97, 98, 130, 129, 98, 99, 131, 130, 99, 100, 132, 131, 100, 101, 133, 132, 101, 102, 134, 133, 102, 103, 135, 134, 103, 104, 136, 135, 104, 105, 137, 136, 105, 106, 138, 137, 106, 107, 139, 138, 107, 108, 140, 139, 108, 109, 141, 140, 109, 110, 142, 141, 110, 111, 143, 142, 111, 112, 144, 143, 112, 113, 145, 144, 113, 114, 146, 145, 114, 115, 147, 146, 115, 116, 148, 147, 116, 117, 149, 148, 117, 118, 150, 149, 118, 119, 151, 150, 119, 120, 152, 151, 120, 121, 153, 152, 121, 122, 154, 153, 122, 123, 155, 154, 123, 124, 156, 155, 124, 125, 157, 156, 125, 126, 158, 157, 126, 127, 159, 158, 127, 96, 128, 159, 128, 129, 161, 160, 129, 130, 162, 161, 130, 131, 163, 162, 131, 132, 164, 163, 132, 133, 165, 164, 133, 134, 166, 165, 134, 135, 167, 166, 135, 136, 168, 167, 136, 137, 169, 168, 137, 138, 170, 169, 138, 139, 171, 170, 139, 140, 172, 171, 140, 141, 173, 172, 141, 142, 174, 173, 142, 143, 175, 174, 143, 144, 176, 175, 144, 145, 177, 176, 145, 146, 178, 177, 146, 147, 179, 178, 147, 148, 180, 179, 148, 149, 181, 180, 149, 150, 182, 181, 150, 151, 183, 182, 151, 152, 184, 183, 152, 153, 185, 184, 153, 154, 186, 185, 154, 155, 187, 186, 155, 156, 188, 187, 156, 157, 189, 188, 157, 158, 190, 189, 158, 159, 191, 190, 159, 128, 160, 191, 160, 161, 193, 192, 161, 162, 194, 193, 162, 163, 195, 194, 163, 164, 196, 195, 164, 165, 197, 196, 165, 166, 198, 197, 166, 167, 199, 198, 167, 168, 200, 199, 168, 169, 201, 200, 169, 170, 202, 201, 170, 171, 203, 202, 171, 172, 204, 203, 172, 173, 205, 204, 173, 174, 206, 205, 174, 175, 207, 206, 175, 176, 208, 207, 176, 177, 209, 208, 177, 178, 210, 209, 178, 179, 211, 210, 179, 180, 212, 211, 180, 181, 213, 212, 181, 182, 214, 213, 182, 183, 215, 214, 183, 184, 216, 215, 184, 185, 217, 216, 185, 186, 218, 217, 186, 187, 219, 218, 187, 188, 220, 219, 188, 189, 221, 220, 189, 190, 222, 221, 190, 191, 223, 222, 191, 160, 192, 223, 192, 193, 225, 224, 193, 194, 226, 225, 194, 195, 227, 226, 195, 196, 228, 227, 196, 197, 229, 228, 197, 198, 230, 229, 198, 199, 231, 230, 199, 200, 232, 231, 200, 201, 233, 232, 201, 202, 234, 233, 202, 203, 235, 234, 203, 204, 236, 235, 204, 205, 237, 236, 205, 206, 238, 237, 206, 207, 239, 238, 207, 208, 240, 239, 208, 209, 241, 240, 209, 210, 242, 241, 210, 211, 243, 242, 211, 212, 244, 243, 212, 213, 245, 244, 213, 214, 246, 245, 214, 215, 247, 246, 215, 216, 248, 247, 216, 217, 249, 248, 217, 218, 250, 249, 218, 219, 251, 250, 219, 220, 252, 251, 220, 221, 253, 252, 221, 222, 254, 253, 222, 223, 255, 254, 223, 192, 224, 255, 224, 225, 257, 256, 225, 226, 258, 257, 226, 227, 259, 258, 227, 228, 260, 259, 228, 229, 261, 260, 229, 230, 262, 261, 230, 231, 263, 262, 231, 232, 264, 263, 232, 233, 265, 264, 233, 234, 266, 265, 234, 235, 267, 266, 235, 236, 268, 267, 236, 237, 269, 268, 237, 238, 270, 269, 238, 239, 271, 270, 239, 240, 272, 271, 240, 241, 273, 272, 241, 242, 274, 273, 242, 243, 275, 274, 243, 244, 276, 275, 244, 245, 277, 276, 245, 246, 278, 277, 246, 247, 279, 278, 247, 248, 280, 279, 248, 249, 281, 280, 249, 250, 282, 281, 250, 251, 283, 282, 251, 252, 284, 283, 252, 253, 285, 284, 253, 254, 286, 285, 254, 255, 287, 286, 255, 224, 256, 287, 256, 257, 289, 288, 257, 258, 290, 289, 258, 259, 291, 290, 259, 260, 292, 291, 260, 261, 293, 292, 261, 262, 294, 293, 262, 263, 295, 294, 263, 264, 296, 295, 264, 265, 297, 296, 265, 266, 298, 297, 266, 267, 299, 298, 267, 268, 300, 299, 268, 269, 301, 300, 269, 270, 302, 301, 270, 271, 303, 302, 271, 272, 304, 303, 272, 273, 305, 304, 273, 274, 306, 305, 274, 275, 307, 306, 275, 276, 308, 307, 276, 277, 309, 308, 277, 278, 310, 309, 278, 279, 311, 310, 279, 280, 312, 311, 280, 281, 313, 312, 281, 282, 314, 313, 282, 283, 315, 314, 283, 284, 316, 315, 284, 285, 317, 316, 285, 286, 318, 317, 286, 287, 319, 318, 287, 256, 288, 319, 288, 289, 321, 320, 289, 290, 322, 321, 290, 291, 323, 322, 291, 292, 324, 323, 292, 293, 325, 324, 293, 294, 326, 325, 294, 295, 327, 326, 295, 296, 328, 327, 296, 297, 329, 328, 297, 298, 330, 329, 298, 299, 331, 330, 299, 300, 332, 331, 300, 301, 333, 332, 301, 302, 334, 333, 302, 303, 335, 334, 303, 304, 336, 335, 304, 305, 337, 336, 305, 306, 338, 337, 306, 307, 339, 338, 307, 308, 340, 339, 308, 309, 341, 340, 309, 310, 342, 341, 310, 311, 343, 342, 311, 312, 344, 343, 312, 313, 345, 344, 313, 314, 346, 345, 314, 315, 347, 346, 315, 316, 348, 347, 316, 317, 349, 348, 317, 318, 350, 349, 318, 319, 351, 350, 319, 288, 320, 351, 0, 352, 353, 1, 1, 353, 354, 2, 2, 354, 355, 3, 3, 355, 356, 4, 4, 356, 357, 5, 5, 357, 358, 6, 6, 358, 359, 7, 7, 359, 360, 8, 8, 360, 361, 9, 9, 361, 362, 10, 10, 362, 363, 11, 11, 363, 364, 12, 12, 364, 365, 13, 13, 365, 366, 14, 14, 366, 367, 15, 15, 367, 368, 16, 16, 368, 369, 17, 17, 369, 370, 18, 18, 370, 371, 19, 19, 371, 372, 20, 20, 372, 373, 21, 21, 373, 374, 22, 22, 374, 375, 23, 23, 375, 376, 24, 24, 376, 377, 25, 25, 377, 378, 26, 26, 378, 379, 27, 27, 379, 380, 28, 28, 380, 381, 29, 29, 381, 382, 30, 30, 382, 383, 31, 31, 383, 352, 0, 352, 384, 385, 353, 353, 385, 386, 354, 354, 386, 387, 355, 355, 387, 388, 356, 356, 388, 389, 357, 357, 389, 390, 358, 358, 390, 391, 359, 359, 391, 392, 360, 360, 392, 393, 361, 361, 393, 394, 362, 362, 394, 395, 363, 363, 395, 396, 364, 364, 396, 397, 365, 365, 397, 398, 366, 366, 398, 399, 367, 367, 399, 400, 368, 368, 400, 401, 369, 369, 401, 402, 370, 370, 402, 403, 371, 371, 403, 404, 372, 372, 404, 405, 373, 373, 405, 406, 374, 374, 406, 407, 375, 375, 407, 408, 376, 376, 408, 409, 377, 377, 409, 410, 378, 378, 410, 411, 379, 379, 411, 412, 380, 380, 412, 413, 381, 381, 413, 414, 382, 382, 414, 415, 383, 383, 415, 384, 352, 384, 416, 417, 385, 385, 417, 418, 386, 386, 418, 419, 387, 387, 419, 420, 388, 388, 420, 421, 389, 389, 421, 422, 390, 390, 422, 423, 391, 391, 423, 424, 392, 392, 424, 425, 393, 393, 425, 426, 394, 394, 426, 427, 395, 395, 427, 428, 396, 396, 428, 429, 397, 397, 429, 430, 398, 398, 430, 431, 399, 399, 431, 432, 400, 400, 432, 433, 401, 401, 433, 434, 402, 402, 434, 435, 403, 403, 435, 436, 404, 404, 436, 437, 405, 405, 437, 438, 406, 406, 438, 439, 407, 407, 439, 440, 408, 408, 440, 441, 409, 409, 441, 442, 410, 410, 442, 443, 411, 411, 443, 444, 412, 412, 444, 445, 413, 413, 445, 446, 414, 414, 446, 447, 415, 415, 447, 416, 384, 416, 448, 449, 417, 417, 449, 450, 418, 418, 450, 451, 419, 419, 451, 452, 420, 420, 452, 453, 421, 421, 453, 454, 422, 422, 454, 455, 423, 423, 455, 456, 424, 424, 456, 457, 425, 425, 457, 458, 426, 426, 458, 459, 427, 427, 459, 460, 428, 428, 460, 461, 429, 429, 461, 462, 430, 430, 462, 463, 431, 431, 463, 464, 432, 432, 464, 465, 433, 433, 465, 466, 434, 434, 466, 467, 435, 435, 467, 468, 436, 436, 468, 469, 437, 437, 469, 470, 438, 438, 470, 471, 439, 439, 471, 472, 440, 440, 472, 473, 441, 441, 473, 474, 442, 442, 474, 475, 443, 443, 475, 476, 444, 444, 476, 477, 445, 445, 477, 478, 446, 446, 478, 479, 447, 447, 479, 448, 416, 448, 480, 481, 449, 449, 481, 482, 450, 450, 482, 483, 451, 451, 483, 484, 452, 452, 484, 485, 453, 453, 485, 486, 454, 454, 486, 487, 455, 455, 487, 488, 456, 456, 488, 489, 457, 457, 489, 490, 458, 458, 490, 491, 459, 459, 491, 492, 460, 460, 492, 493, 461, 461, 493, 494, 462, 462, 494, 495, 463, 463, 495, 496, 464, 464, 496, 497, 465, 465, 497, 498, 466, 466, 498, 499, 467, 467, 499, 500, 468, 468, 500, 501, 469, 469, 501, 502, 470, 470, 502, 503, 471, 471, 503, 504, 472, 472, 504, 505, 473, 473, 505, 506, 474, 474, 506, 507, 475, 475, 507, 508, 476, 476, 508, 509, 477, 477, 509, 510, 478, 478, 510, 511, 479, 479, 511, 480, 448, 480, 512, 513, 481, 481, 513, 514, 482, 482, 514, 515, 483, 483, 515, 516, 484, 484, 516, 517, 485, 485, 517, 518, 486, 486, 518, 519, 487, 487, 519, 520, 488, 488, 520, 521, 489, 489, 521, 522, 490, 490, 522, 523, 491, 491, 523, 524, 492, 492, 524, 525, 493, 493, 525, 526, 494, 494, 526, 527, 495, 495, 527, 528, 496, 496, 528, 529, 497, 497, 529, 530, 498, 498, 530, 531, 499, 499, 531, 532, 500, 500, 532, 533, 501, 501, 533, 534, 502, 502, 534, 535, 503, 503, 535, 536, 504, 504, 536, 537, 505, 505, 537, 538, 506, 506, 538, 539, 507, 507, 539, 540, 508, 508, 540, 541, 509, 509, 541, 542, 510, 510, 542, 543, 511, 511, 543, 512, 480, 512, 544, 545, 513, 513, 545, 546, 514, 514, 546, 547, 515, 515, 547, 548, 516, 516, 548, 549, 517, 517, 549, 550, 518, 518, 550, 551, 519, 519, 551, 552, 520, 520, 552, 553, 521, 521, 553, 554, 522, 522, 554, 555, 523, 523, 555, 556, 524, 524, 556, 557, 525, 525, 557, 558, 526, 526, 558, 559, 527, 527, 559, 560, 528, 528, 560, 561, 529, 529, 561, 562, 530, 530, 562, 563, 531, 531, 563, 564, 532, 532, 564, 565, 533, 533, 565, 566, 534, 534, 566, 567, 535, 535, 567, 568, 536, 536, 568, 569, 537, 537, 569, 570, 538, 538, 570, 571, 539, 539, 571, 572, 540, 540, 572, 573, 541, 541, 573, 574, 542, 542, 574, 575, 543, 543, 575, 544, 512, 544, 576, 577, 545, 545, 577, 578, 546, 546, 578, 579, 547, 547, 579, 580, 548, 548, 580, 581, 549, 549, 581, 582, 550, 550, 582, 583, 551, 551, 583, 584, 552, 552, 584, 585, 553, 553, 585, 586, 554, 554, 586, 587, 555, 555, 587, 588, 556, 556, 588, 589, 557, 557, 589, 590, 558, 558, 590, 591, 559, 559, 591, 592, 560, 560, 592, 593, 561, 561, 593, 594, 562, 562, 594, 595, 563, 563, 595, 596, 564, 564, 596, 597, 565, 565, 597, 598, 566, 566, 598, 599, 567, 567, 599, 600, 568, 568, 600, 601, 569, 569, 601, 602, 570, 570, 602, 603, 571, 571, 603, 604, 572, 572, 604, 605, 573, 573, 605, 606, 574, 574, 606, 607, 575, 575, 607, 576, 544, 576, 608, 609, 577, 577, 609, 610, 578, 578, 610, 611, 579, 579, 611, 612, 580, 580, 612, 613, 581, 581, 613, 614, 582, 582, 614, 615, 583, 583, 615, 616, 584, 584, 616, 617, 585, 585, 617, 618, 586, 586, 618, 619, 587, 587, 619, 620, 588, 588, 620, 621, 589, 589, 621, 622, 590, 590, 622, 623, 591, 591, 623, 624, 592, 592, 624, 625, 593, 593, 625, 626, 594, 594, 626, 627, 595, 595, 627, 628, 596, 596, 628, 629, 597, 597, 629, 630, 598, 598, 630, 631, 599, 599, 631, 632, 600, 600, 632, 633, 601, 601, 633, 634, 602, 602, 634, 635, 603, 603, 635, 636, 604, 604, 636, 637, 605, 605, 637, 638, 606, 606, 638, 639, 607, 607, 639, 608, 576, 608, 640, 609, 609, 640, 610, 610, 640, 611, 611, 640, 612, 612, 640, 613, 613, 640, 614, 614, 640, 615, 615, 640, 616, 616, 640, 617, 617, 640, 618, 618, 640, 619, 619, 640, 620, 620, 640, 621, 621, 640, 622, 622, 640, 623, 623, 640, 624, 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@@ -647,7 +647,7 @@ def Xform "World"
             float3[] extent = [(-1, -1, -1), (1, 1, 1)]
             int[] faceVertexCounts = [4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
             int[] faceVertexIndices = [0, 1, 33, 32, 1, 2, 34, 33, 2, 3, 35, 34, 3, 4, 36, 35, 4, 5, 37, 36, 5, 6, 38, 37, 6, 7, 39, 38, 7, 8, 40, 39, 8, 9, 41, 40, 9, 10, 42, 41, 10, 11, 43, 42, 11, 12, 44, 43, 12, 13, 45, 44, 13, 14, 46, 45, 14, 15, 47, 46, 15, 16, 48, 47, 16, 17, 49, 48, 17, 18, 50, 49, 18, 19, 51, 50, 19, 20, 52, 51, 20, 21, 53, 52, 21, 22, 54, 53, 22, 23, 55, 54, 23, 24, 56, 55, 24, 25, 57, 56, 25, 26, 58, 57, 26, 27, 59, 58, 27, 28, 60, 59, 28, 29, 61, 60, 29, 30, 62, 61, 30, 31, 63, 62, 31, 0, 32, 63, 32, 33, 65, 64, 33, 34, 66, 65, 34, 35, 67, 66, 35, 36, 68, 67, 36, 37, 69, 68, 37, 38, 70, 69, 38, 39, 71, 70, 39, 40, 72, 71, 40, 41, 73, 72, 41, 42, 74, 73, 42, 43, 75, 74, 43, 44, 76, 75, 44, 45, 77, 76, 45, 46, 78, 77, 46, 47, 79, 78, 47, 48, 80, 79, 48, 49, 81, 80, 49, 50, 82, 81, 50, 51, 83, 82, 51, 52, 84, 83, 52, 53, 85, 84, 53, 54, 86, 85, 54, 55, 87, 86, 55, 56, 88, 87, 56, 57, 89, 88, 57, 58, 90, 89, 58, 59, 91, 90, 59, 60, 92, 91, 60, 61, 93, 92, 61, 62, 94, 93, 62, 63, 95, 94, 63, 32, 64, 95, 64, 65, 97, 96, 65, 66, 98, 97, 66, 67, 99, 98, 67, 68, 100, 99, 68, 69, 101, 100, 69, 70, 102, 101, 70, 71, 103, 102, 71, 72, 104, 103, 72, 73, 105, 104, 73, 74, 106, 105, 74, 75, 107, 106, 75, 76, 108, 107, 76, 77, 109, 108, 77, 78, 110, 109, 78, 79, 111, 110, 79, 80, 112, 111, 80, 81, 113, 112, 81, 82, 114, 113, 82, 83, 115, 114, 83, 84, 116, 115, 84, 85, 117, 116, 85, 86, 118, 117, 86, 87, 119, 118, 87, 88, 120, 119, 88, 89, 121, 120, 89, 90, 122, 121, 90, 91, 123, 122, 91, 92, 124, 123, 92, 93, 125, 124, 93, 94, 126, 125, 94, 95, 127, 126, 95, 64, 96, 127, 96, 97, 129, 128, 97, 98, 130, 129, 98, 99, 131, 130, 99, 100, 132, 131, 100, 101, 133, 132, 101, 102, 134, 133, 102, 103, 135, 134, 103, 104, 136, 135, 104, 105, 137, 136, 105, 106, 138, 137, 106, 107, 139, 138, 107, 108, 140, 139, 108, 109, 141, 140, 109, 110, 142, 141, 110, 111, 143, 142, 111, 112, 144, 143, 112, 113, 145, 144, 113, 114, 146, 145, 114, 115, 147, 146, 115, 116, 148, 147, 116, 117, 149, 148, 117, 118, 150, 149, 118, 119, 151, 150, 119, 120, 152, 151, 120, 121, 153, 152, 121, 122, 154, 153, 122, 123, 155, 154, 123, 124, 156, 155, 124, 125, 157, 156, 125, 126, 158, 157, 126, 127, 159, 158, 127, 96, 128, 159, 128, 129, 161, 160, 129, 130, 162, 161, 130, 131, 163, 162, 131, 132, 164, 163, 132, 133, 165, 164, 133, 134, 166, 165, 134, 135, 167, 166, 135, 136, 168, 167, 136, 137, 169, 168, 137, 138, 170, 169, 138, 139, 171, 170, 139, 140, 172, 171, 140, 141, 173, 172, 141, 142, 174, 173, 142, 143, 175, 174, 143, 144, 176, 175, 144, 145, 177, 176, 145, 146, 178, 177, 146, 147, 179, 178, 147, 148, 180, 179, 148, 149, 181, 180, 149, 150, 182, 181, 150, 151, 