diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 0000000000000000000000000000000000000000..67715d008ad9c143274864ecc50b5498daeacb82
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,65 @@
+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.avro filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text
+# robot models
+*.usda filter=lfs diff=lfs merge=lfs -text
+*.usd filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..7be5fc7f47d5db027d120b8024982df93db95b74
--- /dev/null
+++ b/README.md
@@ -0,0 +1,3 @@
+---
+license: mit
+---
diff --git a/a2/a2.usd b/a2/a2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..09de42d2895aa7f5c11c649be426624a8ae316fe
--- /dev/null
+++ b/a2/a2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4574da446352f042098737b83f100bba233290fa411539b92c95b5eb0b9f65f
+size 1448
diff --git a/a2/a2.xml b/a2/a2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b0068d4225fe1097ed63688c2d6eea3528a82f85
--- /dev/null
+++ b/a2/a2.xml
@@ -0,0 +1,225 @@
+<mujoco model="a2">
+  <compiler angle="radian" meshdir="meshes/"/>
+  <option gravity="0 0 -9.81"/>
+
+  <default>
+      <default class="hip_joint">
+        <joint damping="0.2" armature="0.03" frictionloss="1.0" />
+      </default>
+      <default class="thigh_joint">
+        <joint damping="0.2" armature="0.03" frictionloss="1.0" />
+      </default>
+      <default class="calf_joint">
+        <joint damping="1.0" armature="0.03" frictionloss="3.0" />
+      </default>
+      <default class="collision">
+        <geom group="3" priority="1" condim="6"/>
+      </default>
+      <default class="foot">
+<!--           <geom group="3" priority="1" condim="6" friction="0.3 0.01 0.01"/> -->
+          <geom group="3" priority="1" condim="6"/>
+      </default>
+  </default>
+
+  <asset>
+    <mesh name="base_link" file="base_link.STL"/>
+    <mesh name="left_front_Link1" file="left_front_Link1.STL"/>
+    <mesh name="left_front_Link2" file="left_front_Link2.STL"/>
+    <mesh name="left_front_Link3" file="left_front_Link3.STL"/>
+    <mesh name="left_front_Link4" file="left_front_Link4.STL"/>
+    <mesh name="left_hind_Link1" file="left_hind_Link1.STL"/>
+    <mesh name="left_hind_Link2" file="left_hind_Link2.STL"/>
+    <mesh name="left_hind_Link3" file="left_hind_Link3.STL"/>
+    <mesh name="left_hind_Link4" file="left_hind_Link4.STL"/>
+    <mesh name="right_front_Link1" file="right_front_Link1.STL"/>
+    <mesh name="right_front_Link2" file="right_front_Link2.STL"/>
+    <mesh name="right_front_Link3" file="right_front_Link3.STL"/>
+    <mesh name="right_front_Link4" file="right_front_Link4.STL"/>
+    <mesh name="right_hind_Link1" file="right_hind_Link1.STL"/>
+    <mesh name="right_hind_Link2" file="right_hind_Link2.STL"/>
+    <mesh name="right_hind_Link3" file="right_hind_Link3.STL"/>
+    <mesh name="right_hind_Link4" file="right_hind_Link4.STL"/>
+  </asset>
+
+  <worldbody>
+    <body name="base_link" pos="-1 1 0.7">
+      <inertial pos="0.00698259 -0.000712858 0.0128895" quat="-0.00152907 0.699583 -0.00252986 0.714546" mass="19.651" diaginertia="0.472398 0.407723 0.141627"/>
+      <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
+      <site name="imu" pos="-0.0 0 0.0" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="base_link"/>
+      <geom class="collision" size="0.12 0.14 0.085" pos="0 0 0.007" type="box" rgba="0.792157 0.819608 0.933333 1"/>
+      <geom class="collision" size="0.04 0.025 0.01" pos="0.25 0 0.119" type="box" rgba="0.792157 0.819608 0.933333 1"/>
+      <geom class="collision" size="0.025 0.015 0.008" pos="-0.22 0 0.119" quat="0.999888 0 -0.0149994 0" type="box" rgba="0.792157 0.819608 0.933333 1"/>
+      <geom class="collision" size="0.03 0.05 0.005" pos="0.365 0 0.1" quat="0.939373 0 -0.342898 0" type="box" rgba="0.792157 0.819608 0.933333 1"/>
+      <geom class="collision" size="0.0225 0.05 0.005" pos="-0.31 0 0.112" quat="0.939373 0 0.342898 0" type="box" rgba="0.792157 0.819608 0.933333 1"/>
+      <body name="FL_hip" pos="0.25944 0.075113 0">
+        <inertial pos="-0.002408 -0.01622 0.000239" quat="0.66751 0.421649 0.565191 0.239168" mass="1.62" diaginertia="0.0016644 0.00161602 0.00145995"/>