183, 182, 151, 152, 184, 183, 152, 153, 185, 184, 153, 154, 186, 185, 154, 155, 187, 186, 155, 156, 188, 187, 156, 157, 189, 188, 157, 158, 190, 189, 158, 159, 191, 190, 159, 128, 160, 191, 160, 161, 193, 192, 161, 162, 194, 193, 162, 163, 195, 194, 163, 164, 196, 195, 164, 165, 197, 196, 165, 166, 198, 197, 166, 167, 199, 198, 167, 168, 200, 199, 168, 169, 201, 200, 169, 170, 202, 201, 170, 171, 203, 202, 171, 172, 204, 203, 172, 173, 205, 204, 173, 174, 206, 205, 174, 175, 207, 206, 175, 176, 208, 207, 176, 177, 209, 208, 177, 178, 210, 209, 178, 179, 211, 210, 179, 180, 212, 211, 180, 181, 213, 212, 181, 182, 214, 213, 182, 183, 215, 214, 183, 184, 216, 215, 184, 185, 217, 216, 185, 186, 218, 217, 186, 187, 219, 218, 187, 188, 220, 219, 188, 189, 221, 220, 189, 190, 222, 221, 190, 191, 223, 222, 191, 160, 192, 223, 192, 193, 225, 224, 193, 194, 226, 225, 194, 195, 227, 226, 195, 196, 228, 227, 196, 197, 229, 228, 197, 198, 230, 229, 198, 199, 231, 230, 199, 200, 232, 231, 200, 201, 233, 232, 201, 202, 234, 233, 202, 203, 235, 234, 203, 204, 236, 235, 204, 205, 237, 236, 205, 206, 238, 237, 206, 207, 239, 238, 207, 208, 240, 239, 208, 209, 241, 240, 209, 210, 242, 241, 210, 211, 243, 242, 211, 212, 244, 243, 212, 213, 245, 244, 213, 214, 246, 245, 214, 215, 247, 246, 215, 216, 248, 247, 216, 217, 249, 248, 217, 218, 250, 249, 218, 219, 251, 250, 219, 220, 252, 251, 220, 221, 253, 252, 221, 222, 254, 253, 222, 223, 255, 254, 223, 192, 224, 255, 224, 225, 257, 256, 225, 226, 258, 257, 226, 227, 259, 258, 227, 228, 260, 259, 228, 229, 261, 260, 229, 230, 262, 261, 230, 231, 263, 262, 231, 232, 264, 263, 232, 233, 265, 264, 233, 234, 266, 265, 234, 235, 267, 266, 235, 236, 268, 267, 236, 237, 269, 268, 237, 238, 270, 269, 238, 239, 271, 270, 239, 240, 272, 271, 240, 241, 273, 272, 241, 242, 274, 273, 242, 243, 275, 274, 243, 244, 276, 275, 244, 245, 277, 276, 245, 246, 278, 277, 246, 247, 279, 278, 247, 248, 280, 279, 248, 249, 281, 280, 249, 250, 282, 281, 250, 251, 283, 282, 251, 252, 284, 283, 252, 253, 285, 284, 253, 254, 286, 285, 254, 255, 287, 286, 255, 224, 256, 287, 256, 257, 289, 288, 257, 258, 290, 289, 258, 259, 291, 290, 259, 260, 292, 291, 260, 261, 293, 292, 261, 262, 294, 293, 262, 263, 295, 294, 263, 264, 296, 295, 264, 265, 297, 296, 265, 266, 298, 297, 266, 267, 299, 298, 267, 268, 300, 299, 268, 269, 301, 300, 269, 270, 302, 301, 270, 271, 303, 302, 271, 272, 304, 303, 272, 273, 305, 304, 273, 274, 306, 305, 274, 275, 307, 306, 275, 276, 308, 307, 276, 277, 309, 308, 277, 278, 310, 309, 278, 279, 311, 310, 279, 280, 312, 311, 280, 281, 313, 312, 281, 282, 314, 313, 282, 283, 315, 314, 283, 284, 316, 315, 284, 285, 317, 316, 285, 286, 318, 317, 286, 287, 319, 318, 287, 256, 288, 319, 288, 289, 321, 320, 289, 290, 322, 321, 290, 291, 323, 322, 291, 292, 324, 323, 292, 293, 325, 324, 293, 294, 326, 325, 294, 295, 327, 326, 295, 296, 328, 327, 296, 297, 329, 328, 297, 298, 330, 329, 298, 299, 331, 330, 299, 300, 332, 331, 300, 301, 333, 332, 301, 302, 334, 333, 302, 303, 335, 334, 303, 304, 336, 335, 304, 305, 337, 336, 305, 306, 338, 337, 306, 307, 339, 338, 307, 308, 340, 339, 308, 309, 341, 340, 309, 310, 342, 341, 310, 311, 343, 342, 311, 312, 344, 343, 312, 313, 345, 344, 313, 314, 346, 345, 314, 315, 347, 346, 315, 316, 348, 347, 316, 317, 349, 348, 317, 318, 350, 349, 318, 319, 351, 350, 319, 288, 320, 351, 0, 352, 353, 1, 1, 353, 354, 2, 2, 354, 355, 3, 3, 355, 356, 4, 4, 356, 357, 5, 5, 357, 358, 6, 6, 358, 359, 7, 7, 359, 360, 8, 8, 360, 361, 9, 9, 361, 362, 10, 10, 362, 363, 11, 11, 363, 364, 12, 12, 364, 365, 13, 13, 365, 366, 14, 14, 366, 367, 15, 15, 367, 368, 16, 16, 368, 369, 17, 17, 369, 370, 18, 18, 370, 371, 19, 19, 371, 372, 20, 20, 372, 373, 21, 21, 373, 374, 22, 22, 374, 375, 23, 23, 375, 376, 24, 24, 376, 377, 25, 25, 377, 378, 26, 26, 378, 379, 27, 27, 379, 380, 28, 28, 380, 381, 29, 29, 381, 382, 30, 30, 382, 383, 31, 31, 383, 352, 0, 352, 384, 385, 353, 353, 385, 386, 354, 354, 386, 387, 355, 355, 387, 388, 356, 356, 388, 389, 357, 357, 389, 390, 358, 358, 390, 391, 359, 359, 391, 392, 360, 360, 392, 393, 361, 361, 393, 394, 362, 362, 394, 395, 363, 363, 395, 396, 364, 364, 396, 397, 365, 365, 397, 398, 366, 366, 398, 399, 367, 367, 399, 400, 368, 368, 400, 401, 369, 369, 401, 402, 370, 370, 402, 403, 371, 371, 403, 404, 372, 372, 404, 405, 373, 373, 405, 406, 374, 374, 406, 407, 375, 375, 407, 408, 376, 376, 408, 409, 377, 377, 409, 410, 378, 378, 410, 411, 379, 379, 411, 412, 380, 380, 412, 413, 381, 381, 413, 414, 382, 382, 414, 415, 383, 383, 415, 384, 352, 384, 416, 417, 385, 385, 417, 418, 386, 386, 418, 419, 387, 387, 419, 420, 388, 388, 420, 421, 389, 389, 421, 422, 390, 390, 422, 423, 391, 391, 423, 424, 392, 392, 424, 425, 393, 393, 425, 426, 394, 394, 426, 427, 395, 395, 427, 428, 396, 396, 428, 429, 397, 397, 429, 430, 398, 398, 430, 431, 399, 399, 431, 432, 400, 400, 432, 433, 401, 401, 433, 434, 402, 402, 434, 435, 403, 403, 435, 436, 404, 404, 436, 437, 405, 405, 437, 438, 406, 406, 438, 439, 407, 407, 439, 440, 408, 408, 440, 441, 409, 409, 441, 442, 410, 410, 442, 443, 411, 411, 443, 444, 412, 412, 444, 445, 413, 413, 445, 446, 414, 414, 446, 447, 415, 415, 447, 416, 384, 416, 448, 449, 417, 417, 449, 450, 418, 418, 450, 451, 419, 419, 451, 452, 420, 420, 452, 453, 421, 421, 453, 454, 422, 422, 454, 455, 423, 423, 455, 456, 424, 424, 456, 457, 425, 425, 457, 458, 426, 426, 458, 459, 427, 427, 459, 460, 428, 428, 460, 461, 429, 429, 461, 462, 430, 430, 462, 463, 431, 431, 463, 464, 432, 432, 464, 465, 433, 433, 465, 466, 434, 434, 466, 467, 435, 435, 467, 468, 436, 436, 468, 469, 437, 437, 469, 470, 438, 438, 470, 471, 439, 439, 471, 472, 440, 440, 472, 473, 441, 441, 473, 474, 442, 442, 474, 475, 443, 443, 475, 476, 444, 444, 476, 477, 445, 445, 477, 478, 446, 446, 478, 479, 447, 447, 479, 448, 416, 448, 480, 481, 449, 449, 481, 482, 450, 450, 482, 483, 451, 451, 483, 484, 452, 452, 484, 485, 453, 453, 485, 486, 454, 454, 486, 487, 455, 455, 487, 488, 456, 456, 488, 489, 457, 457, 489, 490, 458, 458, 490, 491, 459, 459, 491, 492, 460, 460, 492, 493, 461, 461, 493, 494, 462, 462, 494, 495, 463, 463, 495, 496, 464, 464, 496, 497, 465, 465, 497, 498, 466, 466, 498, 499, 467, 467, 499, 500, 468, 468, 500, 501, 469, 469, 501, 502, 470, 470, 502, 503, 471, 471, 503, 504, 472, 472, 504, 505, 473, 473, 505, 506, 474, 474, 506, 507, 475, 475, 507, 508, 476, 476, 508, 509, 477, 477, 509, 510, 478, 478, 510, 511, 479, 479, 511, 480, 448, 480, 512, 513, 481, 481, 513, 514, 482, 482, 514, 515, 483, 483, 515, 516, 484, 484, 516, 517, 485, 485, 517, 518, 486, 486, 518, 519, 487, 487, 519, 520, 488, 488, 520, 521, 489, 489, 521, 522, 490, 490, 522, 523, 491, 491, 523, 524, 492, 492, 524, 525, 493, 493, 525, 526, 494, 494, 526, 527, 495, 495, 527, 528, 496, 496, 528, 529, 497, 497, 529, 530, 498, 498, 530, 531, 499, 499, 531, 532, 500, 500, 532, 533, 501, 501, 533, 534, 502, 502, 534, 535, 503, 503, 535, 536, 504, 504, 536, 537, 505, 505, 537, 538, 506, 506, 538, 539, 507, 507, 539, 540, 508, 508, 540, 541, 509, 509, 541, 542, 510, 510, 542, 543, 511, 511, 543, 512, 480, 512, 544, 545, 513, 513, 545, 546, 514, 514, 546, 547, 515, 515, 547, 548, 516, 516, 548, 549, 517, 517, 549, 550, 518, 518, 550, 551, 519, 519, 551, 552, 520, 520, 552, 553, 521, 521, 553, 554, 522, 522, 554, 555, 523, 523, 555, 556, 524, 524, 556, 557, 525, 525, 557, 558, 526, 526, 558, 559, 527, 527, 559, 560, 528, 528, 560, 561, 529, 529, 561, 562, 530, 530, 562, 563, 531, 531, 563, 564, 532, 532, 564, 565, 533, 533, 565, 566, 534, 534, 566, 567, 535, 535, 567, 568, 536, 536, 568, 569, 537, 537, 569, 570, 538, 538, 570, 571, 539, 539, 571, 572, 540, 540, 572, 573, 541, 541, 573, 574, 542, 542, 574, 575, 543, 543, 575, 544, 512, 544, 576, 577, 545, 545, 577, 578, 546, 546, 578, 579, 547, 547, 579, 580, 548, 548, 580, 581, 549, 549, 581, 582, 550, 550, 582, 583, 551, 551, 583, 584, 552, 552, 584, 585, 553, 553, 585, 586, 554, 554, 586, 587, 555, 555, 587, 588, 556, 556, 588, 589, 557, 557, 589, 590, 558, 558, 590, 591, 559, 559, 591, 592, 560, 560, 592, 593, 561, 561, 593, 594, 562, 562, 594, 595, 563, 563, 595, 596, 564, 564, 596, 597, 565, 565, 597, 598, 566, 566, 598, 599, 567, 567, 599, 600, 568, 568, 600, 601, 569, 569, 601, 602, 570, 570, 602, 603, 571, 571, 603, 604, 572, 572, 604, 605, 573, 573, 605, 606, 574, 574, 606, 607, 575, 575, 607, 576, 544, 576, 608, 609, 577, 577, 609, 610, 578, 578, 610, 611, 579, 579, 611, 612, 580, 580, 612, 613, 581, 581, 613, 614, 582, 582, 614, 615, 583, 583, 615, 616, 584, 584, 616, 617, 585, 585, 617, 618, 586, 586, 618, 619, 587, 587, 619, 620, 588, 588, 620, 621, 589, 589, 621, 622, 590, 590, 622, 623, 591, 591, 623, 624, 592, 592, 624, 625, 593, 593, 625, 626, 594, 594, 626, 627, 595, 595, 627, 628, 596, 596, 628, 629, 597, 597, 629, 630, 598, 598, 630, 631, 599, 599, 631, 632, 600, 600, 632, 633, 601, 601, 633, 634, 602, 602, 634, 635, 603, 603, 635, 636, 604, 604, 636, 637, 605, 605, 637, 638, 606, 606, 638, 639, 607, 607, 639, 608, 576, 608, 640, 609, 609, 640, 610, 610, 640, 611, 611, 640, 612, 612, 640, 613, 613, 640, 614, 614, 640, 615, 615, 640, 616, 616, 640, 617, 617, 640, 618, 618, 640, 619, 619, 640, 620, 620, 640, 621, 621, 640, 622, 622, 640, 623, 623, 640, 624, 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@@ -671,7 +671,7 @@ def Xform "World"
             float3[] extent = [(-1, -1, -1), (1, 1, 1)]
             int[] faceVertexCounts = [4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
             int[] faceVertexIndices = [0, 1, 33, 32, 1, 2, 34, 33, 2, 3, 35, 34, 3, 4, 36, 35, 4, 5, 37, 36, 5, 6, 38, 37, 6, 7, 39, 38, 7, 8, 40, 39, 8, 9, 41, 40, 9, 10, 42, 41, 10, 11, 43, 42, 11, 12, 44, 43, 12, 13, 45, 44, 13, 14, 46, 45, 14, 15, 47, 46, 15, 16, 48, 47, 16, 17, 49, 48, 17, 18, 50, 49, 18, 19, 51, 50, 19, 20, 52, 51, 20, 21, 53, 52, 21, 22, 54, 53, 22, 23, 55, 54, 23, 24, 56, 55, 24, 25, 57, 56, 25, 26, 58, 57, 26, 27, 59, 58, 27, 28, 60, 59, 28, 29, 61, 60, 29, 30, 62, 61, 30, 31, 63, 62, 31, 0, 32, 63, 32, 33, 65, 64, 33, 34, 66, 65, 34, 35, 67, 66, 35, 36, 68, 67, 36, 37, 69, 68, 37, 38, 70, 69, 38, 39, 71, 70, 39, 40, 72, 71, 40, 41, 73, 72, 41, 42, 74, 73, 42, 43, 75, 74, 43, 44, 76, 75, 44, 45, 77, 76, 45, 46, 78, 77, 46, 47, 79, 78, 47, 48, 80, 79, 48, 49, 81, 80, 49, 50, 82, 81, 50, 51, 83, 82, 51, 52, 84, 83, 52, 53, 85, 84, 53, 54, 86, 85, 54, 55, 87, 86, 55, 56, 88, 87, 56, 57, 89, 88, 57, 58, 90, 89, 58, 59, 91, 90, 59, 60, 92, 91, 60, 61, 93, 92, 61, 62, 94, 93, 62, 63, 95, 94, 63, 32, 64, 95, 64, 65, 97, 96, 65, 66, 98, 97, 66, 67, 99, 98, 67, 68, 100, 99, 68, 69, 101, 100, 69, 70, 102, 101, 70, 71, 103, 102, 71, 72, 104, 103, 72, 73, 105, 104, 73, 74, 106, 105, 74, 75, 107, 106, 75, 76, 108, 107, 76, 77, 109, 108, 77, 78, 110, 109, 78, 79, 111, 110, 79, 80, 112, 111, 80, 81, 113, 112, 81, 82, 114, 113, 82, 83, 115, 114, 83, 84, 116, 115, 84, 85, 117, 116, 85, 86, 118, 117, 86, 87, 119, 118, 87, 88, 120, 119, 88, 89, 121, 120, 89, 90, 122, 121, 90, 91, 123, 122, 91, 92, 124, 123, 92, 93, 125, 124, 93, 94, 126, 125, 94, 95, 127, 126, 95, 64, 96, 127, 96, 97, 129, 128, 97, 98, 130, 129, 98, 99, 131, 130, 99, 100, 132, 131, 100, 101, 133, 132, 101, 102, 134, 133, 102, 103, 135, 134, 103, 104, 136, 135, 104, 105, 137, 136, 105, 106, 138, 137, 106, 107, 139, 138, 107, 108, 140, 139, 108, 109, 141, 140, 109, 110, 142, 141, 110, 111, 143, 142, 111, 112, 144, 143, 112, 113, 145, 144, 113, 114, 146, 145, 114, 115, 147, 146, 115, 116, 148, 147, 116, 117, 149, 148, 117, 118, 150, 149, 118, 119, 151, 150, 119, 120, 152, 151, 120, 121, 153, 152, 121, 122, 154, 153, 122, 123, 155, 154, 123, 124, 156, 155, 124, 125, 157, 156, 125, 126, 158, 157, 126, 127, 159, 158, 127, 96, 128, 159, 128, 129, 161, 160, 129, 130, 162, 161, 130, 131, 163, 162, 131, 132, 164, 163, 132, 133, 165, 164, 133, 134, 166, 165, 134, 135, 167, 166, 135, 136, 168, 167, 136, 137, 169, 168, 137, 138, 170, 169, 138, 139, 171, 170, 139, 140, 172, 171, 140, 141, 173, 172, 141, 142, 174, 173, 142, 143, 175, 174, 143, 144, 176, 175, 144, 145, 177, 176, 145, 146, 178, 177, 146, 147, 179, 178, 147, 148, 180, 179, 148, 149, 181, 180, 149, 150, 182, 181, 150, 151, 183, 182, 151, 152, 184, 183, 152, 153, 185, 184, 153, 154, 186, 185, 154, 155, 187, 186, 155, 156, 188, 187, 156, 157, 189, 188, 157, 158, 190, 189, 158, 159, 191, 190, 159, 128, 160, 191, 160, 161, 193, 192, 161, 162, 194, 193, 162, 163, 195, 194, 163, 164, 196, 195, 164, 165, 197, 196, 165, 166, 198, 197, 166, 167, 199, 198, 167, 168, 200, 199, 168, 169, 201, 200, 169, 170, 202, 201, 170, 171, 203, 202, 171, 172, 204, 203, 172, 173, 205, 204, 173, 174, 206, 205, 174, 175, 207, 206, 175, 176, 208, 207, 176, 177, 209, 208, 177, 178, 210, 209, 178, 179, 211, 210, 179, 180, 212, 211, 180, 181, 213, 212, 181, 182, 214, 213, 182, 183, 215, 214, 183, 184, 216, 215, 184, 185, 217, 216, 185, 186, 218, 217, 186, 187, 219, 218, 187, 188, 220, 219, 188, 189, 221, 220, 189, 190, 222, 221, 190, 191, 223, 222, 191, 160, 192, 223, 192, 193, 225, 224, 193, 194, 226, 225, 194, 195, 227, 226, 195, 196, 228, 227, 196, 197, 229, 228, 197, 198, 230, 229, 198, 199, 231, 230, 199, 200, 232, 231, 200, 201, 233, 232, 201, 202, 234, 233, 202, 203, 235, 234, 203, 204, 236, 235, 204, 205, 237, 236, 205, 206, 238, 237, 206, 207, 239, 238, 207, 208, 240, 239, 208, 209, 241, 240, 209, 210, 242, 241, 210, 211, 243, 242, 211, 212, 244, 243, 212, 213, 245, 244, 213, 214, 246, 245, 214, 215, 247, 246, 215, 216, 248, 247, 216, 217, 249, 248, 217, 218, 250, 249, 218, 219, 251, 250, 219, 220, 252, 251, 220, 221, 253, 252, 221, 222, 254, 253, 222, 223, 255, 254, 223, 192, 224, 255, 224, 225, 257, 256, 225, 226, 258, 257, 226, 227, 259, 258, 227, 228, 260, 259, 228, 229, 261, 260, 229, 230, 262, 261, 230, 231, 263, 262, 231, 232, 264, 263, 232, 233, 265, 264, 233, 234, 266, 265, 234, 235, 267, 266, 235, 236, 268, 267, 236, 237, 269, 268, 237, 238, 270, 269, 238, 239, 271, 270, 239, 240, 272, 271, 240, 241, 273, 272, 241, 242, 274, 273, 242, 243, 275, 274, 243, 244, 276, 275, 244, 245, 277, 276, 245, 246, 278, 277, 246, 247, 279, 278, 247, 248, 280, 279, 248, 249, 281, 280, 249, 250, 282, 281, 250, 251, 283, 282, 251, 252, 284, 283, 252, 253, 285, 284, 253, 254, 286, 285, 254, 255, 287, 286, 255, 224, 256, 287, 256, 257, 289, 288, 257, 258, 290, 289, 258, 259, 291, 290, 259, 260, 292, 291, 260, 261, 293, 292, 261, 262, 294, 293, 262, 263, 295, 294, 263, 264, 296, 295, 264, 265, 297, 296, 265, 266, 298, 297, 266, 267, 299, 298, 267, 268, 300, 299, 268, 269, 301, 300, 269, 270, 302, 301, 270, 271, 303, 302, 271, 272, 304, 303, 272, 273, 305, 304, 273, 274, 306, 305, 274, 275, 307, 306, 275, 276, 308, 307, 276, 277, 309, 308, 277, 278, 310, 309, 278, 279, 311, 310, 279, 280, 312, 311, 280, 281, 313, 312, 281, 282, 314, 313, 282, 283, 315, 314, 283, 284, 316, 315, 284, 285, 317, 316, 285, 286, 318, 317, 286, 287, 319, 318, 287, 256, 288, 319, 288, 289, 321, 320, 289, 290, 322, 321, 290, 291, 323, 322, 291, 292, 324, 323, 292, 293, 325, 324, 293, 294, 326, 325, 294, 295, 327, 326, 295, 296, 328, 327, 296, 297, 329, 328, 297, 298, 330, 329, 298, 299, 331, 330, 299, 300, 332, 331, 300, 301, 333, 332, 301, 302, 334, 333, 302, 303, 335, 334, 303, 304, 336, 335, 304, 305, 337, 336, 305, 306, 338, 337, 306, 307, 339, 338, 307, 308, 340, 339, 308, 309, 341, 340, 309, 310, 342, 341, 310, 311, 343, 342, 311, 312, 344, 343, 312, 313, 345, 344, 313, 314, 346, 345, 314, 315, 347, 346, 315, 316, 348, 347, 316, 317, 349, 348, 317, 318, 350, 349, 318, 319, 351, 350, 319, 288, 320, 351, 0, 352, 353, 1, 1, 353, 354, 2, 2, 354, 355, 3, 3, 355, 356, 4, 4, 356, 357, 5, 5, 357, 358, 6, 6, 358, 359, 7, 7, 359, 360, 8, 8, 360, 361, 9, 9, 361, 362, 10, 10, 362, 363, 11, 11, 363, 364, 12, 12, 364, 365, 13, 13, 365, 366, 14, 14, 366, 367, 15, 15, 367, 368, 16, 16, 368, 369, 17, 17, 369, 370, 18, 18, 370, 371, 19, 19, 371, 372, 20, 20, 372, 373, 21, 21, 373, 374, 22, 22, 374, 375, 23, 23, 375, 376, 24, 24, 376, 377, 25, 25, 377, 378, 26, 26, 378, 379, 27, 27, 379, 380, 28, 28, 380, 381, 29, 29, 381, 382, 30, 30, 382, 383, 31, 31, 383, 352, 0, 352, 384, 385, 353, 353, 385, 386, 354, 354, 386, 387, 355, 355, 387, 388, 356, 356, 388, 389, 357, 357, 389, 390, 358, 358, 390, 391, 359, 359, 391, 392, 360, 360, 392, 393, 361, 361, 393, 394, 362, 362, 394, 395, 363, 363, 395, 396, 364, 364, 396, 397, 365, 365, 397, 398, 366, 366, 398, 399, 367, 367, 399, 400, 368, 368, 400, 401, 369, 369, 401, 402, 370, 370, 402, 403, 371, 371, 403, 404, 372, 372, 404, 405, 373, 373, 405, 406, 374, 374, 406, 407, 375, 375, 407, 408, 376, 376, 408, 409, 377, 377, 409, 410, 378, 378, 410, 411, 379, 379, 411, 412, 380, 380, 412, 413, 381, 381, 413, 414, 382, 382, 414, 415, 383, 383, 415, 384, 352, 384, 416, 417, 385, 385, 417, 418, 386, 386, 418, 419, 387, 387, 419, 420, 388, 388, 420, 421, 389, 389, 421, 422, 390, 390, 422, 423, 391, 391, 423, 424, 392, 392, 424, 425, 393, 393, 425, 426, 394, 394, 426, 427, 395, 395, 427, 428, 396, 396, 428, 429, 397, 397, 429, 430, 398, 398, 430, 431, 399, 399, 431, 432, 400, 400, 432, 433, 401, 401, 433, 434, 402, 402, 434, 435, 403, 403, 435, 436, 404, 404, 436, 437, 405, 405, 437, 438, 406, 406, 438, 439, 407, 407, 439, 440, 408, 408, 440, 441, 409, 409, 441, 442, 410, 410, 442, 443, 411, 411, 443, 444, 412, 412, 444, 445, 413, 413, 445, 446, 414, 414, 446, 447, 415, 415, 447, 416, 384, 416, 448, 449, 417, 417, 449, 450, 418, 418, 450, 451, 419, 419, 451, 452, 420, 420, 452, 453, 421, 421, 453, 454, 422, 422, 454, 455, 423, 423, 455, 456, 424, 424, 456, 457, 425, 425, 457, 458, 426, 426, 458, 459, 427, 427, 459, 460, 428, 428, 460, 461, 429, 429, 461, 462, 430, 430, 462, 463, 431, 431, 463, 464, 432, 432, 464, 465, 433, 433, 465, 466, 434, 434, 466, 467, 435, 435, 467, 468, 436, 436, 468, 469, 437, 437, 469, 470, 438, 438, 470, 471, 439, 439, 471, 472, 440, 440, 472, 473, 441, 441, 473, 474, 442, 442, 474, 475, 443, 443, 475, 476, 444, 444, 476, 477, 445, 445, 477, 478, 446, 446, 478, 479, 447, 447, 479, 448, 416, 448, 480, 481, 449, 449, 481, 482, 450, 450, 482, 483, 451, 451, 483, 484, 452, 452, 484, 485, 453, 453, 485, 486, 454, 454, 486, 487, 455, 455, 487, 488, 456, 456, 488, 489, 457, 457, 489, 490, 458, 458, 490, 491, 459, 459, 491, 492, 460, 460, 492, 493, 461, 461, 493, 494, 462, 462, 494, 495, 463, 463, 495, 496, 464, 464, 496, 497, 465, 465, 497, 498, 466, 466, 498, 499, 467, 467, 499, 500, 468, 468, 500, 501, 469, 469, 501, 502, 470, 470, 502, 503, 471, 471, 503, 504, 472, 472, 504, 505, 473, 473, 505, 506, 474, 474, 506, 507, 475, 475, 507, 508, 476, 476, 508, 509, 477, 477, 509, 510, 478, 478, 510, 511, 479, 479, 511, 480, 448, 480, 512, 513, 481, 481, 513, 514, 482, 482, 514, 515, 483, 483, 515, 516, 484, 484, 516, 517, 485, 485, 517, 518, 486, 486, 518, 519, 487, 487, 519, 520, 488, 488, 520, 521, 489, 489, 521, 522, 490, 490, 522, 523, 491, 491, 523, 524, 492, 492, 524, 525, 493, 493, 525, 526, 494, 494, 526, 527, 495, 495, 527, 528, 496, 496, 528, 529, 497, 497, 529, 530, 498, 498, 530, 531, 499, 499, 531, 532, 500, 500, 532, 533, 501, 501, 533, 534, 502, 502, 534, 535, 503, 503, 535, 536, 504, 504, 536, 537, 505, 505, 537, 538, 506, 506, 538, 539, 507, 507, 539, 540, 508, 508, 540, 541, 509, 509, 541, 542, 510, 510, 542, 543, 511, 511, 543, 512, 480, 512, 544, 545, 513, 513, 545, 546, 514, 514, 546, 547, 515, 515, 547, 548, 516, 516, 548, 549, 517, 517, 549, 550, 518, 518, 550, 551, 519, 519, 551, 552, 520, 520, 552, 553, 521, 521, 553, 554, 522, 522, 554, 555, 523, 523, 555, 556, 524, 524, 556, 557, 525, 525, 557, 558, 526, 526, 558, 559, 527, 527, 559, 560, 528, 528, 560, 561, 529, 529, 561, 562, 530, 530, 562, 563, 531, 531, 563, 564, 532, 532, 564, 565, 533, 533, 565, 566, 534, 534, 566, 567, 535, 535, 567, 568, 536, 536, 568, 569, 537, 537, 569, 570, 538, 538, 570, 571, 539, 539, 571, 572, 540, 540, 572, 573, 541, 541, 573, 574, 542, 542, 574, 575, 543, 543, 575, 544, 512, 544, 576, 577, 545, 545, 577, 578, 546, 546, 578, 579, 547, 547, 579, 580, 548, 548, 580, 581, 549, 549, 581, 582, 550, 550, 582, 583, 551, 551, 583, 584, 552, 552, 584, 585, 553, 553, 585, 586, 554, 554, 586, 587, 555, 555, 587, 588, 556, 556, 588, 589, 557, 557, 589, 590, 558, 558, 590, 591, 559, 559, 591, 592, 560, 560, 592, 593, 561, 561, 593, 594, 562, 562, 594, 595, 563, 563, 595, 596, 564, 564, 596, 597, 565, 565, 597, 598, 566, 566, 598, 599, 567, 567, 599, 600, 568, 568, 600, 601, 569, 569, 601, 602, 570, 570, 602, 603, 571, 571, 603, 604, 572, 572, 604, 605, 573, 573, 605, 606, 574, 574, 606, 607, 575, 575, 607, 576, 544, 576, 608, 609, 577, 577, 609, 610, 578, 578, 610, 611, 579, 579, 611, 612, 580, 580, 612, 613, 581, 581, 613, 614, 582, 582, 614, 615, 583, 583, 615, 616, 584, 584, 616, 617, 585, 585, 617, 618, 586, 586, 618, 619, 587, 587, 619, 620, 588, 588, 620, 621, 589, 589, 621, 622, 590, 590, 622, 623, 591, 591, 623, 624, 592, 592, 624, 625, 593, 593, 625, 626, 594, 594, 626, 627, 595, 595, 627, 628, 596, 596, 628, 629, 597, 597, 629, 630, 598, 598, 630, 631, 599, 599, 631, 632, 600, 600, 632, 633, 601, 601, 633, 634, 602, 602, 634, 635, 603, 603, 635, 636, 604, 604, 636, 637, 605, 605, 637, 638, 606, 606, 638, 639, 607, 607, 639, 608, 576, 608, 640, 609, 609, 640, 610, 610, 640, 611, 611, 640, 612, 612, 640, 613, 613, 640, 614, 614, 640, 615, 615, 640, 616, 616, 640, 617, 617, 640, 618, 618, 640, 619, 619, 640, 620, 620, 640, 621, 621, 640, 622, 622, 640, 623, 623, 640, 624, 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@@ -695,7 +695,7 @@ def Xform "World"
             float3[] extent = [(-1, -1, -1), (1, 1, 1)]
             int[] faceVertexCounts = [4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
             int[] faceVertexIndices = [0, 1, 33, 32, 1, 2, 34, 33, 2, 3, 35, 34, 3, 4, 36, 35, 4, 5, 37, 36, 5, 6, 38, 37, 6, 7, 39, 38, 7, 8, 40, 39, 8, 9, 41, 40, 9, 10, 42, 41, 10, 11, 43, 42, 11, 12, 44, 43, 12, 13, 45, 44, 13, 14, 46, 45, 14, 15, 47, 46, 15, 16, 48, 47, 16, 17, 49, 48, 17, 18, 50, 49, 18, 19, 51, 50, 19, 20, 52, 51, 20, 21, 53, 52, 21, 22, 54, 53, 22, 23, 55, 54, 23, 24, 56, 55, 24, 25, 57, 56, 25, 26, 58, 57, 26, 27, 59, 58, 27, 28, 60, 59, 28, 29, 61, 60, 29, 30, 62, 61, 30, 31, 63, 62, 31, 0, 32, 63, 32, 33, 65, 64, 33, 34, 66, 65, 34, 35, 67, 66, 35, 36, 68, 67, 36, 37, 69, 68, 37, 38, 70, 69, 38, 39, 71, 70, 39, 40, 72, 71, 40, 41, 73, 72, 41, 42, 74, 73, 42, 43, 75, 74, 43, 44, 76, 75, 44, 45, 77, 76, 45, 46, 78, 77, 46, 47, 79, 78, 47, 48, 80, 79, 48, 49, 81, 80, 49, 50, 82, 81, 50, 51, 83, 82, 51, 52, 84, 83, 52, 53, 85, 84, 53, 54, 86, 85, 54, 55, 87, 86, 55, 56, 88, 87, 56, 57, 89, 88, 57, 58, 90, 89, 58, 59, 91, 90, 59, 60, 92, 91, 60, 61, 93, 92, 61, 62, 94, 93, 62, 63, 95, 94, 63, 32, 64, 95, 64, 65, 97, 96, 65, 66, 98, 97, 66, 67, 99, 98, 67, 68, 100, 99, 68, 69, 101, 100, 69, 70, 102, 101, 70, 71, 103, 102, 71, 72, 104, 103, 72, 73, 105, 104, 73, 74, 106, 105, 74, 75, 107, 106, 75, 76, 108, 107, 76, 77, 109, 108, 77, 78, 110, 109, 78, 79, 111, 110, 79, 80, 112, 111, 80, 81, 113, 112, 81, 82, 114, 113, 82, 83, 115, 114, 83, 84, 116, 115, 84, 85, 117, 116, 85, 86, 118, 117, 86, 87, 119, 118, 87, 88, 120, 119, 88, 89, 121, 120, 89, 90, 122, 121, 90, 91, 123, 122, 91, 92, 124, 123, 92, 93, 125, 124, 93, 94, 126, 125, 94, 95, 127, 126, 95, 64, 96, 127, 96, 97, 129, 128, 97, 98, 130, 129, 98, 99, 131, 130, 99, 100, 132, 131, 100, 101, 133, 132, 101, 102, 134, 133, 102, 103, 135, 134, 103, 104, 136, 135, 104, 105, 137, 136, 105, 106, 138, 137, 106, 107, 139, 138, 107, 108, 140, 139, 108, 109, 141, 140, 109, 110, 142, 141, 110, 111, 143, 142, 111, 112, 144, 143, 112, 113, 145, 144, 113, 114, 146, 145, 114, 115, 147, 146, 115, 116, 148, 147, 116, 117, 149, 148, 117, 118, 150, 149, 118, 119, 151, 150, 119, 120, 152, 151, 120, 121, 153, 152, 121, 122, 154, 153, 122, 123, 155, 154, 123, 124, 156, 155, 124, 125, 157, 156, 125, 126, 158, 157, 126, 127, 159, 158, 127, 96, 128, 159, 128, 129, 161, 160, 129, 130, 162, 161, 130, 131, 163, 162, 131, 132, 164, 163, 132, 133, 165, 164, 133, 134, 166, 165, 134, 135, 167, 166, 135, 136, 168, 167, 136, 137, 169, 168, 137, 138, 170, 169, 138, 139, 171, 170, 139, 140, 172, 171, 140, 141, 173, 172, 141, 142, 174, 173, 142, 143, 175, 174, 143, 144, 176, 175, 144, 145, 177, 176, 145, 146, 178, 177, 146, 147, 179, 178, 147, 148, 180, 179, 148, 149, 181, 180, 149, 150, 182, 181, 150, 151, 183, 182, 151, 152, 184, 183, 152, 153, 185, 184, 153, 154, 186, 185, 154, 155, 187, 186, 155, 156, 188, 187, 156, 157, 189, 188, 157, 158, 190, 189, 158, 159, 191, 190, 159, 128, 160, 191, 160, 161, 193, 192, 161, 162, 194, 193, 162, 163, 195, 194, 163, 164, 196, 195, 164, 165, 197, 196, 165, 166, 198, 197, 166, 167, 199, 198, 167, 168, 200, 199, 168, 169, 201, 200, 169, 170, 202, 201, 170, 171, 203, 202, 171, 172, 204, 203, 172, 173, 205, 204, 173, 174, 206, 205, 174, 175, 207, 206, 175, 176, 208, 207, 176, 177, 209, 208, 177, 178, 210, 209, 178, 179, 211, 210, 179, 180, 212, 211, 180, 181, 213, 212, 181, 182, 214, 213, 182, 183, 215, 214, 183, 184, 216, 215, 184, 185, 217, 216, 185, 186, 218, 217, 186, 187, 219, 218, 187, 188, 220, 219, 188, 189, 221, 220, 189, 190, 222, 221, 190, 191, 223, 222, 191, 160, 192, 223, 192, 193, 225, 224, 193, 194, 226, 225, 194, 195, 227, 226, 195, 196, 228, 227, 196, 197, 229, 228, 197, 198, 230, 229, 198, 199, 231, 230, 199, 200, 232, 231, 200, 201, 233, 232, 201, 202, 234, 233, 202, 203, 235, 234, 203, 204, 236, 235, 204, 205, 237, 236, 205, 206, 238, 237, 206, 207, 239, 238, 207, 208, 240, 239, 208, 209, 241, 240, 209, 210, 242, 241, 210, 211, 243, 242, 211, 212, 244, 243, 212, 213, 245, 244, 213, 214, 246, 245, 214, 215, 247, 246, 215, 216, 248, 247, 216, 217, 249, 248, 217, 218, 250, 249, 218, 219, 251, 250, 219, 220, 252, 251, 220, 221, 253, 252, 221, 222, 254, 253, 222, 223, 255, 254, 223, 192, 224, 255, 224, 225, 257, 256, 225, 226, 258, 257, 226, 227, 259, 258, 227, 228, 260, 259, 228, 229, 261, 260, 229, 230, 262, 261, 230, 231, 263, 262, 231, 232, 264, 263, 232, 233, 265, 264, 233, 234, 266, 265, 234, 235, 267, 266, 235, 236, 268, 267, 236, 237, 269, 268, 237, 238, 270, 269, 238, 239, 271, 270, 239, 240, 272, 271, 240, 241, 273, 272, 241, 242, 274, 273, 242, 243, 275, 274, 243, 244, 276, 275, 244, 245, 277, 276, 245, 246, 278, 277, 246, 247, 279, 278, 247, 248, 280, 279, 248, 249, 281, 280, 249, 250, 282, 281, 250, 251, 283, 282, 251, 252, 284, 283, 252, 253, 285, 284, 253, 254, 286, 285, 254, 255, 287, 286, 255, 224, 256, 287, 256, 257, 289, 288, 