+        <joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.01 1.01" actuatorfrcrange="-120 120" class="hip_joint"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="left_front_Link1"/>
+        <body name="FL_thigh" pos="0 0.12779 0">
+          <inertial pos="-0.003268 -0.03111 -0.053896" quat="0.993045 0.11348 0.0231928 0.0211279" mass="3.079" diaginertia="0.0293395 0.0280448 0.00383794"/>
+          <joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" range="-2.34 3.15" actuatorfrcrange="-120 120" class="thigh_joint"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="left_front_Link2"/>
+          <geom class="collision" size="0.048 0.06" pos="0 -0.04 0" quat="0.707035 0.707179 0 0" type="cylinder" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0275 0.018 0.085" pos="-0.025 0 -0.09" quat="0.999988 0 0.00499998 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0085 0.025 0.025" pos="-0.022 0 -0.27" quat="0.930508 0 -0.366273 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <body name="FL_calf" pos="0 0 -0.275">
+            <inertial pos="0.0102138 -1.99312e-05 -0.136496" quat="0.706884 -0.0119077 -0.0120568 0.707127" mass="0.407" diaginertia="0.00511119 0.00502314 0.000177746"/>
+            <joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.77 -0.54" actuatorfrcrange="-180 180" class="calf_joint"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="left_front_Link3"/>
+            <geom class="collision" size="0.012 0.015 0.05" pos="0.018 0 -0.08" quat="0.992809 0 -0.119712 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.011 0.015 0.04" pos="0.033 0 -0.17" quat="0.999888 0 -0.0149994 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.01 0.018 0.03" pos="0.029 0 -0.236" quat="0.995004 0 0.0998334 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.005 0.018 0.03" pos="0.008 0 -0.23" quat="0.942755 0 0.333487 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom pos="0 0 -0.275" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_front_Link4"/>
+            <body name="FL_foot" pos="0 0 -0.275">
+              <geom size="0.032" rgba="0.698039 0.698039 0.698039 1" class="foot"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="RL_hip" pos="-0.25944 0.075113 0">
+        <inertial pos="0.00327 -0.01622 -9.7e-05" quat="0.358494 0.383537 0.580824 0.622113" mass="1.62" diaginertia="0.00167848 0.00163116 0.00141504"/>
+        <joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.01 1.01" actuatorfrcrange="-120 120" class="hip_joint"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="left_hind_Link1"/>
+        <body name="RL_thigh" pos="0 0.12779 0">
+          <inertial pos="-0.003268 -0.03111 -0.053896" quat="0.993045 0.11348 0.0231928 0.0211279" mass="3.079" diaginertia="0.0293395 0.0280448 0.00383794"/>
+          <joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" range="-1.56 3.94" actuatorfrcrange="-120 120" class="thigh_joint"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="left_hind_Link2"/>
+          <geom class="collision" size="0.048 0.06" pos="0 -0.04 0" quat="0.707035 0.707179 0 0" type="cylinder" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0275 0.018 0.085" pos="-0.025 0 -0.09" quat="0.999988 0 0.00499998 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0085 0.025 0.025" pos="-0.022 0 -0.27" quat="0.930508 0 -0.366273 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <body name="RL_calf" pos="0 0 -0.275">
+            <inertial pos="0.0102138 -1.99312e-05 -0.136496" quat="0.706884 -0.0119077 -0.0120568 0.707127" mass="0.407" diaginertia="0.00511119 0.00502314 0.000177746"/>
+            <joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.77 -0.54" actuatorfrcrange="-180 180" class="calf_joint"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="left_hind_Link3"/>
+            <geom class="collision" size="0.012 0.015 0.05" pos="0.018 0 -0.08" quat="0.992809 0 -0.119712 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.011 0.015 0.04" pos="0.033 0 -0.17" quat="0.999888 0 -0.0149994 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.01 0.018 0.03" pos="0.029 0 -0.236" quat="0.995004 0 0.0998334 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.005 0.018 0.03" pos="0.008 0 -0.23" quat="0.942755 0 0.333487 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom pos="0 0 -0.275" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hind_Link4"/>