257, 258, 290, 289, 258, 259, 291, 290, 259, 260, 292, 291, 260, 261, 293, 292, 261, 262, 294, 293, 262, 263, 295, 294, 263, 264, 296, 295, 264, 265, 297, 296, 265, 266, 298, 297, 266, 267, 299, 298, 267, 268, 300, 299, 268, 269, 301, 300, 269, 270, 302, 301, 270, 271, 303, 302, 271, 272, 304, 303, 272, 273, 305, 304, 273, 274, 306, 305, 274, 275, 307, 306, 275, 276, 308, 307, 276, 277, 309, 308, 277, 278, 310, 309, 278, 279, 311, 310, 279, 280, 312, 311, 280, 281, 313, 312, 281, 282, 314, 313, 282, 283, 315, 314, 283, 284, 316, 315, 284, 285, 317, 316, 285, 286, 318, 317, 286, 287, 319, 318, 287, 256, 288, 319, 288, 289, 321, 320, 289, 290, 322, 321, 290, 291, 323, 322, 291, 292, 324, 323, 292, 293, 325, 324, 293, 294, 326, 325, 294, 295, 327, 326, 295, 296, 328, 327, 296, 297, 329, 328, 297, 298, 330, 329, 298, 299, 331, 330, 299, 300, 332, 331, 300, 301, 333, 332, 301, 302, 334, 333, 302, 303, 335, 334, 303, 304, 336, 335, 304, 305, 337, 336, 305, 306, 338, 337, 306, 307, 339, 338, 307, 308, 340, 339, 308, 309, 341, 340, 309, 310, 342, 341, 310, 311, 343, 342, 311, 312, 344, 343, 312, 313, 345, 344, 313, 314, 346, 345, 314, 315, 347, 346, 315, 316, 348, 347, 316, 317, 349, 348, 317, 318, 350, 349, 318, 319, 351, 350, 319, 288, 320, 351, 0, 352, 353, 1, 1, 353, 354, 2, 2, 354, 355, 3, 3, 355, 356, 4, 4, 356, 357, 5, 5, 357, 358, 6, 6, 358, 359, 7, 7, 359, 360, 8, 8, 360, 361, 9, 9, 361, 362, 10, 10, 362, 363, 11, 11, 363, 364, 12, 12, 364, 365, 13, 13, 365, 366, 14, 14, 366, 367, 15, 15, 367, 368, 16, 16, 368, 369, 17, 17, 369, 370, 18, 18, 370, 371, 19, 19, 371, 372, 20, 20, 372, 373, 21, 21, 373, 374, 22, 22, 374, 375, 23, 23, 375, 376, 24, 24, 376, 377, 25, 25, 377, 378, 26, 26, 378, 379, 27, 27, 379, 380, 28, 28, 380, 381, 29, 29, 381, 382, 30, 30, 382, 383, 31, 31, 383, 352, 0, 352, 384, 385, 353, 353, 385, 386, 354, 354, 386, 387, 355, 355, 387, 388, 356, 356, 388, 389, 357, 357, 389, 390, 358, 358, 390, 391, 359, 359, 391, 392, 360, 360, 392, 393, 361, 361, 393, 394, 362, 362, 394, 395, 363, 363, 395, 396, 364, 364, 396, 397, 365, 365, 397, 398, 366, 366, 398, 399, 367, 367, 399, 400, 368, 368, 400, 401, 369, 369, 401, 402, 370, 370, 402, 403, 371, 371, 403, 404, 372, 372, 404, 405, 373, 373, 405, 406, 374, 374, 406, 407, 375, 375, 407, 408, 376, 376, 408, 409, 377, 377, 409, 410, 378, 378, 410, 411, 379, 379, 411, 412, 380, 380, 412, 413, 381, 381, 413, 414, 382, 382, 414, 415, 383, 383, 415, 384, 352, 384, 416, 417, 385, 385, 417, 418, 386, 386, 418, 419, 387, 387, 419, 420, 388, 388, 420, 421, 389, 389, 421, 422, 390, 390, 422, 423, 391, 391, 423, 424, 392, 392, 424, 425, 393, 393, 425, 426, 394, 394, 426, 427, 395, 395, 427, 428, 396, 396, 428, 429, 397, 397, 429, 430, 398, 398, 430, 431, 399, 399, 431, 432, 400, 400, 432, 433, 401, 401, 433, 434, 402, 402, 434, 435, 403, 403, 435, 436, 404, 404, 436, 437, 405, 405, 437, 438, 406, 406, 438, 439, 407, 407, 439, 440, 408, 408, 440, 441, 409, 409, 441, 442, 410, 410, 442, 443, 411, 411, 443, 444, 412, 412, 444, 445, 413, 413, 445, 446, 414, 414, 446, 447, 415, 415, 447, 416, 384, 416, 448, 449, 417, 417, 449, 450, 418, 418, 450, 451, 419, 419, 451, 452, 420, 420, 452, 453, 421, 421, 453, 454, 422, 422, 454, 455, 423, 423, 455, 456, 424, 424, 456, 457, 425, 425, 457, 458, 426, 426, 458, 459, 427, 427, 459, 460, 428, 428, 460, 461, 429, 429, 461, 462, 430, 430, 462, 463, 431, 431, 463, 464, 432, 432, 464, 465, 433, 433, 465, 466, 434, 434, 466, 467, 435, 435, 467, 468, 436, 436, 468, 469, 437, 437, 469, 470, 438, 438, 470, 471, 439, 439, 471, 472, 440, 440, 472, 473, 441, 441, 473, 474, 442, 442, 474, 475, 443, 443, 475, 476, 444, 444, 476, 477, 445, 445, 477, 478, 446, 446, 478, 479, 447, 447, 479, 448, 416, 448, 480, 481, 449, 449, 481, 482, 450, 450, 482, 483, 451, 451, 483, 484, 452, 452, 484, 485, 453, 453, 485, 486, 454, 454, 486, 487, 455, 455, 487, 488, 456, 456, 488, 489, 457, 457, 489, 490, 458, 458, 490, 491, 459, 459, 491, 492, 460, 460, 492, 493, 461, 461, 493, 494, 462, 462, 494, 495, 463, 463, 495, 496, 464, 464, 496, 497, 465, 465, 497, 498, 466, 466, 498, 499, 467, 467, 499, 500, 468, 468, 500, 501, 469, 469, 501, 502, 470, 470, 502, 503, 471, 471, 503, 504, 472, 472, 504, 505, 473, 473, 505, 506, 474, 474, 506, 507, 475, 475, 507, 508, 476, 476, 508, 509, 477, 477, 509, 510, 478, 478, 510, 511, 479, 479, 511, 480, 448, 480, 512, 513, 481, 481, 513, 514, 482, 482, 514, 515, 483, 483, 515, 516, 484, 484, 516, 517, 485, 485, 517, 518, 486, 486, 518, 519, 487, 487, 519, 520, 488, 488, 520, 521, 489, 489, 521, 522, 490, 490, 522, 523, 491, 491, 523, 524, 492, 492, 524, 525, 493, 493, 525, 526, 494, 494, 526, 527, 495, 495, 527, 528, 496, 496, 528, 529, 497, 497, 529, 530, 498, 498, 530, 531, 499, 499, 531, 532, 500, 500, 532, 533, 501, 501, 533, 534, 502, 502, 534, 535, 503, 503, 535, 536, 504, 504, 536, 537, 505, 505, 537, 538, 506, 506, 538, 539, 507, 507, 539, 540, 508, 508, 540, 541, 509, 509, 541, 542, 510, 510, 542, 543, 511, 511, 543, 512, 480, 512, 544, 545, 513, 513, 545, 546, 514, 514, 546, 547, 515, 515, 547, 548, 516, 516, 548, 549, 517, 517, 549, 550, 518, 518, 550, 551, 519, 519, 551, 552, 520, 520, 552, 553, 521, 521, 553, 554, 522, 522, 554, 555, 523, 523, 555, 556, 524, 524, 556, 557, 525, 525, 557, 558, 526, 526, 558, 559, 527, 527, 559, 560, 528, 528, 560, 561, 529, 529, 561, 562, 530, 530, 562, 563, 531, 531, 563, 564, 532, 532, 564, 565, 533, 533, 565, 566, 534, 534, 566, 567, 535, 535, 567, 568, 536, 536, 568, 569, 537, 537, 569, 570, 538, 538, 570, 571, 539, 539, 571, 572, 540, 540, 572, 573, 541, 541, 573, 574, 542, 542, 574, 575, 543, 543, 575, 544, 512, 544, 576, 577, 545, 545, 577, 578, 546, 546, 578, 579, 547, 547, 579, 580, 548, 548, 580, 581, 549, 549, 581, 582, 550, 550, 582, 583, 551, 551, 583, 584, 552, 552, 584, 585, 553, 553, 585, 586, 554, 554, 586, 587, 555, 555, 587, 588, 556, 556, 588, 589, 557, 557, 589, 590, 558, 558, 590, 591, 559, 559, 591, 592, 560, 560, 592, 593, 561, 561, 593, 594, 562, 562, 594, 595, 563, 563, 595, 596, 564, 564, 596, 597, 565, 565, 597, 598, 566, 566, 598, 599, 567, 567, 599, 600, 568, 568, 600, 601, 569, 569, 601, 602, 570, 570, 602, 603, 571, 571, 603, 604, 572, 572, 604, 605, 573, 573, 605, 606, 574, 574, 606, 607, 575, 575, 607, 576, 544, 576, 608, 609, 577, 577, 609, 610, 578, 578, 610, 611, 579, 579, 611, 612, 580, 580, 612, 613, 581, 581, 613, 614, 582, 582, 614, 615, 583, 583, 615, 616, 584, 584, 616, 617, 585, 585, 617, 618, 586, 586, 618, 619, 587, 587, 619, 620, 588, 588, 620, 621, 589, 589, 621, 622, 590, 590, 622, 623, 591, 591, 623, 624, 592, 592, 624, 625, 593, 593, 625, 626, 594, 594, 626, 627, 595, 595, 627, 628, 596, 596, 628, 629, 597, 597, 629, 630, 598, 598, 630, 631, 599, 599, 631, 632, 600, 600, 632, 633, 601, 601, 633, 634, 602, 602, 634, 635, 603, 603, 635, 636, 604, 604, 636, 637, 605, 605, 637, 638, 606, 606, 638, 639, 607, 607, 639, 608, 576, 608, 640, 609, 609, 640, 610, 610, 640, 611, 611, 640, 612, 612, 640, 613, 613, 640, 614, 614, 640, 615, 615, 640, 616, 616, 640, 617, 617, 640, 618, 618, 640, 619, 619, 640, 620, 620, 640, 621, 621, 640, 622, 622, 640, 623, 623, 640, 624, 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1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)] (
@@ -758,7 +758,7 @@ def Xform "World"
             uniform float2 ui:nodegraph:node:pos = (367.4111, 369.21835)
         }
 
-        def OmniGraphNode "junsheng_01WriteAttrib" (
+        def OmniGraphNode "workpiece_01WriteAttrib" (
             prepend apiSchemas = ["NodeGraphNodeAPI"]
         )
         {
@@ -779,7 +779,7 @@ def Xform "World"
                     }
                 }
             )
-            prepend rel inputs:prim = </World/Objects/junsheng_01>
+            prepend rel inputs:prim = </World/Objects/workpiece_01>
             custom token inputs:primPath
             custom bool inputs:usdWriteBack
             custom bool inputs:usePath
@@ -822,7 +822,7 @@ def Xform "World"
             uniform float2 ui:nodegraph:node:pos = (368.62927, 570.42395)
         }
 
-        def OmniGraphNode "junsheng_01WriteAttrib_01" (
+        def OmniGraphNode "workpiece_01WriteAttrib_01" (
             prepend apiSchemas = ["NodeGraphNodeAPI"]
         )
         {
@@ -843,7 +843,7 @@ def Xform "World"
                     }
                 }
             )
-            prepend rel inputs:prim = </World/Objects/junsheng_01>
+            prepend rel inputs:prim = </World/Objects/workpiece_01>
             custom token inputs:primPath
             custom bool inputs:usdWriteBack
             custom bool inputs:usePath
diff --git a/mujoco/environment/flat.xml b/mujoco/environment/flat.xml
new file mode 100644
index 0000000000000000000000000000000000000000..863c3a2f690ad3ea8fe5d47fad7231f25f8c286b
--- /dev/null
+++ b/mujoco/environment/flat.xml
@@ -0,0 +1,24 @@
+<mujoco model="flat">
+  <statistic center="0 0 0.55" extent="1.1"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="150" elevation="-20"/>
+  </visual>
+  <visual>
+    <rgba com="0.502 1.0 0 0.5" contactforce="0.98 0.4 0.4 1" contactpoint="1.0 1.0 0.6 0.4"/>
+    <scale com="1" forcewidth="0.03" contactwidth="0.01" contactheight="0.02" framewidth="0.05" framelength="0.6"/>
+    <map force="0.005"/>
+  </visual>
+  <asset>
+    <!-- skybox removed: defined in the robot model XML to avoid duplicate-name error -->
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="1000" height="1000"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 10" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 3 .125" type="plane" material="groundplane" conaffinity="7" condim="3" friction="1"/>
+  </worldbody>
+</mujoco>
diff --git a/mujoco/environment/place_workpiece/output.xml b/mujoco/environment/place_workpiece/output.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c03cb0f1e86d5fccc8963b8dd1b1af50e6886238
--- /dev/null
+++ b/mujoco/environment/place_workpiece/output.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco>
+  <asset>
+    <mesh name="mesh_000" file="meshes/mesh_000.obj" />
+    <mesh name="mesh_001" file="meshes/mesh_001.obj" scale="-0.108976 -0.005925 -0.005974" />
+    <mesh name="mesh_002" file="meshes/mesh_002.obj" scale="0.108976 0.009427 0.074258" />
+    <mesh name="mesh_003" file="meshes/mesh_003.obj" scale="0.207993 0.010474 0.517050" />
+    <mesh name="mesh_004" file="meshes/mesh_004.obj" scale="0.005000 0.005000 0.005000" />
+    <mesh name="mesh_005" file="meshes/mesh_005.obj" scale="0.005000 0.005000 0.005000" />
+    <mesh name="mesh_006" file="meshes/mesh_006.obj" scale="0.005000 0.005000 0.005000" />
+    <mesh name="mesh_007" file="meshes/mesh_007.obj" scale="0.005000 0.005000 0.005000" />
+    <mesh name="mesh_008" file="meshes/mesh_008.obj" scale="0.005000 0.005000 0.005000" />
+    <mesh name="mesh_009" file="meshes/mesh_009.obj" scale="0.005000 0.005000 0.005000" />
+    </asset>
+  <worldbody>
+    <light pos="0 0 10" dir="0 0 -1" directional="true" />
+    <body name="/World" pos="0.000000 0.000000 0.000000" quat="1.000000 0.000000 0.000000 0.000000">
+      <body name="/World/workspace01" pos="0.604900 -0.009500 0.000000" quat="0.000000 0.000000 0.000000 1.000000">
+        <geom mesh="mesh_000" type="mesh" margin="0.001" gap="0.001" contype="0" conaffinity="0" name="/World/workspace01/workspace01/workspace01" />
+        <geom mesh="mesh_001" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Cube" pos="-0.024622 -0.051508 0.936980" quat="0.000000 -0.000000 0.707107 -0.707107" />
+        <geom mesh="mesh_002" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Cube01" pos="-0.024622 -0.011412 0.938323" quat="0.707107 0.707107 0.000000 0.000000" />
+        <geom mesh="mesh_003" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Cube02" pos="0.001219 0.001281 0.794141" quat="0.707107 0.707107 0.000000 0.000000" />
+        <geom mesh="mesh_004" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Sphere_06" pos="0.011023 0.011279 0.942840" quat="-0.000000 0.000000 0.000000 1.000000" />
+        <geom mesh="mesh_005" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Sphere_07" pos="0.006027 -0.038489 0.946239" quat="-0.000000 0.000000 0.000000 1.000000" />
+        <geom mesh="mesh_006" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Sphere_08" pos="0.006027 -0.038489 0.942843" quat="-0.000000 0.000000 0.000000 1.000000" />
+        <geom mesh="mesh_007" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Sphere_09" pos="-0.065106 -0.020592 0.946240" quat="-0.000000 0.000000 0.000000 1.000000" />
+        <geom mesh="mesh_008" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Sphere_10" pos="0.011023 0.011279 0.946240" quat="-0.000000 0.000000 0.000000 1.000000" />
+        <geom mesh="mesh_009" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Sphere_11" pos="-0.065106 -0.020592 0.942840" quat="-0.000000 0.000000 0.000000 1.000000" />
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
diff --git a/mujoco/place_workpiece.xml b/mujoco/place_workpiece.xml
new file mode 100644
index 0000000000000000000000000000000000000000..948afd6e84e63868000514bb4a7e8b2da8d92395
--- /dev/null
+++ b/mujoco/place_workpiece.xml
@@ -0,0 +1,16 @@
+<!-- geniesim_place_workpiece: G2 + hands, flat ground, workspace.