+            <body name="RL_foot" pos="0 0 -0.275">
+              <geom size="0.032" rgba="0.698039 0.698039 0.698039 1" class="foot"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="FR_hip" pos="0.25944 -0.075113 0">
+        <inertial pos="-0.002465 0.01622 0.000318" quat="0.244263 0.553086 0.449878 0.657299" mass="1.62" diaginertia="0.0016672 0.00160755 0.00146457"/>
+        <joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.01 1.01" actuatorfrcrange="-120 120" class="hip_joint"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="right_front_Link1"/>
+        <body name="FR_thigh" pos="0 -0.12779 0">
+          <inertial pos="-0.003256 0.031125 -0.053921" quat="0.993054 -0.113587 0.0234158 -0.0198545" mass="3.077" diaginertia="0.029323 0.028038 0.00383842"/>
+          <joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" range="-2.34 3.15" actuatorfrcrange="-120 120" class="thigh_joint"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="right_front_Link2"/>
+          <geom class="collision" size="0.048 0.06" pos="0 0.04 0" quat="0.707035 0.707179 0 0" type="cylinder" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0275 0.018 0.085" pos="-0.025 0 -0.09" quat="0.999988 0 0.00499998 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0085 0.025 0.025" pos="-0.022 0 -0.27" quat="0.930508 0 -0.366273 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <body name="FR_calf" pos="0 0 -0.275">
+            <inertial pos="0.0102138 1.55479e-05 -0.136496" quat="0.707151 -0.0120743 -0.0118903 0.706859" mass="0.407" diaginertia="0.00511119 0.00502314 0.000177746"/>
+            <joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.77 -0.54" actuatorfrcrange="-180 180" class="calf_joint"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="right_front_Link3"/>
+            <geom class="collision" size="0.012 0.015 0.05" pos="0.018 0 -0.08" quat="0.992809 0 -0.119712 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.011 0.015 0.04" pos="0.033 0 -0.17" quat="0.999888 0 -0.0149994 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.01 0.018 0.03" pos="0.029 0 -0.236" quat="0.995004 0 0.0998334 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.005 0.018 0.03" pos="0.008 0 -0.23" quat="0.942755 0 0.333487 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom pos="0 0 -0.275" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="right_front_Link4"/>
+            <body name="FR_foot" pos="0 0 -0.275">
+              <geom size="0.032" rgba="0.698039 0.698039 0.698039 1" class="foot"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="RR_hip" pos="-0.25944 -0.075113 0">
+        <inertial pos="0.00327 0.01622 -3.7e-05" quat="0.616206 0.585144 0.36648 0.378931" mass="1.62" diaginertia="0.00167769 0.00163476 0.00141225"/>
+        <joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.01 1.01" actuatorfrcrange="-120 120" class="hip_joint"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="right_hind_Link1"/>
+        <body name="RR_thigh" pos="0 -0.12779 0">
+          <inertial pos="-0.003256 0.031125 -0.053921" quat="0.993054 -0.113587 0.0234158 -0.0198545" mass="3.077" diaginertia="0.029323 0.028038 0.00383842"/>
+          <joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" range="-1.56 3.94" actuatorfrcrange="-120 120" class="thigh_joint"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="right_hind_Link2"/>
+          <geom class="collision" size="0.048 0.06" pos="0 0.04 0" quat="0.707035 0.707179 0 0" type="cylinder" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0275 0.018 0.085" pos="-0.025 0 -0.09" quat="0.999988 0 0.00499998 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0085 0.025 0.025" pos="-0.022 0 -0.27" quat="0.930508 0 -0.366273 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <body name="RR_calf" pos="0 0 -0.275">
+            <inertial pos="0.0102138 1.55479e-05 -0.136496" quat="0.707151 -0.0120743 -0.0118903 0.706859" mass="0.407" diaginertia="0.00511119 0.00502314 0.000177746"/>
+            <joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.77 -0.54" actuatorfrcrange="-180 180" class="calf_joint"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="right_hind_Link3"/>