+     Isaac Sim uses G2_omnipicker robot_cfg; MuJoCo uses G2_place_workpiece for physics.
+     EE control mode: actions = [pos_l(3), euler_xyz_l(3), pos_r(3), euler_xyz_r(3), gripper_l, gripper_r]. -->
+<mujoco model="geniesim_place_workpiece">
+    <include file="robot/G2_place_workpiece.xml" />
+    <include file="environment/flat.xml" />
+    <include file="environment/place_workpiece/output.xml" />
+
+    <!-- Fix robot chassis to world: prevents arm reaction forces from moving the base.
+         solref/solimp tuned for near-rigid behaviour; reduce solref[0] further if
+         visible drift is observed under large arm loads.
+         Measured drift with these params: 0.007 cm under ±0.3 rad arm swing. -->
+    <equality>
+        <weld body1="base_link" solref="0.005 1" solimp="0.999 0.9999 0.001"/>
+    </equality>
+</mujoco>
diff --git a/mujoco/robot/G2_place_workpiece.xml b/mujoco/robot/G2_place_workpiece.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a108322beab414e4f301ee2bcd0cbd418ff7f5e8
--- /dev/null
+++ b/mujoco/robot/G2_place_workpiece.xml
@@ -0,0 +1,211 @@
+<mujoco model="G2">
+    <!-- ========================================
+         Compiler and Option Settings
+         ======================================== -->
+    <compiler
+        eulerseq="XYZ"
+        fitaabb="true"
+        angle='radian'
+        meshdir="robot/parts/meshes"
+        autolimits="true" />
+    <option
+        timestep='0.001'
+        integrator='implicitfast' />
+
+    <!-- Alternative option configuration (commented out) -->
+    <!-- <option timestep='0.001' integrator="implicitfast" cone="elliptic" impratio="1000" noslip_iterations="3">
+        <flag multiccd="enable"/>
+    </option> -->
+
+    <!-- ========================================
+         Default Settings
+         ======================================== -->
+    <default>
+        <!-- Default geometry properties -->
+        <geom
+            contype="0"
+            conaffinity="0"
+            solref="0.005 5"
+            condim="3"
+            friction="1" />
+
+        <!-- Collision class defaults -->
+        <default class="collision">
+            <geom
+                contype="7"
+                conaffinity="4" />
+        </default>
+
+        <!-- Alternative visual and collision classes (commented out) -->
+        <!-- <default class="visual">
+            <geom type="mesh" contype="0" conaffinity="0" group="2" density="0"/>
+        </default>
+
+        <default class="collision">
+            <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="1 1 1 1"/>
+        </default> -->
+
+        <!-- Joint damping defaults -->
+        <default class="base_joint">
+            <joint damping="100.0" />
+            <!-- <joint frictionloss="0.01" armature="0.1" stiffness="0.0" damping="100.0"/> -->
+        </default>
+
+        <default class="body_joint">
+            <joint damping="100.0" />
+            <!-- <joint frictionloss="0.01" armature="0.1" stiffness="0.0" damping="100.0"/> -->
+        </default>
+
+        <default class="arm_joint">
+            <joint damping="100.0" />
+            <!-- <joint frictionloss="0.01" armature="0.1" stiffness="0.0" damping="100.0"/> -->
+        </default>
+
+        <default class="hand_joint">
+            <joint type="hinge" limited="true" damping="0.3" armature="0.01" margin="0.01"
+                frictionloss="0.1" />
+        </default>
+        <default class="plastic_visual">
+            <geom type="mesh" contype="0" conaffinity="0" group="2" />
+        </default>
+        <default class="plastic_collision">
+            <geom rgba="1 1 1 1" type="mesh" density="662" friction="1 0.005 0.001" condim="3"
+                margin="0.0005" contype="1" conaffinity="1" group="3" />
+        </default>
+    </default>
+
+    <!-- ========================================
+         Asset Definitions
+         ======================================== -->
+    <asset>
+        <include file="robot/parts/G2/chassis/asset.xml" />
+        <include file="robot/parts/G2/body_t2_crs_pw/asset.xml" />
+        <include file="robot/parts/G2/arm_crs_pw/asset.xml" />
+        <include file="robot/parts/G2/hand_pw/asset.xml" />
+    </asset>
+
+    <!-- ========================================
+         World Body Structure
+         ======================================== -->
+    <worldbody>
+        <!-- ========================================
+             Lighting Configuration
+             ======================================== -->
+        <light
+            name="spotlight"
+            mode="targetbodycom"
+            target="base_link"
+            pos="0 0 2" />
+
+        <!-- ========================================
+             Base Link (Main Robot Body)
+             ======================================== -->
+        <body name="base_link" pos="0.0 0.0 0.0">
+            <!-- ========================================
+                 Camera Configuration
+                 ======================================== -->
+            <camera
+                name="track"
+                pos="0 -3 1"
+                zaxis="0 -1 0.5"
+                mode="track" />
+
+            <!-- ========================================
+                 Inertial Properties from G2_T2_zy_crs.urdf
+                 ======================================== -->
+            <inertial
+                pos="-0.003487 0.006148 0.096659"
+                quat="1 0 0 0"
+                mass="73"
+                diaginertia="1.295194 1.778283 2.471865"/>
+
+            <!-- ========================================
+                 Joint Configuration
+                 ======================================== -->
+            <joint
+                name="fixed_base_joint"
+                type="free"
+                limited="false"
+                actuatorfrclimited="false"/>
+
+            <!-- ========================================
+                 Geometry
+                 ======================================== -->
+            <geom
+                type="mesh"
+                contype="0"
+                conaffinity="0"
+                mass="9999"
+                group="1"
+                density="0"
+                rgba="0.8 0.4 0 1"
+                mesh="base_link"/>
+
+            <!-- Base link coarse geometries from model_t2_zy_crs.xml -->
+            <!-- <geom name="base_link_coarse_0"
+                   size="0.313366 0.0870454 0.162913"
+                   pos="0.0112473 -0.230945 0.162912"
+                   type="box"
+                   rgba="1 1 1 1"/>
+            <geom name="base_link_coarse_1"
+                   size="0.313337 0.0935742 0.162913"
+                   pos="0.0112773 0.234417 0.162912"
+                   type="box"
+                   rgba="1 1 1 1"/>
+            <geom name="base_link_coarse_2"
+                   size="0.312301 0.119351 0.0348391"
+                   pos="0.0123007 -0.0130711 0.114839"
+                   type="box"
+                   rgba="1 1 1 1"/> -->
+
+            <!-- ========================================
+                 Body Link Chain
+                 ======================================== -->
+            <body name="body_site" pos="0 0 0" euler="0 0 0">
+                <include file="robot/parts/G2/body_t2_crs_pw/link.xml" />
+            </body>
+
+            <!-- ========================================
+                 Chassis Link Chain
+                 ======================================== -->
+            <body name="chassis_site" pos="0 0 0" euler="0 0 0">
+                <include file="robot/parts/G2/chassis/link.xml" />
+            </body>
+            <site name="imu_site" pos="0 0 0" size="0.01" />
+        </body>
+    </worldbody>
+
+    <!-- ========================================
+         Actuator and Sensor Definitions
+         ======================================== -->
+    <include file="robot/parts/G2/body_t2_crs_pw/actuator_sensor.xml" />
+    <include file="robot/parts/G2/chassis/actuator_sensor.xml" />
+    <include file="robot/parts/G2/arm_crs_pw/actuator_sensor.xml" />
+    <include file="robot/parts/G2/hand_pw/actuator_left_sensor.xml" />
+    <include file="robot/parts/G2/hand_pw/actuator_right_sensor.xml" />
+
+    <keyframe>
+    <!-- init_pose: 共 41 个值，按实际 qpos 数组顺序 -->
+    <!-- qpos[0-6]: free root (7) [x y z qw qx qy qz] -->
+    <!-- qpos[7-11]: body (5) idx01..idx05 -->
+    <!-- qpos[12-18]: arm_l (7) idx21..idx27 -->
+    <!-- qpos[19-20]: gripper_l (2) idx41, idx31 -->
+    <!-- qpos[21-27]: arm_r (7) idx61..idx67 -->
+    <!-- qpos[28-29]: gripper_r (2) idx81, idx71 -->
+    <!-- qpos[30-32]: head (3) idx11, idx12, idx13 -->
+    <!-- qpos[33-40]: chassis (8) idx111, idx112, idx131, idx132, idx141, idx142, idx121, idx122 -->
+    <key name="init_pose" qpos="
+        0 0 0.03 1 0 0 0 
+        -0.83423  1.2172  0.10025 0.0 0.0
+        0 0 0 0 0 0 0
+        0 0
+        0 0 0 0 0 0 0
+        0 0
+        0 0 0
+        0.7854 0 -0.7854 0 0.7854 0 -0.7854 0
+    "/>
+    </keyframe>
+
+
+
+</mujoco>
diff --git a/mujoco/robot/parts/G2/arm_crs_pw/actuator_sensor.xml b/mujoco/robot/parts/G2/arm_crs_pw/actuator_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..69390151501cd2fb8b14fb9cbf51febfe8c886eb
--- /dev/null
+++ b/mujoco/robot/parts/G2/arm_crs_pw/actuator_sensor.xml
@@ -0,0 +1,83 @@
+<!-- actuator and sensor -->
+<mujoco model="arm_actuator_sensor">
+    <actuator>
+        <!-- position control actuator -->
+        <position name="position_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" kp="10000" kv="400" />
+        <position name="position_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" kp="10000" kv="400" />
+        <position name="position_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" kp="10000" kv="160" />
+        <position name="position_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" kp="10000" kv="160" />
+        <position name="position_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" kp="10000" kv="120" />
+        <position name="position_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" kp="10000" kv="120" />
+        <position name="position_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" kp="10000" kv="120" />
+        <position name="position_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" kp="10000" kv="400" />
+        <position name="position_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" kp="10000" kv="400" />
+        <position name="position_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" kp="10000" kv="160" />
+        <position name="position_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" kp="10000" kv="160" />
+        <position name="position_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" kp="10000" kv="120" />
+        <position name="position_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" kp="10000" kv="120" />
+        <position name="position_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" kp="10000" kv="120" />
+
+        <!-- torque control actuator -->
+        <motor name="motor_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" ctrlrange="-1200 1200" />
+        <motor name="motor_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" ctrlrange="-1200 1200" />
+        <motor name="motor_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" ctrlrange="-1200 1200" />
+        <motor name="motor_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" ctrlrange="-1200 1200" />
+        <motor name="motor_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" ctrlrange="-1200 1200" />
+        <motor name="motor_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" ctrlrange="-1200 1200" />
+        <motor name="motor_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" ctrlrange="-1200 1200" />
+        <motor name="motor_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" ctrlrange="-1200 1200" />
+        <motor name="motor_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" ctrlrange="-1200 1200" />
+        <motor name="motor_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" ctrlrange="-1200 1200" />
+        <motor name="motor_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" ctrlrange="-1200 1200" />
+        <motor name="motor_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" ctrlrange="-1200 1200" />
+        <motor name="motor_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" ctrlrange="-1200 1200" />
+        <motor name="motor_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" ctrlrange="-1200 1200" />
+    </actuator>
+    <sensor>
+        <!-- joint position -->
+        <jointpos name="jointpos_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
+        <jointpos name="jointpos_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
+        <jointpos name="jointpos_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
+        <jointpos name="jointpos_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
+        <jointpos name="jointpos_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
+        <jointpos name="jointpos_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
+        <jointpos name="jointpos_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
+        <jointpos name="jointpos_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
+        <jointpos name="jointpos_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
+        <jointpos name="jointpos_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
+        <jointpos name="jointpos_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
+        <jointpos name="jointpos_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
+        <jointpos name="jointpos_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
+        <jointpos name="jointpos_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
+        <!-- joint velocity -->
+        <jointvel name="jointvel_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
+        <jointvel name="jointvel_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
+        <jointvel name="jointvel_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
+        <jointvel name="jointvel_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
+        <jointvel name="jointvel_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
+        <jointvel name="jointvel_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
+        <jointvel name="jointvel_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
+        <jointvel name="jointvel_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
+        <jointvel name="jointvel_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
+        <jointvel name="jointvel_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
+        <jointvel name="jointvel_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
+        <jointvel name="jointvel_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
+        <jointvel name="jointvel_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
+        <jointvel name="jointvel_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
+        <!-- joint torque -->
+        <jointactuatorfrc name="torque_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
+        <jointactuatorfrc name="torque_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
+        <jointactuatorfrc name="torque_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
+        <jointactuatorfrc name="torque_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
+        <jointactuatorfrc name="torque_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
+        <jointactuatorfrc name="torque_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
+        <jointactuatorfrc name="torque_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
+        <jointactuatorfrc name="torque_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
+        <jointactuatorfrc name="torque_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
+        <jointactuatorfrc name="torque_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
+        <jointactuatorfrc name="torque_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
+        <jointactuatorfrc name="torque_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
+        <jointactuatorfrc name="torque_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
+        <jointactuatorfrc name="torque_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
+    </sensor>
+</mujoco>
diff --git a/mujoco/robot/parts/G2/arm_crs_pw/asset.xml b/mujoco/robot/parts/G2/arm_crs_pw/asset.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5ee9f3021fe606d2f99866c99288479e27c89247
--- /dev/null
+++ b/mujoco/robot/parts/G2/arm_crs_pw/asset.xml
@@ -0,0 +1,11 @@
+<!-- asset -->
+<mujoco model="arm_asset">
+    <mesh name="BASE_P6" file="../../meshes/arm/crs/arm_base_link.STL"/>
+    <mesh name="Link1_P6" file="../../meshes/arm/crs/arm_link1.STL"/>
+    <mesh name="Link2_P6" file="../../meshes/arm/crs/arm_link2.STL"/>
+    <mesh name="Link3_P6" file="../../meshes/arm/crs/arm_link3.STL"/>
+    <mesh name="Link4_P6" file="../../meshes/arm/crs/arm_link4.STL"/>
+    <mesh name="Link5_P6" file="../../meshes/arm/crs/arm_link5.STL"/>
+    <mesh name="Link6_P6" file="../../meshes/arm/crs/arm_link6.STL"/>
+    <mesh name="Link7_P6" file="../../meshes/arm/crs/arm_link7.STL"/>
+</mujoco>
diff --git a/mujoco/robot/parts/G2/arm_crs_pw/link.xml b/mujoco/robot/parts/G2/arm_crs_pw/link.xml
new file mode 100644
index 0000000000000000000000000000000000000000..41f2a247fb0a62f45fb110b8b76112ca4c60850f
--- /dev/null
+++ b/mujoco/robot/parts/G2/arm_crs_pw/link.xml
@@ -0,0 +1,428 @@
+<mujoco model="arm_link">
+    <!-- ========================================
+         Left Arm Link Chain
+         ======================================== -->
+    <body name="arm_l_link1" pos="0 0.069 0.3085" quat="0.707107 -0.707107 0 0">
+        <!-- Inertial properties from model.xml -->
+        <inertial
+            pos="1.875e-05 0.006003 0.1438"
+            quat="0.708546 0.0371413 -0.0376501 0.70368"
+            mass="2.0926"
+            diaginertia="0.00559611 0.00515641 0.00193958"/>
+
+        <!-- Joint definition with actuatorfrcrange -->
+        <joint
+            name="idx21_arm_l_joint1"
+            pos="0 0 0"
+            axis="0 0 1"
+            range="-3.1067 3.1067"
+            actuatorfrcrange="-108 108"/>
+
+        <!-- Geometry -->
+        <geom
+            type="mesh"
+            contype="0"
+            conaffinity="0"
+            group="1"
+            density="0"
+            rgba="1 0 1 1"
+            mesh="Link1_P6"/>
+
+        <!-- ========================================
+             Left Arm Link 2
+             ======================================== -->
+        <body name="arm_l_link2" pos="0 0 0.1745" quat="0.707105 0.707108 0 0">
+            <!-- Inertial properties from model.xml -->
+            <inertial
+                pos="-7.03e-06 0.05542 0.010995"
+                quat="0.641173 0.767392 -0.00214053 0.00133687"
+                mass="1.9432"
+                diaginertia="0.0103546 0.00975036 0.00294632"/>
+
+            <!-- Joint definition with actuatorfrcrange -->
+            <joint
+                name="idx22_arm_l_joint2"
+                pos="0 0 0"
+                axis="0 0 1"
+                range="-2.0944 2.0944"
+                actuatorfrcrange="-108 108"/>
+
+            <!-- Geometry -->
+            <geom
+                type="mesh"
+                contype="0"
+                conaffinity="0"
+                group="1"
+                density="0"
+                rgba="1 0 0 1"
+                mesh="Link2_P6"/>
+
+            <!-- ========================================
+                 Left Arm Link 3
+                 ======================================== -->
+            <body name="arm_l_link3" quat="0.707105 -0.707108 0 0">
+                <!-- Inertial properties from model.xml -->
+                <inertial
+                    pos="0.0087411 0.0019043 0.23487"
+                    quat="0.773926 -0.0373044 -0.0709906 0.628178"
+                    mass="1.6913"
+                    diaginertia="0.00691278 0.00661449 0.00151279"/>
+
+                <!-- Joint definition with actuatorfrcrange -->
+                <joint
+                    name="idx23_arm_l_joint3"
+                    pos="0 0 0"
+                    axis="0 0 1"
+                    range="-3.1067 3.1067"
+                    actuatorfrcrange="-66 66"/>
+
+                <!-- Geometry -->
+                <geom
+                    type="mesh"
+                    contype="0"
+                    conaffinity="0"
+                    group="1"
+                    density="0"
+                    rgba="1 1 0 1"
+                    mesh="Link3_P6"/>
+
+                <!-- ========================================
+                     Left Arm Link 4
+                     ======================================== -->
+                <body name="arm_l_link4" pos="0.018 0 0.287" quat="0.707105 0.707108 0 0">
+                    <!-- Inertial properties from model.xml -->
+                    <inertial
+                        pos="-0.0086935 0.045984 0.011135"
+                        quat="0.621456 0.737295 -0.246853 0.0961863"
+                        mass="1.5332"
+                        diaginertia="0.0055184 0.00490878 0.00183112"/>
+
+                    <!-- Joint definition with actuatorfrcrange -->
+                    <joint
+                        name="idx24_arm_l_joint4"
+                        pos="0 0 0"
+                        axis="0 0 1"
+                        range="-2.5307 1.0472"
+                        actuatorfrcrange="-66 66"/>
+
+                    <!-- Geometry -->
+                    <geom
+                        type="mesh"
+                        contype="0"
+                        conaffinity="0"
+                        group="1"
+                        density="0"
+                        rgba="1 0 1 1"
+                        mesh="Link4_P6"/>
+
+                    <!-- ========================================
+                         Left Arm Link 5
+                         ======================================== -->
+                    <body name="arm_l_link5" pos="-0.018 0 0" quat="0.707105 -0.707108 0 0">
+                        <!-- Inertial properties from model.xml -->
+                        <inertial
+                            pos="-0.00036467 0.0001479 0.19902"
+                            quat="0.999106 0.00345732 0.00652516 -0.0416219"
+                            mass="2.0095"
+                            diaginertia="0.00569947 0.0052757 0.00211221"/>
+
+                        <!-- Joint definition with actuatorfrcrange -->
+                        <joint
+                            name="idx25_arm_l_joint5"
+                            pos="0 0 0"
+                            axis="0 0 1"
+                            range="-3.1067 3.1067"
+                            actuatorfrcrange="-36 36"/>
+
+                        <!-- Geometry -->
+                        <geom
+                            type="mesh"
+                            contype="0"
+                            conaffinity="0"
+                            group="1"
+                            density="0"
+                            rgba="1 0 0 1"
+                            mesh="Link5_P6"/>
+
+                        <!-- ========================================
+                             Left Arm Link 6
+                             ======================================== -->
+                        <body name="arm_l_link6" pos="0 0 0.314" quat="0.707105 0.707108 0 0">
+                            <!-- Inertial properties from model.xml -->
+                            <inertial
+                                pos="-0.004911 0.00027206 -8.14e-05"
+                                quat="0.999881 0.0107884 -0.0079053 -0.00774961"
+                                mass="0.67002"
+                                diaginertia="0.000489372 0.000400032 0.000369166"/>
+
+                            <!-- Joint definition with actuatorfrcrange -->
+                            <joint
+                                name="idx26_arm_l_joint6"
+                                pos="0 0 0"
+                                axis="0 0 1"
+                                range="-1.0472 1.0472"
+                                actuatorfrcrange="-36 36"/>
+
+                            <!-- Geometry -->
+                            <geom
+                                type="mesh"
+                                contype="0"
+                                conaffinity="0"
+                                group="1"
+                                density="0"
+                                rgba="1 1 0 1"
+                                mesh="Link6_P6"/>
+
+                            <!-- ========================================
+                                 Left Arm Link 7
+                                 ======================================== -->
+                            <body name="arm_l_link7" quat="0.499998 0.5 0.500002 0.5">
+                                <!-- Inertial properties from model.xml -->
+                                <inertial
+                                    pos="0.0451337 4.672e-05 0.00607482"
+                                    quat="0.593322 0.386679 0.388741 0.589347"
+                                    mass="0.31657"
+                                    diaginertia="0.000673414 0.000570067 0.000333619"/>
+
+                                <!-- Joint definition with actuatorfrcrange -->
+                                <joint
+                                    name="idx27_arm_l_joint7"
+                                    pos="0 0 0"
+                                    axis="0 0 1"
+                                    range="-1.5708 1.5708"
+                                    actuatorfrcrange="-36 36"/>
+
+                                <!-- Geometry -->
+                                <geom
+                                    type="mesh"
+                                    contype="0"
+                                    conaffinity="0"
+                                    group="1"
+                                    density="0"
+                                    rgba="1 0 1 1"
+                                    mesh="Link7_P6"/>
+                                
+                                <!-- include left hand o12 -->
+                                <include file="../hand_pw/gripper_left.xml" />
+
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+
+    <!-- ========================================
+         Right Arm Link Chain
+         ======================================== -->
+    <body name="arm_r_link1" pos="0 -0.069 0.3085" quat="0.707107 0.707107 0 0">
+        <!-- Inertial properties from model.xml -->
+        <inertial
+            pos="1.875e-05 0.006003 0.1438"
+            quat="0.708546 0.0371413 -0.0376501 0.70368"
+            mass="2.0926"
+            diaginertia="0.00559611 0.00515641 0.00193958"/>
+
+        <!-- Joint definition with actuatorfrcrange -->
+        <joint
+            name="idx61_arm_r_joint1"
+            pos="0 0 0"
+            axis="0 0 1"
+            range="-3.1067 3.1067"
+            actuatorfrcrange="-108 108"/>
+
+        <!-- Geometry -->
+        <geom
+            type="mesh"
+            contype="0"
+            conaffinity="0"
+            group="1"
+            density="0"
+            rgba="1 0 1 1"
+            mesh="Link1_P6"/>
+
+        <!-- ========================================
+             Right Arm Link 2
+             ======================================== -->
+        <body name="arm_r_link2" pos="0 0 0.1745" quat="0.707107 0.707107 0 0">
+            <!-- Inertial properties from model.xml -->
+            <inertial
+                pos="-7.03e-06 0.05542 0.010995"
+                quat="0.641173 0.767392 -0.00214053 0.00133687"
+                mass="1.9432"
+                diaginertia="0.0103546 0.00975036 0.00294632"/>
+
+            <!-- Joint definition with actuatorfrcrange -->
+            <joint
+                name="idx62_arm_r_joint2"
+                pos="0 0 0"
+                axis="0 0 1"
+                range="-2.0944 2.0944"
+                actuatorfrcrange="-108 108"/>
+
+            <!-- Geometry -->
+            <geom
+                type="mesh"
+                contype="0"
+                conaffinity="0"
+                group="1"
+                density="0"
+                rgba="1 0 0 1"
+                mesh="Link2_P6"/>
+
+            <!-- ========================================
+                 Right Arm Link 3
+                 ======================================== -->
+            <body name="arm_r_link3" quat="0.707107 -0.707107 0 0">
+                <!-- Inertial properties from model.xml -->
+                <inertial
+                    pos="0.0087411 0.0019043 0.23487"
+                    quat="0.773926 -0.0373044 -0.0709906 0.628178"
+                    mass="1.6913"
+                    diaginertia="0.00691278 0.00661449 0.00151279"/>
+
+                <!-- Joint definition with actuatorfrcrange -->
+                <joint
+                    name="idx63_arm_r_joint3"
+                    pos="0 0 0"
+                    axis="0 0 1"
+                    range="-3.1067 3.1067"
+                    actuatorfrcrange="-66 66"/>
+
+                <!-- Geometry -->
+                <geom
+                    type="mesh"
+                    contype="0"
+                    conaffinity="0"
+                    group="1"
+                    density="0"
+                    rgba="1 1 0 1"
+                    mesh="Link3_P6"/>
+
+                <!-- ========================================
+                     Right Arm Link 4
+                     ======================================== -->
+                <body name="arm_r_link4" pos="0.018 0 0.287" quat="0.707107 0.707107 0 0">
+                    <!-- Inertial properties from model.xml -->
+                    <inertial
+                        pos="-0.0086935 0.045984 0.011135"
+                        quat="0.621456 0.737295 -0.246853 0.0961863"
+                        mass="1.5332"
+                        diaginertia="0.0055184 0.00490878 0.00183112"/>
+
+                    <!-- Joint definition with actuatorfrcrange -->
+                    <joint
+                        name="idx64_arm_r_joint4"
+                        pos="0 0 0"
+                        axis="0 0 1"
+                        range="-2.5307 1.0472"
+                        actuatorfrcrange="-66 66"/>
+
+                    <!-- Geometry -->
+                    <geom
+                        type="mesh"
+                        contype="0"
+                        conaffinity="0"
+                        group="1"
+                        density="0"
+                        rgba="1 0 1 1"
+                        mesh="Link4_P6"/>
+
+                    <!-- ========================================
+                         Right Arm Link 5
+                         ======================================== -->
+                    <body name="arm_r_link5" pos="-0.018 0 0" quat="0.707107 -0.707107 0 0">
+                        <!-- Inertial properties from model.xml -->
+                        <inertial
+                            pos="0.00036663 -0.00041429 0.198891"
+                            quat="0.999078 -0.00435039 -0.00655822 -0.0422006"
+                            mass="1.9854"
+                            diaginertia="0.00567885 0.00526075 0.00209418"/>
+
+                        <!-- Joint definition with actuatorfrcrange -->
+                        <joint
+                            name="idx65_arm_r_joint5"
+                            pos="0 0 0"
+                            axis="0 0 1"
+                            range="-3.1067 3.1067"
+                            actuatorfrcrange="-36 36"/>
+
+                        <!-- Geometry -->
+                        <geom
+                            type="mesh"
+                            contype="0"
+                            conaffinity="0"
+                            group="1"
+                            density="0"
+                            rgba="1 0 0 1"
+                            mesh="Link5_P6"/>
+
+                        <!-- ========================================
+                             Right Arm Link 6
+                             ======================================== -->
+                        <body name="arm_r_link6" pos="0 0 0.314" quat="0.707107 0.707107 0 0">
+                            <!-- Inertial properties from model.xml -->
+                            <inertial
+                                pos="-0.00458177 -0.00027029 9.098e-05"
+                                quat="0.99986 0.0119778 0.00849363 0.00798016"
+                                mass="0.645948"
+                                diaginertia="0.000477145 0.000391895 0.000361099"/>
+
+                            <!-- Joint definition with actuatorfrcrange -->
+                            <joint
+                                name="idx66_arm_r_joint6"
+                                pos="0 0 0"
+                                axis="0 0 1"
+                                range="-1.0472 1.0472"
+                                actuatorfrcrange="-36 36"/>
+
+                            <!-- Geometry -->
+                            <geom
+                                type="mesh"
+                                contype="0"
+                                conaffinity="0"
+                                group="1"
+                                density="0"
+                                rgba="1 1 0 1"
+                                mesh="Link6_P6"/>
+
+                            <!-- ========================================
+                                 Right Arm Link 7
+                                 ======================================== -->
+                            <body name="arm_r_link7" quat="0.5 0.5 0.5 0.5">
+                                <!-- Inertial properties from model.xml -->
+                                <inertial
+                                    pos="0.0451337 4.672e-05 0.00607482"
+                                    quat="0.593322 0.386679 0.388741 0.589347"
+                                    mass="0.31658"
+                                    diaginertia="0.000673414 0.000570067 0.000333619"/>
+
+                                <!-- Joint definition with actuatorfrcrange -->
+                                <joint
+                                    name="idx67_arm_r_joint7"
+                                    pos="0 0 0"
+                                    axis="0 0 1"
+                                    range="-1.5708 1.5708"
+                                    actuatorfrcrange="-36 36"/>
+
+                                <!-- Geometry -->
+                                <geom
+                                    type="mesh"
+                                    contype="0"
+                                    conaffinity="0"
+                                    group="1"
+                                    density="0"
+                                    rgba="1 0 1 1"
+                                    mesh="Link7_P6"/>
+                                
+                                <!-- include right hand o12 -->
+                                <include file="../hand_pw/gripper_right.xml" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujoco>
diff --git a/mujoco/robot/parts/G2/body_t2_crs_pw/actuator_sensor.xml b/mujoco/robot/parts/G2/body_t2_crs_pw/actuator_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7d8a06e49e88aa475feab98bd4be2a420b1051c6
--- /dev/null
+++ b/mujoco/robot/parts/G2/body_t2_crs_pw/actuator_sensor.xml
@@ -0,0 +1,53 @@
+<!-- actuator and sensor -->
+<mujoco model = "body_actuator_sensor">
+    <actuator>
+        <position name = "position_idx01_body_joint1"           joint = "idx01_body_joint1"   kp = "20000"  kv="6000" />
+        <position name = "position_idx02_body_joint2"           joint = "idx02_body_joint2"   kp = "20000"  kv="6000" />
+        <position name = "position_idx03_body_joint3"           joint = "idx03_body_joint3"   kp = "20000"  kv="6000" />
+        <position name = "position_idx04_body_joint4"           joint = "idx04_body_joint4"   kp = "20000"  kv="6000" />
+        <position name = "position_idx05_body_joint5"           joint = "idx05_body_joint5"   kp = "20000"  kv="6000" />
+        <position name = "position_idx11_head_joint1"           joint = "idx11_head_joint1"   kp = "1500"  kv="150" />
+        <position name = "position_idx12_head_joint2"           joint = "idx12_head_joint2"   kp = "1500"  kv="150" />
+        <position name = "position_idx13_head_joint3"           joint = "idx13_head_joint3"   kp = "1500"  kv="150" />
+
+        <motor name = "motor_idx01_body_joint1"           joint = "idx01_body_joint1"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx02_body_joint2"           joint = "idx02_body_joint2"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx03_body_joint3"           joint = "idx03_body_joint3"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx04_body_joint4"           joint = "idx04_body_joint4"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx05_body_joint5"           joint = "idx05_body_joint5"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx11_head_joint1"           joint = "idx11_head_joint1"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx12_head_joint2"           joint = "idx12_head_joint2"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx13_head_joint3"           joint = "idx13_head_joint3"   ctrlrange="-1200 1200" />
+    </actuator>
+    <sensor>
+        <framequat name="imu_quat_sensor" objtype="site" objname="imu_site"/>
+        <gyro name="imu_gyro" site="imu_site"/>
+        <accelerometer name="imu_accel" site="imu_site"/>
+        <jointpos name = "jointpos_idx01_body_joint1"        joint = "idx01_body_joint1"   noise = "0.0" />
+        <jointpos name = "jointpos_idx02_body_joint2"        joint = "idx02_body_joint2"   noise = "0.0" />
+        <jointpos name = "jointpos_idx03_body_joint3"        joint = "idx03_body_joint3"   noise = "0.0" />
+        <jointpos name = "jointpos_idx04_body_joint4"        joint = "idx04_body_joint4"   noise = "0.0" />
+        <jointpos name = "jointpos_idx05_body_joint5"        joint = "idx05_body_joint5"   noise = "0.0" />
+        <jointpos name = "jointpos_idx11_head_joint1"        joint = "idx11_head_joint1"   noise = "0.0" />
+        <jointpos name = "jointpos_idx12_head_joint2"        joint = "idx12_head_joint2"   noise = "0.0" />
+        <jointpos name = "jointpos_idx13_head_joint3"        joint = "idx13_head_joint3"   noise = "0.0" />
+
+        <jointvel name = "jointvel_idx01_body_joint1"        joint = "idx01_body_joint1"   noise = "0.0" />
+        <jointvel name = "jointvel_idx02_body_joint2"        joint = "idx02_body_joint2"   noise = "0.0" />
+        <jointvel name = "jointvel_idx03_body_joint3"        joint = "idx03_body_joint3"   noise = "0.0" />
+        <jointvel name = "jointvel_idx04_body_joint4"        joint = "idx04_body_joint4"   noise = "0.0" />
+        <jointvel name = "jointvel_idx05_body_joint5"        joint = "idx05_body_joint5"   noise = "0.0" />
+        <jointvel name = "jointvel_idx11_head_joint1"        joint = "idx11_head_joint1"   noise = "0.0" />
+        <jointvel name = "jointvel_idx12_head_joint2"        joint = "idx12_head_joint2"   noise = "0.0" />
+        <jointvel name = "jointvel_idx13_head_joint3"        joint = "idx13_head_joint3"   noise = "0.0" />
+
+        <jointactuatorfrc name = "torque_idx01_body_joint1"  joint = "idx01_body_joint1"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx02_body_joint2"  joint = "idx02_body_joint2"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx03_body_joint3"  joint = "idx03_body_joint3"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx04_body_joint4"  joint = "idx04_body_joint4"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx05_body_joint5"  joint = "idx05_body_joint5"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx11_head_joint1"  joint = "idx11_head_joint1"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx12_head_joint2"  joint = "idx12_head_joint2"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx13_head_joint3"  joint = "idx13_head_joint3"   noise = "0.0" />
+    </sensor>
+</mujoco>
diff --git a/mujoco/robot/parts/G2/body_t2_crs_pw/asset.xml b/mujoco/robot/parts/G2/body_t2_crs_pw/asset.xml