+            <geom class="collision" size="0.012 0.015 0.05" pos="0.018 0 -0.08" quat="0.992809 0 -0.119712 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.011 0.015 0.04" pos="0.033 0 -0.17" quat="0.999888 0 -0.0149994 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.01 0.018 0.03" pos="0.029 0 -0.236" quat="0.995004 0 0.0998334 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.005 0.018 0.03" pos="0.008 0 -0.23" quat="0.942755 0 0.333487 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom pos="0 0 -0.275" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="right_hind_Link4"/>
+            <body name="RR_foot" pos="0 0 -0.275">
+              <geom size="0.032" rgba="0.698039 0.698039 0.698039 1" class="foot"/>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <!-- <actuator>
+    <motor ctrlrange="-120 120"  name="FR_hip" joint="FR_hip_joint"/>
+    <motor ctrlrange="-120 120"  name="FR_thigh" joint="FR_thigh_joint"/>
+    <motor ctrlrange="-180 180"  name="FR_calf" joint="FR_calf_joint"/>
+    <motor ctrlrange="-120 120"  name="FL_hip" joint="FL_hip_joint"/>
+    <motor ctrlrange="-120 120"  name="FL_thigh" joint="FL_thigh_joint"/>
+    <motor ctrlrange="-180 180" name="FL_calf" joint="FL_calf_joint"/>
+    <motor ctrlrange="-120 120"  name="RR_hip" joint="RR_hip_joint"/>
+    <motor ctrlrange="-120 120"  name="RR_thigh" joint="RR_thigh_joint"/>
+    <motor ctrlrange="-180 180" name="RR_calf" joint="RR_calf_joint"/>
+    <motor ctrlrange="-120 120"  name="RL_hip" joint="RL_hip_joint"/>
+    <motor ctrlrange="-120 120"  name="RL_thigh" joint="RL_thigh_joint"/>
+    <motor ctrlrange="-180 180" name="RL_calf" joint="RL_calf_joint"/>
+  </actuator>
+
+  <sensor>
+    <jointpos name="FR_hip_pos" joint="FR_hip_joint" />
+    <jointpos name="FR_thigh_pos" joint="FR_thigh_joint" />
+    <jointpos name="FR_calf_pos" joint="FR_calf_joint" />
+    <jointpos name="FL_hip_pos" joint="FL_hip_joint" />
+    <jointpos name="FL_thigh_pos" joint="FL_thigh_joint" />
+    <jointpos name="FL_calf_pos" joint="FL_calf_joint" />
+    <jointpos name="RR_hip_pos" joint="RR_hip_joint" />
+    <jointpos name="RR_thigh_pos" joint="RR_thigh_joint" />
+    <jointpos name="RR_calf_pos" joint="RR_calf_joint" />
+    <jointpos name="RL_hip_pos" joint="RL_hip_joint" />
+    <jointpos name="RL_thigh_pos" joint="RL_thigh_joint" />
+    <jointpos name="RL_calf_pos" joint="RL_calf_joint" />
+
+    <jointvel name="FR_hip_vel" joint="FR_hip_joint" />
+    <jointvel name="FR_thigh_vel" joint="FR_thigh_joint" />
+    <jointvel name="FR_calf_vel" joint="FR_calf_joint" />
+    <jointvel name="FL_hip_vel" joint="FL_hip_joint" />
+    <jointvel name="FL_thigh_vel" joint="FL_thigh_joint" />
+    <jointvel name="FL_calf_vel" joint="FL_calf_joint" />
+    <jointvel name="RR_hip_vel" joint="RR_hip_joint" />
+    <jointvel name="RR_thigh_vel" joint="RR_thigh_joint" />
+    <jointvel name="RR_calf_vel" joint="RR_calf_joint" />
+    <jointvel name="RL_hip_vel" joint="RL_hip_joint" />
+    <jointvel name="RL_thigh_vel" joint="RL_thigh_joint" />
+    <jointvel name="RL_calf_vel" joint="RL_calf_joint" />
+
+    <jointactuatorfrc name="FR_hip_torque" joint="FR_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="FR_thigh_torque" joint="FR_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="FR_calf_torque" joint="FR_calf_joint" noise="0.01" />
+    <jointactuatorfrc name="FL_hip_torque" joint="FL_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="FL_thigh_torque" joint="FL_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="FL_calf_torque" joint="FL_calf_joint" noise="0.01" />
+    <jointactuatorfrc name="RR_hip_torque" joint="RR_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="RR_thigh_torque" joint="RR_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="RR_calf_torque" joint="RR_calf_joint" noise="0.01" />
+    <jointactuatorfrc name="RL_hip_torque" joint="RL_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="RL_thigh_torque" joint="RL_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="RL_calf_torque" joint="RL_calf_joint" noise="0.01" />
+
+    <framequat name="imu_quat" objtype="site" objname="imu" noise="0.01" />
+    <gyro name="imu_gyro" site="imu" noise="0.01" />
+    <accelerometer name="imu_acc" site="imu" noise="0.01" />