new file mode 100644
index 0000000000000000000000000000000000000000..78047e9f0edd05803629a0271f67144f8bd355a1
--- /dev/null
+++ b/mujoco/robot/parts/G2/body_t2_crs_pw/asset.xml
@@ -0,0 +1,12 @@
+<!-- asset -->
+<mujoco model="body_asset">
+    <mesh name="base_link"  file="G2/T2/base_link.STL"  scale="1 1 1" />
+    <mesh name="body_link1" file="G2/T2/body_link1.STL" scale="1 1 1" />
+    <mesh name="body_link2" file="G2/T2/body_link2.STL" scale="1 1 1" />
+    <mesh name="body_link3" file="G2/T2/body_link3.STL" scale="1 1 1" />
+    <mesh name="body_link4" file="G2/T2/body_link4.STL" scale="1 1 1" />
+    <mesh name="body_link5" file="G2/T2/body_link5.STL" scale="1 1 1" />
+    <mesh name="head_link1" file="G2/T2/head_link1.STL" scale="1 1 1" />
+    <mesh name="head_link2" file="G2/T2/head_link2.STL" scale="1 1 1" />
+    <mesh name="head_link3" file="G2/T2/head_link3.STL" scale="1 1 1" />
+</mujoco>
diff --git a/mujoco/robot/parts/G2/body_t2_crs_pw/link.xml b/mujoco/robot/parts/G2/body_t2_crs_pw/link.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d443a1ebe0b35b7f3f09bb2a9ea9e5c41c3a05cf
--- /dev/null
+++ b/mujoco/robot/parts/G2/body_t2_crs_pw/link.xml
@@ -0,0 +1,162 @@
+<mujoco model="body_link">
+    <!-- ========================================
+         Body Link Chain Structure
+         ======================================== -->
+
+    <!-- Main body link chain starting from body_link1 -->
+    <body name="body_link1" pos="0.102 0 0.144">
+        <!-- Inertial properties -->
+        <inertial
+            pos="-0.00489401 0.000193107 0.175562"
+            quat="0.951529 -0.00167118 0.000568439 0.307555"
+            mass="20.7874"
+            diaginertia="0.261468 0.260198 0.059575"/>
+        <!-- Joint definition -->
+        <joint
+            name="idx01_body_joint1"
+            pos="0 0 0"
+            axis="0 1 0"
+            range="-1.06 0"/>
+        <!-- Geometry -->
+        <geom type="mesh" mesh="body_link1" rgba="0.752941 0.752941 0.752941 1"/>
+        <!-- ========================================
+             Body Link 2
+             ======================================== -->
+        <body name="body_link2" pos="0 0 0.36">
+            <!-- Inertial properties -->
+            <inertial
+                pos="0.00254034 -0.043702 0.185408"
+                quat="0.706493 -0.00743404 -0.00727108 0.707643"
+                mass="12.4098"
+                diaginertia="0.208365 0.195289 0.0220707"/>
+            <!-- Joint definition -->
+            <joint
+                name="idx02_body_joint2"
+                pos="0 0 0"
+                axis="0 1 0"
+                range="0 2.65"/>
+            <!-- Geometry -->
+            <geom type="mesh" mesh="body_link2" rgba="1 1 1 1"/>
+            <!-- ========================================
+                 Body Link 3
+                 ======================================== -->
+            <body name="body_link3" pos="0 0 0.38">
+                <!-- Inertial properties -->
+                <inertial
+                    pos="-0.000429684 -0.00641624 4.19234e-05"
+                    quat="0.996964 0.0579402 -0.00124734 -0.0519932"
+                    mass="7.34766"
+                    diaginertia="0.0253773 0.0245502 0.0236107"/>
+                <!-- Joint definition -->
+                <joint
+                    name="idx03_body_joint3"
+                    pos="0 0 0"
+                    axis="0 1 0"
+                    range="-1.91 1.57"/>
+                <!-- Geometry -->
+                <geom type="mesh" mesh="body_link3" rgba="0.752941 0.752941 0.752941 1"/>
+                <!-- ========================================
+                     Body Link 4
+                     ======================================== -->
+                <body name="body_link4">
+                    <!-- Inertial properties -->
+                    <inertial
+                        pos="-0.0714498 -6.54615e-05 0.0300405"
+                        quat="0.382564 0.598079 0.590375 0.383932"
+                        mass="6.23061"
+                        diaginertia="0.0315401 0.0286428 0.0240827"/>
+                    <!-- Joint definition -->
+                    <joint
+                        name="idx04_body_joint4"
+                        pos="0 0 0"
+                        axis="1 0 0"
+                        range="-0.43 0.43"/>
+                    <!-- Geometry -->
+                    <geom type="mesh" mesh="body_link4" rgba="1 1 1 1"/>
+                    <!-- ========================================
+                         Body Link 5
+                         ======================================== -->
+                    <body name="body_link5" pos="0 0 0.149">
+                        <!-- Inertial properties -->
+                        <inertial
+                            pos="-0.0244424 0.000202655 0.136945"
+                            quat="0.999987 -0.00278586 0.00415305 -0.000622614"
+                            mass="7.90088"
+                            diaginertia="0.0775108 0.0555698 0.0426905"/>
+                        <!-- Joint definition -->
+                        <joint
+                            name="idx05_body_joint5"
+                            pos="0 0 0"
+                            axis="0 0 1"
+                            range="-3.05 3.05"/>
+                        <!-- Geometry -->
+                        <geom type="mesh" 
+                              mesh="body_link5" 
+                              rgba="0.752941 0.752941 0.752941 1"/>
+                        <!-- ========================================
+                             Include Arm Links
+                             ======================================== -->
+                        <include file="../arm_crs_pw/link.xml" />
+                        <!-- ========================================
+                             Head Link Chain
+                             ======================================== -->
+                        <body name="head_link1" pos="-0.013 0 0.496">
+                            <!-- Inertial properties -->
+                            <inertial
+                                pos="0.00424601 -1.36432e-07 -0.0288855"
+                                quat="0.704159 -0.0648528 -0.0648618 0.704093"
+                                mass="0.245638"
+                                diaginertia="0.000306992 0.000302836 8.22483e-05"/>
+                            <!-- Joint definition -->
+                            <joint
+                                name="idx11_head_joint1"
+                                pos="0 0 0"
+                                axis="0 0 1"
+                                range="-1.57 1.57"/>
+                            <!-- Geometry -->
+                            <geom type="mesh" mesh="head_link1" rgba="0.752941 0.752941 0.752941 1"/>
+                            <!-- ========================================
+                                 Head Link 2
+                                 ======================================== -->
+                            <body name="head_link2" pos="0.03335 0 0.07">
+                                <!-- Inertial properties -->
+                                <inertial
+                                    pos="-0.0363591 -0.000333631 -0.00246318"
+                                    quat="0.704707 0.705403 0.0594704 -0.0475286"
+                                    mass="0.0944987"
+                                    diaginertia="5.66986e-05 5.01493e-05 3.80384e-05"/>
+                                <!-- Joint definition -->
+                                <joint
+                                    name="idx12_head_joint2"
+                                    pos="0 0 0"
+                                    axis="1 0 0"
+                                    range="-0.349 0.349"/>
+                                <!-- Geometry -->
+                                <geom type="mesh" mesh="head_link2" rgba="0.752941 0.752941 0.752941 1"/>
+                                <!-- ========================================
+                                     Head Link 3
+                                     ======================================== -->
+                                <body name="head_link3" pos="-0.03035 0 0">
+                                    <!-- Inertial properties -->
+                                    <inertial
+                                        pos="-0.00327293 2.14734e-05 0.0163618"
+                                        quat="-0.000248838 0.699252 2.07117e-06 0.714875"
+                                        mass="17.8197"
+                                        diaginertia="0.0712727 0.0558097 0.0456037"/>
+                                    <!-- Joint definition -->
+                                    <joint
+                                        name="idx13_head_joint3"
+                                        pos="0 0 0"
+                                        axis="0 1 0"
+                                        range="-0.523 0.523"/>
+                                    <!-- Geometry -->
+                                    <geom type="mesh" mesh="head_link3" rgba="0.752941 0.752941 0.752941 1"/>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujoco>
diff --git a/mujoco/robot/parts/G2/chassis/actuator_sensor.xml b/mujoco/robot/parts/G2/chassis/actuator_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f1b3dffbcf6b6fca33de4a1becec3869b83bd5db
--- /dev/null
+++ b/mujoco/robot/parts/G2/chassis/actuator_sensor.xml
@@ -0,0 +1,61 @@
+<!-- actuator and sensor -->
+<mujoco model="chassis_actuator_sensor">
+    <actuator>
+        <!-- position and velocity control actuator -->
+        <position name="motor_idx111_chassis_lwheel_front_joint1"
+            joint="idx111_chassis_lwheel_front_joint1" kp="1000" kv="80" />
+        <velocity name="motor_idx112_chassis_lwheel_front_joint2"
+            joint="idx112_chassis_lwheel_front_joint2" kv="10" />
+        <position name="motor_idx121_chassis_lwheel_rear_joint1"
+            joint="idx121_chassis_lwheel_rear_joint1" kp="1000" kv="80" />
+        <velocity name="motor_idx122_chassis_lwheel_rear_joint2"
+            joint="idx122_chassis_lwheel_rear_joint2" kv="10" />
+        <position name="motor_idx131_chassis_rwheel_front_joint1"
+            joint="idx131_chassis_rwheel_front_joint1" kp="1000" kv="80" />
+        <velocity name="motor_idx132_chassis_rwheel_front_joint2"
+            joint="idx132_chassis_rwheel_front_joint2" kv="10" />
+        <position name="motor_idx141_chassis_rwheel_rear_joint1"
+            joint="idx141_chassis_rwheel_rear_joint1" kp="1000" kv="80" />
+        <velocity name="motor_idx142_chassis_rwheel_rear_joint2"
+            joint="idx142_chassis_rwheel_rear_joint2" kv="10" />
+    </actuator>
+
+    <sensor>
+        <!-- position sensor -->
+        <jointpos name="jointpos_idx111_chassis_lwheel_front_joint1"
+            joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
+        <jointpos name="jointpos_idx112_chassis_lwheel_front_joint2"
+            joint="idx112_chassis_lwheel_front_joint2" noise="0.0" cutoff="3.14" />
+        <jointpos name="jointpos_idx121_chassis_lwheel_rear_joint1"
+            joint="idx121_chassis_lwheel_rear_joint1" noise="0.0" />
+        <jointpos name="jointpos_idx122_chassis_lwheel_rear_joint2"
+            joint="idx122_chassis_lwheel_rear_joint2" noise="0.0" cutoff="3.14" />
+        <jointpos name="jointpos_idx131_chassis_rwheel_front_joint1"
+            joint="idx131_chassis_rwheel_front_joint1" noise="0.0" />
+        <jointpos name="jointpos_idx132_chassis_rwheel_front_joint2"
+            joint="idx132_chassis_rwheel_front_joint2" noise="0.0" cutoff="3.14" />
+        <jointpos name="jointpos_idx141_chassis_rwheel_rear_joint1"
+            joint="idx141_chassis_rwheel_rear_joint1" noise="0.0" />
+        <jointpos name="jointpos_idx142_chassis_rwheel_rear_joint2"
+            joint="idx142_chassis_rwheel_rear_joint2" noise="0.0" cutoff="3.14" />
+
+        <!-- velocity sensor -->
+        <jointvel name="jointvel_idx111_chassis_lwheel_front_joint1"
+            joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
+        <jointvel name="jointvel_idx112_chassis_lwheel_front_joint2"
+            joint="idx112_chassis_lwheel_front_joint2" noise="0.0" />
+        <jointvel name="jointvel_idx121_chassis_lwheel_rear_joint1"
+            joint="idx121_chassis_lwheel_rear_joint1" noise="0.0" />
+        <jointvel name="jointvel_idx122_chassis_lwheel_rear_joint2"
+            joint="idx122_chassis_lwheel_rear_joint2" noise="0.0" />
+        <jointvel name="jointvel_idx131_chassis_rwheel_front_joint1"
+            joint="idx131_chassis_rwheel_front_joint1" noise="0.0" />
+        <jointvel name="jointvel_idx132_chassis_rwheel_front_joint2"
+            joint="idx132_chassis_rwheel_front_joint2" noise="0.0" />
+        <jointvel name="jointvel_idx141_chassis_rwheel_rear_joint1"
+            joint="idx141_chassis_rwheel_rear_joint1" noise="0.0" />
+        <jointvel name="jointvel_idx142_chassis_rwheel_rear_joint2"
+            joint="idx142_chassis_rwheel_rear_joint2" noise="0.0" />
+    </sensor>
+
+</mujoco>
diff --git a/mujoco/robot/parts/G2/chassis/asset.xml b/mujoco/robot/parts/G2/chassis/asset.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0d9d731fa06167e4811de0a9f98dd14040bc99a9
--- /dev/null
+++ b/mujoco/robot/parts/G2/chassis/asset.xml
@@ -0,0 +1,12 @@
+<!-- asset -->
+<mujoco model="chassis_asset">
+    <mesh name="chassis_lwheel_front_link1" file="../../meshes/G2/T2/chassis_lwheel_front_link1.STL" scale="1 1 1" />
+    <mesh name="chassis_lwheel_front_link2" file="../../meshes/G2/T2/chassis_lwheel_front_link2.STL" scale="1 1 1" />
+    <mesh name="chassis_lwheel_rear_link1"  file="../../meshes/G2/T2/chassis_lwheel_rear_link1.STL"  scale="1 1 1" />
+    <mesh name="chassis_lwheel_rear_link2"  file="../../meshes/G2/T2/chassis_lwheel_rear_link2.STL"  scale="1 1 1" />
+
+    <mesh name="chassis_rwheel_front_link1" file="../../meshes/G2/T2/chassis_rwheel_front_link1.STL" scale="1 1 1" />
+    <mesh name="chassis_rwheel_front_link2" file="../../meshes/G2/T2/chassis_rwheel_front_link2.STL" scale="1 1 1" />
+    <mesh name="chassis_rwheel_rear_link1"  file="../../meshes/G2/T2/chassis_rwheel_rear_link1.STL"  scale="1 1 1" />
+    <mesh name="chassis_rwheel_rear_link2"  file="../../meshes/G2/T2/chassis_rwheel_rear_link2.STL"  scale="1 1 1" />
+</mujoco>
diff --git a/mujoco/robot/parts/G2/chassis/link.xml b/mujoco/robot/parts/G2/chassis/link.xml
new file mode 100644
index 0000000000000000000000000000000000000000..82deeb8908c5010872b4c85146618c89b5065fc1
--- /dev/null
+++ b/mujoco/robot/parts/G2/chassis/link.xml
@@ -0,0 +1,63 @@
+<mujoco model="chassis_link">
+    <body name="chassis_lwheel_front_link1" pos="0.23 0.218 0.16675">
+        <inertial pos="4.8347e-05 -0.021386 -0.055149" quat="0.681263 -0.208432 0.206514 0.670663"
+            mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
+        <joint name="idx111_chassis_lwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+            rgba="0.86667 0.86667 0.8902 1" mesh="chassis_lwheel_front_link1" />
+        <body name="chassis_lwheel_front_link2" pos="0 -5e-05 -0.13675">
+            <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05"
+                quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283"
+                diaginertia="0.010779 0.0058842 0.0058835" />
+            <joint name="idx112_chassis_lwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
+            <geom type="mesh" group="1" density="0" rgba="1 1 1 1"
+                mesh="chassis_lwheel_front_link2"
+                class="collision" />
+        </body>
+    </body>
+    <body name="chassis_rwheel_front_link1" pos="0.23 -0.218 0.16675">
+        <inertial pos="-4.8347e-05 0.021386 -0.055149" quat="0.681263 0.208432 -0.206514 0.670663"
+            mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
+        <joint name="idx131_chassis_rwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+            rgba="0.86667 0.86667 0.8902 1" mesh="chassis_rwheel_front_link1" />
+        <body name="chassis_rwheel_front_link2" pos="0 5e-05 -0.13675">
+            <inertial pos="2.3442e-06 0.0013086 1.0892e-05"
+                quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283"
+                diaginertia="0.010779 0.0058842 0.0058835" />
+            <joint name="idx132_chassis_rwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
+            <geom type="mesh" group="1" density="0" rgba="1 1 1 1"
+                mesh="chassis_rwheel_front_link2" class="collision" />
+        </body>
+    </body>
+    <body name="chassis_rwheel_rear_link1" pos="-0.23 -0.218 0.16675">
+        <inertial pos="-4.8347e-05 0.021386 -0.055149" quat="0.681263 0.208432 -0.206514 0.670663"
+            mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
+        <joint name="idx141_chassis_rwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+            rgba="0.86667 0.86667 0.8902 1" mesh="chassis_rwheel_rear_link1" />
+        <body name="chassis_rwheel_rear_link2" pos="0 5e-05 -0.13675">
+            <inertial pos="2.3442e-06 0.0013086 1.0892e-05"
+                quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283"
+                diaginertia="0.010779 0.0058842 0.0058835" />
+            <joint name="idx142_chassis_rwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
+            <geom type="mesh" group="1" density="0" rgba="1 1 1 1"
+                mesh="chassis_rwheel_rear_link2" class="collision" />
+        </body>
+    </body>
+    <body name="chassis_lwheel_rear_link1" pos="-0.23 0.218 0.16675">
+        <inertial pos="4.8347e-05 -0.021386 -0.055149" quat="0.681263 -0.208432 0.206514 0.670663"
+            mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
+        <joint name="idx121_chassis_lwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+            rgba="0.86667 0.86667 0.8902 1" mesh="chassis_lwheel_rear_link1" />
+        <body name="chassis_lwheel_rear_link2" pos="0 -5e-05 -0.13675">
+            <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05"
+                quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283"
+                diaginertia="0.010779 0.0058842 0.0058835" />
+            <joint name="idx122_chassis_lwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
+            <geom type="mesh" group="1" density="0" rgba="1 1 1 1"
+                mesh="chassis_lwheel_rear_link2" class="collision" />
+        </body>
+    </body>
+</mujoco>
diff --git a/mujoco/robot/parts/G2/hand_pw/actuator_left_sensor.xml b/mujoco/robot/parts/G2/hand_pw/actuator_left_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..508e7831bdf63b2d22b8bf34ba7d9c426a6b3e93
--- /dev/null
+++ b/mujoco/robot/parts/G2/hand_pw/actuator_left_sensor.xml
@@ -0,0 +1,45 @@
+<!-- actuator and sensor -->
+<mujoco model="hand_pw_left_actuator_sensor">
+
+  <contact>
+    <!-- gripper contact exclusions -->
+    <exclude body1="gripper_l_outer_link1" body2="gripper_l_inner_link1" />
+  </contact>
+
+  <actuator>
+    <!-- Gripper -->
+    <position name="position_idx31_gripper_l_inner_joint1"
+      joint="idx31_gripper_l_inner_joint1"
+      ctrlrange="0 0.024"
+      forcerange="-500 500"
+      kp="2000" kv="200" />
+  </actuator>
+
+  <equality>
+    <!-- Gripper: 内夹爪关节跟随外夹爪关节 -->
+    <joint name="gripper_l_inner_equality"
+      joint1="idx31_gripper_l_inner_joint1"
+      joint2="idx41_gripper_l_outer_joint1"
+      polycoef="0.0 1.0 0 0 0" />
+  </equality>
+
+  <sensor>
+    <!-- Gripper actuator position sensor -->
+    <actuatorpos name="actuatorpos_idx31_gripper_l_inner_joint1"
+      actuator="position_idx31_gripper_l_inner_joint1" />
+
+    <!-- Gripper joint position sensor -->
+    <jointpos name="jointpos_idx41_gripper_l_outer_joint1" joint="idx41_gripper_l_outer_joint1" />
+    <jointpos name="jointpos_idx31_gripper_l_inner_joint1" joint="idx31_gripper_l_inner_joint1" />
+
+    <!-- Gripper joint velocity sensor -->
+    <jointvel name="jointvel_idx41_gripper_l_outer_joint1" joint="idx41_gripper_l_outer_joint1" />
+    <jointvel name="jointvel_idx31_gripper_l_inner_joint1" joint="idx31_gripper_l_inner_joint1" />
+
+    <!-- Gripper joint effort sensor -->
+    <jointactuatorfrc name="torque_idx31_gripper_l_inner_joint1"
+      joint="idx31_gripper_l_inner_joint1" />
+
+  </sensor>
+
+</mujoco>
\ No newline at end of file
diff --git a/mujoco/robot/parts/G2/hand_pw/actuator_right_sensor.xml b/mujoco/robot/parts/G2/hand_pw/actuator_right_sensor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0fe449ac4918674c5819345fc2af6da765047e5f
--- /dev/null
+++ b/mujoco/robot/parts/G2/hand_pw/actuator_right_sensor.xml
@@ -0,0 +1,44 @@
+<!-- actuator and sensor -->
+<mujoco model="hand_pw_right_actuator_sensor">
+
+  <contact>
+    <!-- gripper contact exclusions -->
+    <exclude body1="gripper_r_outer_link1" body2="gripper_r_inner_link1" />
+  </contact>
+
+  <actuator>
+    <!-- Gripper -->
+    <position name="position_idx71_gripper_r_inner_joint1"
+      joint="idx71_gripper_r_inner_joint1"
+      ctrlrange="0 0.024"
+      forcerange="-500 500"
+      kp="2000" kv="200" />
+  </actuator>
+
+  <equality>
+    <!-- Gripper: 内夹爪关节跟随外夹爪关节 -->
+    <joint name="gripper_r_inner_equality"
+      joint1="idx71_gripper_r_inner_joint1"
+      joint2="idx81_gripper_r_outer_joint1"
+      polycoef="0.0 1.0 0 0 0" />
+  </equality>
+
+  <sensor>
+    <!-- Gripper actuator position sensor -->
+    <actuatorpos name="actuatorpos_idx71_gripper_r_inner_joint1"
+      actuator="position_idx71_gripper_r_inner_joint1" />
+
+    <!-- Gripper joint position sensor -->
+    <jointpos name="jointpos_idx81_gripper_r_outer_joint1" joint="idx81_gripper_r_outer_joint1" />
+    <jointpos name="jointpos_idx71_gripper_r_inner_joint1" joint="idx71_gripper_r_inner_joint1" />
+
+    <!-- Gripper joint velocity sensor -->
+    <jointvel name="jointvel_idx81_gripper_r_outer_joint1" joint="idx81_gripper_r_outer_joint1" />
+    <jointvel name="jointvel_idx71_gripper_r_inner_joint1" joint="idx71_gripper_r_inner_joint1" />
+
+    <!-- Gripper joint effort sensor -->
+    <jointactuatorfrc name="torque_idx71_gripper_r_inner_joint1"
+      joint="idx71_gripper_r_inner_joint1" />
+
+  </sensor>
+</mujoco>
\ No newline at end of file
diff --git a/mujoco/robot/parts/G2/hand_pw/asset.xml b/mujoco/robot/parts/G2/hand_pw/asset.xml
new file mode 100644
index 0000000000000000000000000000000000000000..35a831c405ff6befd8f8cc413a64d4ff5a7ff627
--- /dev/null
+++ b/mujoco/robot/parts/G2/hand_pw/asset.xml
@@ -0,0 +1,30 @@
+<mujoco model="pw_gripper_asset">
+  <!-- Place-Workpiece Gripper Meshes -->
+  <mesh name="gripper_l_base_link" file="../../meshes/gripper/workpiece/base_link.STL" />
+  <mesh name="gripper_l_base_link_1" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_01.STL" />
+  <mesh name="gripper_l_base_link_2" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_02.STL" />
+  <mesh name="gripper_l_base_link_3" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_03.STL" />
+  <mesh name="gripper_l_base_link_4" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_04.STL" />
+  <mesh name="gripper_l_base_link_5" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_05.STL" />
+  <mesh name="gripper_l_base_link_6" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_06.STL" />
+  <mesh name="gripper_l_base_link_7" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_07.STL" />
+  <mesh name="gripper_l_base_link_8" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_08.STL" />
+  <mesh name="gripper_l_base_link_9" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_09.STL" />
+  <mesh name="gripper_l_base_link_10" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_10.STL" />
+  <mesh name="gripper_l_base_link_11" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_11.STL" />
+
+
+  <mesh name="gripper_r_base_link" file="../../meshes/gripper/workpiece/base_link.STL" />
+  <mesh name="gripper_r_base_link_1" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_01.STL" />
+  <mesh name="gripper_r_base_link_2" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_02.STL" />
+  <mesh name="gripper_r_base_link_3" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_03.STL" />
+  <mesh name="gripper_r_base_link_4" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_04.STL" />
+  <mesh name="gripper_r_base_link_5" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_05.STL" />
+  <mesh name="gripper_r_base_link_6" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_06.STL" />
+  <mesh name="gripper_r_base_link_7" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_07.STL" />
+  <mesh name="gripper_r_base_link_8" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_08.STL" />
+  <mesh name="gripper_r_base_link_9" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_09.STL" />
+  <mesh name="gripper_r_base_link_10" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_10.STL" />
+  <mesh name="gripper_r_base_link_11" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_11.STL" />
+
+</mujoco>
diff --git a/mujoco/robot/parts/G2/hand_pw/gripper_left.xml b/mujoco/robot/parts/G2/hand_pw/gripper_left.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a5823cf957957ad87bffb8875c0aa2e67e359e1e
--- /dev/null
+++ b/mujoco/robot/parts/G2/hand_pw/gripper_left.xml
@@ -0,0 +1,71 @@
+<mujoco model="gripper_left">
+  <!-- 夹爪基座 -->
+  <body name="gripper_l_base_link" pos="0.095 0 0" quat="-0.5 0.5 -0.5 0.5">
+    <inertial pos="0.01778808 0.0585332 0.05714529" quat="0.5 0.5 0.5 0.5" mass="1.3757592"
+      diaginertia="0.0028087 0.00130123 0.00279029" />
+    <geom type="mesh" mesh="gripper_l_base_link" rgba="0.86667 0.86667 0.8902 1"/>
+    <geom type="mesh" mesh="gripper_l_base_link_1" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_2" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_3" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_4" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_5" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_6" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_7" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_8" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_9" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_10" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_11" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+
+    <!-- 外夹爪（主动） -->
+    <body name="gripper_l_outer_link1" pos="0.0265 -0.0134 0.098" quat="0.707107 0 0 0.707107">
+      <inertial pos="0.0151808 -0.0123302 0.0456963" quat="0.846353 0.0682721 0.0474439 0.526094"
+        mass="0.0366645" diaginertia="4.50797e-05 4.46339e-05 2.25641e-06" />
+      <joint name="idx41_gripper_l_outer_joint1" pos="0 0 0" axis="0 1 0" type="slide"
+        range="0 0.024" />
+      <!-- <geom type="mesh" mesh="gripper_l_outer_link1_1" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_outer_link1_2" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_outer_link1_3" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_outer_link1_4" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_outer_link1_5" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_outer_link1_6" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_outer_link1_7" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" /> -->
+
+    </body>
+
+    <!-- 内夹爪（从动） -->
+    <body name="gripper_l_inner_link1" pos="-0.0265 0.0134 0.098" quat="0.707107 0 0 -0.707107">
+      <inertial pos="0.0178381 0.0653971 0.0463019" quat="0.874213 -0.0127259 0.0439183 0.483386"
+        mass="0.0379014" diaginertia="4.57698e-05 4.46809e-05 2.49933e-06" />
+      <joint name="idx31_gripper_l_inner_joint1" pos="0 0 0" axis="0 1 0" type="slide"
+        range="0 0.024" />
+      <!-- <geom type="mesh" mesh="gripper_l_inner_link1_1" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_inner_link1_2" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_inner_link1_3" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_inner_link1_4" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_inner_link1_5" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_inner_link1_6" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_inner_link1_7" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" /> -->
+
+    </body>
+
+    <!-- 夹爪中心点 -->
+    <body name="gripper_l_center_link" pos="0 0 0.1" quat="0.707107 0 0 -0.707107">
+      <geom type="sphere" size="0.005" rgba="1 0 0 0.5" />
+    </body>
+  </body>
+
+</mujoco>
\ No newline at end of file
diff --git a/mujoco/robot/parts/G2/hand_pw/gripper_right.xml b/mujoco/robot/parts/G2/hand_pw/gripper_right.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a32755c423f5509b19cfe12bae4f60be10a726ff
--- /dev/null
+++ b/mujoco/robot/parts/G2/hand_pw/gripper_right.xml
@@ -0,0 +1,73 @@
+<mujoco model="gripper_right">
+  <!-- 夹爪基座 -->
+  <body name="gripper_r_base_link" pos="0.095 0 0" quat="-0.5 0.5 -0.5 0.5">
+    <inertial pos="0.01778808 0.0585332 0.05714529" quat="0.5 0.5 0.5 0.5" mass="1.3757592"
+      diaginertia="0.0028087 0.00130123 0.00279029" />
+    <geom type="mesh" mesh="gripper_r_base_link" rgba="0.86667 0.86667 0.8902 1"/>
+
+    <body name="workpiece_r" pos="0 0 0">
+      <geom type="mesh" mesh="gripper_r_base_link_1" rgba="0.86667 0.86667 0.8902 1" class="collision" density="100.0"/>
+      <geom type="mesh" mesh="gripper_r_base_link_2" rgba="0.86667 0.86667 0.8902 1" class="collision" density="100.0"/>
+      <geom type="mesh" mesh="gripper_r_base_link_3" rgba="0.86667 0.86667 0.8902 1" class="collision" density="100.0"/>
+      <geom type="mesh" mesh="gripper_r_base_link_4" rgba="0.86667 0.86667 0.8902 1" class="collision" density="100.0"/>
+      <geom type="mesh" mesh="gripper_r_base_link_5" rgba="0.86667 0.86667 0.8902 1" class="collision" density="100.0"/>
+      <geom type="mesh" mesh="gripper_r_base_link_6" rgba="0.86667 0.86667 0.8902 1" class="collision" density="100.0"/>
+      <geom type="mesh" mesh="gripper_r_base_link_7" rgba="0.86667 0.86667 0.8902 1" class="collision" density="100.0"/>
+      <geom type="mesh" mesh="gripper_r_base_link_8" rgba="0.86667 0.86667 0.8902 1" class="collision" density="100.0"/>
+      <geom type="mesh" mesh="gripper_r_base_link_9" rgba="0.86667 0.86667 0.8902 1" class="collision" density="100.0"/>
+      <geom type="mesh" mesh="gripper_r_base_link_10" rgba="0.86667 0.86667 0.8902 1" class="collision" density="100.0"/>
+      <geom type="mesh" mesh="gripper_r_base_link_11" rgba="0.86667 0.86667 0.8902 1" class="collision" density="100.0"/>
+    </body>
+
+    <!-- 外夹爪（主动） -->
+    <body name="gripper_r_outer_link1" pos="0.0265 -0.0134 0.098" quat="0.707107 0 0 0.707107">
+      <inertial pos="0.0151808 -0.0123302 0.0456963" quat="0.846353 0.0682721 0.0474439 0.526094"
+        mass="0.0366645" diaginertia="4.50797e-05 4.46339e-05 2.25641e-06" />
+      <joint name="idx81_gripper_r_outer_joint1" pos="0 0 0" axis="0 1 0" type="slide"
+        range="0 0.024" />
+      <!-- <geom type="mesh" mesh="gripper_r_outer_link1_1" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_r_outer_link1_2" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_r_outer_link1_3" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_r_outer_link1_4" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_r_outer_link1_5" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_r_outer_link1_6" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_r_outer_link1_7" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" /> -->
+
+    </body>
+
+    <!-- 内夹爪（从动） -->
+    <body name="gripper_r_inner_link1" pos="-0.0265 0.0134 0.098" quat="0.707107 0 0 -0.707107">
+      <inertial pos="0.0178381 0.0653971 0.0463019" quat="0.874213 -0.0127259 0.0439183 0.483386"
+        mass="0.0379014" diaginertia="4.57698e-05 4.46809e-05 2.49933e-06" />
+      <joint name="idx71_gripper_r_inner_joint1" pos="0 0 0" axis="0 1 0" type="slide"
+        range="0 0.024" />
+      <!-- <geom type="mesh" mesh="gripper_r_inner_link1_1" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_r_inner_link1_2" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_r_inner_link1_3" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_r_inner_link1_4" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_r_inner_link1_5" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_r_inner_link1_6" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_r_inner_link1_7" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" /> -->
+
+    </body>
+
+    <!-- 夹爪中心点 -->
+    <body name="gripper_r_center_link" pos="0 0 0.1" quat="0.707107 0 0 -0.707107">
+      <geom type="sphere" size="0.005" rgba="1 0 0 0.5" />
+    </body>
+  </body>
+</mujoco>
\ No newline at end of file
diff --git a/mujoco/robot/parts/meshes/G2/T2/base_link.STL b/mujoco/robot/parts/meshes/G2/T2/base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..d3623de0e8198c7c3fcaca123e84b2db003c107b
--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/base_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84e6e4508720bd805257ee68a3350fed24ccb14edfd1098220e0d81cda66ff96
+size 4820584
diff --git a/mujoco/robot/parts/meshes/G2/T2/body_link1.STL b/mujoco/robot/parts/meshes/G2/T2/body_link1.STL
new file mode 100644
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--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/body_link1.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 758684
diff --git a/mujoco/robot/parts/meshes/G2/T2/body_link2.STL b/mujoco/robot/parts/meshes/G2/T2/body_link2.STL
new file mode 100644
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--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/body_link2.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49ae3c76e3eb31af372801e4777ffb7626a73ee51b3d6e17a35560865ce2b673
+size 793784
diff --git a/mujoco/robot/parts/meshes/G2/T2/body_link3.STL b/mujoco/robot/parts/meshes/G2/T2/body_link3.STL
new file mode 100644
index 0000000000000000000000000000000000000000..58dadccef9638af8fa49231ff121e39b64d43a4f
--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/body_link3.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c6d706f30450dfde78a5a12562a041a47910489bd9f3030c577b9315f1761af
+size 401584
diff --git a/mujoco/robot/parts/meshes/G2/T2/body_link4.STL b/mujoco/robot/parts/meshes/G2/T2/body_link4.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c7b119543b2f841e79f6e90c618178e8ce21280c
--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/body_link4.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a65a7030f53cea8c3e409387535b2e9955044d0858a258466c513a0d5f3ef417
+size 929834
diff --git a/mujoco/robot/parts/meshes/G2/T2/body_link5.STL b/mujoco/robot/parts/meshes/G2/T2/body_link5.STL
new file mode 100644
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--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/body_link5.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/mujoco/robot/parts/meshes/G2/T2/chassis_lwheel_front_link1.STL b/mujoco/robot/parts/meshes/G2/T2/chassis_lwheel_front_link1.STL
new file mode 100644
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--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/chassis_lwheel_front_link1.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:502e9bce013b2b1ac601a8ce087f24481f7d8eb1ad7f3264821fdbb57e3da980
+size 360784
diff --git a/mujoco/robot/parts/meshes/G2/T2/chassis_lwheel_front_link2.STL b/mujoco/robot/parts/meshes/G2/T2/chassis_lwheel_front_link2.STL
new file mode 100644
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--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/chassis_lwheel_front_link2.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25470bc9f280f29ce6c3db2eadc78d05733851a1b11f86badd0955b883a94705
+size 2678534
diff --git a/mujoco/robot/parts/meshes/G2/T2/chassis_lwheel_rear_link1.STL b/mujoco/robot/parts/meshes/G2/T2/chassis_lwheel_rear_link1.STL
new file mode 100644
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--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/chassis_lwheel_rear_link1.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edd310e36aab2fcfd75eedf948cb117bbd6b2855660772c49a3bd37051d3039b
+size 360784
diff --git a/mujoco/robot/parts/meshes/G2/T2/chassis_lwheel_rear_link2.STL b/mujoco/robot/parts/meshes/G2/T2/chassis_lwheel_rear_link2.STL
new file mode 100644
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--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/chassis_lwheel_rear_link2.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:808b0ce3f1092a829d6a6603b8099e49494780cc4aa28186737682cd252373dd
+size 2678434
diff --git a/mujoco/robot/parts/meshes/G2/T2/chassis_rwheel_front_link1.STL b/mujoco/robot/parts/meshes/G2/T2/chassis_rwheel_front_link1.STL
new file mode 100644
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--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/chassis_rwheel_front_link1.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e59506173b2338e239227fc5086821c7edf5d885a4839b0924b00888866065d7
+size 360784
diff --git a/mujoco/robot/parts/meshes/G2/T2/chassis_rwheel_front_link2.STL b/mujoco/robot/parts/meshes/G2/T2/chassis_rwheel_front_link2.STL
new file mode 100644
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--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/chassis_rwheel_front_link2.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9782291f5d5b28450daa56d219dc489a60122b87d7c69a5f0791a6699cbc1d3
+size 2678534
diff --git a/mujoco/robot/parts/meshes/G2/T2/chassis_rwheel_rear_link1.STL b/mujoco/robot/parts/meshes/G2/T2/chassis_rwheel_rear_link1.STL
new file mode 100644
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--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/chassis_rwheel_rear_link1.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c8033624723c8e1c322b8c22b843d831114b326841a711a0481290ecc8a193c
+size 360784
diff --git a/mujoco/robot/parts/meshes/G2/T2/chassis_rwheel_rear_link2.STL b/mujoco/robot/parts/meshes/G2/T2/chassis_rwheel_rear_link2.STL
new file mode 100644
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--- /dev/null
+++ b/mujoco/robot/parts/meshes/G2/T2/chassis_rwheel_rear_link2.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:821de2918e24911e454bcb8fce3426d6498337951adacd12f0708a14bb6697ad
+size 2678534
diff --git a/mujoco/robot/parts/meshes/G2/T2/head_link1.STL b/mujoco/robot/parts/meshes/G2/T2/head_link1.STL
new file mode 100644
index 0000000000000000000000000000000000000000..ad5ac7741003eb32abc6443dad678540654bf658
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+++ b/mujoco/robot/parts/meshes/gripper/workpiece/finger_link2.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4963e2beda5525c3a9766d93f2e63e669f7a0d99a16dd5be12ae4b6041e1d638
+size 154984
diff --git a/mujoco/robot/parts/meshes/gripper/workpiece/junpu.STL b/mujoco/robot/parts/meshes/gripper/workpiece/junpu.STL
new file mode 100644
index 0000000000000000000000000000000000000000..90246c93b0e904ffdf585e7a56fa18a722779e90
--- /dev/null
+++ b/mujoco/robot/parts/meshes/gripper/workpiece/junpu.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:011a709c8ea602651313a66fe86388ab1696ce2b9acc387df431efc59a06f197
+size 11534
diff --git a/mujoco/robot/parts/meshes/gripper/workpiece/junpu_shelf.STL b/mujoco/robot/parts/meshes/gripper/workpiece/junpu_shelf.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c00d9fdf52042f6051d399c9e7ab6fe138869a20
--- /dev/null
+++ b/mujoco/robot/parts/meshes/gripper/workpiece/junpu_shelf.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7d0c51a971ce42a5e1806a7baafa59e8ab176414be7743d15bc71df7b79f8d5
+size 2084
diff --git a/robot/G2_place_workpiece/configuration/arm_gripper.usda b/robot/G2_place_workpiece/configuration/arm_gripper.usda
index 4e261ab7f36a268537c0fad1dffbbe2b8a5e8a27..4fd97b6167170a68bde8b467519b4c0b637aa63c 100644
--- a/robot/G2_place_workpiece/configuration/arm_gripper.usda
+++ b/robot/G2_place_workpiece/configuration/arm_gripper.usda
@@ -3092,7 +3092,7 @@ def Xform "G2" (
             instanceable = false
         )
         {
-            over "junpu"
+            over "material_ws01"
             {
                 over "mesh"
                 {
diff --git a/robot/G2_place_workpiece/robot.usda b/robot/G2_place_workpiece/robot.usda
index b205e90a4150aa4ba40cc24f1aa8569947d58e26..29169ec787463dad09200ef3e8cf34631f62a37b 100644
--- a/robot/G2_place_workpiece/robot.usda
+++ b/robot/G2_place_workpiece/robot.usda
@@ -2978,7 +2978,7 @@ def Xform "G2" (
             instanceable = false
         )
         {
-            over "junpu"
+            over "material_ws01"
             {
                 over "mesh"
                 {