+    
+    <framepos name="frame_pos" objtype="site" objname="imu" />
+    <framelinvel name="frame_vel" objtype="site" objname="imu" />
+  </sensor> -->
+
+</mujoco>
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diff --git a/g1_mjlab/g1_mjlab.xml b/g1_mjlab/g1_mjlab.xml
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+<mujoco model="g1_29dof_rev_1_0">
+  <compiler angle="radian" meshdir="meshes/" autolimits="true"/>
+
+  <default>
+    <default class="g1">
+      <default class="visual">
+        <geom group="2" type="mesh" density="0" material="silver" contype="0" conaffinity="0"/>
+      </default>
+      <default class="collision">
+        <geom group="3" rgba=".2 .6 .2 .3" type="capsule" contype="1" conaffinity="1"/>
+        <default class="foot_capsule">
+          <geom type="capsule" size="0.01"/>
+        </default>
+      </default>
+      <site group="5" rgba="1 0 0 1"/>
+    </default>
+  </default>
+
+  <asset>
+    <material name="silver" rgba="0.7 0.7 0.7 1"/>
+    <material name="black" rgba="0.2 0.2 0.2 1"/>
+
+    <mesh name="pelvis" file="pelvis.STL"/>
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
+    <mesh name="left_knee_link" file="left_knee_link.STL"/>
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
+    <mesh name="right_knee_link" file="right_knee_link.STL"/>
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
+    <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
+    <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
+    <mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
+    <mesh name="logo_link" file="logo_link.STL"/>
+    <mesh name="head_link" file="head_link.STL"/>
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
+    <mesh name="left_elbow_link" file="left_elbow_link.STL"/>
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
+    <mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
+    <mesh name="right_elbow_link" file="right_elbow_link.STL"/>
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
+    <mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
+  </asset>
+
+  <worldbody>
+    <body name="pelvis" pos="0 0 0.793" childclass="g1">
+      <light pos="0 0 2" mode="trackcom" castshadow="false"/>
+      <camera name="tracking" pos="1.734 -1.135 .35" xyaxes="0.552 0.834 -0.000 -0.170 0.112 0.979" mode="trackcom"/>
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
+      <freejoint name="floating_base_joint"/>
+      <geom class="visual" material="black" mesh="pelvis"/>
+      <geom class="visual" mesh="pelvis_contour_link"/>
+      <geom name="pelvis_collision" class="collision" type="sphere" size="0.07" pos="0 0 -0.08"/>
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="left_hip_pitch_joint" axis="0 1 0" range="-2.5307 2.8798"/>
+        <geom class="visual" material="black" mesh="left_hip_pitch_link"/>
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="left_hip_roll_joint" axis="1 0 0" range="-0.5236 2.9671"/>
+          <geom class="visual" mesh="left_hip_roll_link"/>
+          <geom name="left_hip_collision" class="collision" size="0.06" fromto="0.02 0 0 0.02 0 -0.08"/>
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="left_hip_yaw_joint" axis="0 0 1" range="-2.7576 2.7576"/>
+            <geom class="visual" mesh="left_hip_yaw_link"/>
+            <geom name="left_thigh_collision" class="collision" size="0.055" fromto="-0.0 0 -0.03 -0.06 0 -0.17"/>
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
+                diaginertia="0.0113804 0.0112778 0.00146458"/>
+              <joint name="left_knee_joint" axis="0 1 0" range="-0.087267 2.8798"/>
+              <geom class="visual" mesh="left_knee_link"/>
+              <geom name="left_shin_collision" class="collision" size="0.045" fromto="0.01 0 0 0.01 0 -0.15"/>
+              <geom name="left_linkage_brace_collision" class="collision" size="0.03" fromto="0.01 0 -0.2 0.01 0 -0.28"/>
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
+                <joint name="left_ankle_pitch_joint" axis="0 1 0" range="-0.87267 0.5236"/>
+                <geom class="visual" mesh="left_ankle_pitch_link"/>
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="left_foot" rgba="1 0 0 1" pos="0.04 0 -0.037"/>
+                  <inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621"/>
+                  <joint name="left_ankle_roll_joint" axis="1 0 0" range="-0.2618 0.2618"/>
+                  <geom class="visual" material="black" mesh="left_ankle_roll_link"/>
+                  <!-- <geom name="left_foot1_collision" class="foot_capsule" fromto="0.1 -0.026 -0.025 0.05 -0.027
+                  -0.025"/>
+                  <geom name="left_foot2_collision" class="foot_capsule" fromto="-0.045 0 -0.015 0.12 0 -0.015"
+                    size="0.02"/>
+                  <geom name="left_foot3_collision" class="foot_capsule" fromto="0.1 0.026 -0.025 0.05 0.026 -0.025"/> -->
+                  <geom name="left_foot1_collision" class="foot_capsule" fromto="0.1 -0.026 -0.025 0.05 -0.027 -0.025"/>
+                  <geom name="left_foot2_collision" class="foot_capsule"
+                    fromto="-0.044 -0.018 -0.025 0.123 -0.018 -0.025"/>
+                  <geom name="left_foot3_collision" class="foot_capsule" fromto="-0.052 -0.01 -0.025 0.13 -0.01 -0.025"/>
+                  <geom name="left_foot4_collision" class="foot_capsule" fromto="-0.054 0 -0.025 0.132 0 -0.025"/>
+                  <geom name="left_foot5_collision" class="foot_capsule" fromto="-0.052 0.01 -0.025 0.13 0.01 -0.025"/>
+                  <geom name="left_foot6_collision" class="foot_capsule" fromto="-0.044 0.018 -0.025 0.123 0.018 -0.025"/>
+                  <geom name="left_foot7_collision" class="foot_capsule" fromto="0.1 0.026 -0.025 0.05 0.026 -0.025"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="right_hip_pitch_joint" axis="0 1 0" range="-2.5307 2.8798"/>
+        <geom class="visual" material="black" mesh="right_hip_pitch_link"/>
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="right_hip_roll_joint" axis="1 0 0" range="-2.9671 0.5236"/>
+          <geom class="visual" mesh="right_hip_roll_link"/>
+          <geom name="right_hip_collision" class="collision" size="0.06" fromto="0.02 0 0 0.02 0 -0.08"/>
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="right_hip_yaw_joint" axis="0 0 1" range="-2.7576 2.7576"/>
+            <geom class="visual" mesh="right_hip_yaw_link"/>
+            <geom name="right_thigh_collision" class="collision" size="0.055" fromto="-0.0 0 -0.03 -0.06 0 -0.17"/>
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
+                diaginertia="0.011374 0.0112843 0.00146452"/>
+              <joint name="right_knee_joint" axis="0 1 0" range="-0.087267 2.8798"/>
+              <geom class="visual" mesh="right_knee_link"/>
+              <geom name="right_shin_collision" class="collision" size="0.045" fromto="0.01 0 0 0.01 0 -0.15"/>
+              <geom name="right_linkage_brace_collision" class="collision" size="0.03" fromto="0.01 0 -0.2 0.01 0 -0.28"/>
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
+                <joint name="right_ankle_pitch_joint" axis="0 1 0" range="-0.87267 0.5236"/>
+                <geom class="visual" mesh="right_ankle_pitch_link"/>
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="right_foot" rgba="1 0 0 1" pos="0.04 0 -0.037"/>
+                  <inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621"/>
+                  <joint name="right_ankle_roll_joint" axis="1 0 0" range="-0.2618 0.2618"/>
+                  <geom class="visual" material="black" mesh="right_ankle_roll_link"/>
+                  <!-- <geom name="right_foot1_collision" class="foot_capsule" fromto="0.1 -0.026 -0.025 0.05 -0.026
+                  -0.025"/>
+                  <geom name="right_foot2_collision" class="foot_capsule" fromto="-0.045 0 -0.015 0.12 0 -0.015"
+                    size="0.02"/>
+                  <geom name="right_foot3_collision" class="foot_capsule" fromto="0.1 0.026 -0.025 0.05 0.026 -0.025"/> -->
+                  <geom name="right_foot1_collision" class="foot_capsule" fromto="0.1 -0.026 -0.025 0.05 -0.026 -0.025"/>
+                  <geom name="right_foot2_collision" class="foot_capsule"
+                    fromto="-0.044 -0.018 -0.025 0.123 -0.018 -0.025"/>
+                  <geom name="right_foot3_collision" class="foot_capsule" fromto="-0.052 -0.01 -0.025 0.13 -0.01 -0.025"/>
+                  <geom name="right_foot4_collision" class="foot_capsule" fromto="-0.054 0 -0.025 0.132 0 -0.025"/>
+                  <geom name="right_foot5_collision" class="foot_capsule" fromto="-0.052 0.01 -0.025 0.13 0.01 -0.025"/>
+                  <geom name="right_foot6_collision" class="foot_capsule"
+                    fromto="-0.044 0.018 -0.025 0.123 0.018 -0.025"/>
+                  <geom name="right_foot7_collision" class="foot_capsule" fromto="0.1 0.026 -0.025 0.05 0.026 -0.025"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214"
+          diaginertia="0.000163531 0.000107714 0.000102205"/>
+        <joint name="waist_yaw_joint" axis="0 0 1" range="-2.618 2.618"/>
+        <geom class="visual" mesh="waist_yaw_link"/>
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
+          <joint name="waist_roll_joint" axis="1 0 0" range="-0.52 0.52"/>
+          <geom class="visual" mesh="waist_roll_link"/>
+          <body name="torso_link">
+            <inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986"
+              mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
+            <joint name="waist_pitch_joint" axis="0 1 0" range="-0.52 0.52"/>
+            <geom class="visual" mesh="torso_link"/>
+            <geom class="visual" pos="0.0039635 0 -0.044" quat="1 0 0 0" material="black" mesh="logo_link"/>
+            <geom class="visual" pos="0.0039635 0 -0.044" material="black" mesh="head_link"/>
+            <geom name="torso_collision" class="collision" size="0.09" fromto="0.01 0 0.08 0.01 0 0.2"/>
+            <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0 0 .43"/>
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
+              quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="left_shoulder_pitch_joint" axis="0 1 0" range="-3.0892 2.6704"/>
+              <geom class="visual" mesh="left_shoulder_pitch_link"/>
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="left_shoulder_roll_joint" axis="1 0 0" range="-1.5882 2.2515"/>
+                <geom class="visual" mesh="left_shoulder_roll_link"/>
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="left_shoulder_yaw_joint" axis="0 0 1" range="-2.618 2.618"/>
+                  <geom class="visual" mesh="left_shoulder_yaw_link"/>
+                  <geom name="left_shoulder_yaw_collision" class="collision" size="0.035" fromto="0 0 -0.08 0 0 0.05"/>
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="left_elbow_joint" axis="0 1 0" range="-1.0472 2.0944"/>
+                    <geom class="visual" mesh="left_elbow_link"/>
+                    <geom name="left_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01"/>
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="left_wrist_roll_joint" axis="1 0 0" range="-1.97222 1.97222"/>
+                      <geom class="visual" mesh="left_wrist_roll_link"/>
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="left_wrist_pitch_joint" axis="0 1 0" range="-1.61443 1.61443"/>
+                        <geom class="visual" mesh="left_wrist_pitch_link"/>
+                        <geom name="left_wrist_collision" class="collision" size="0.035" fromto="-0.01 0 0 0.06 0 0"/>
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
+                          <joint name="left_wrist_yaw_joint" axis="0 0 1" range="-1.61443 1.61443"/>
+                          <geom class="visual" mesh="left_wrist_yaw_link"/>
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" class="visual" mesh="left_rubber_hand"
+                            material="black"/>
+                          <site name="left_palm" pos="0.08 0 0" size="0.01"/>
+                          <geom name="left_hand_collision" class="collision" size="0.035" fromto="0.07 0 0 0.15 -0.02 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778"
+              quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="right_shoulder_pitch_joint" axis="0 1 0" range="-3.0892 2.6704"/>
+              <geom class="visual" mesh="right_shoulder_pitch_link"/>
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256"
+                  mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="right_shoulder_roll_joint" axis="1 0 0" range="-2.2515 1.5882"/>
+                <geom class="visual" mesh="right_shoulder_roll_link"/>
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="right_shoulder_yaw_joint" axis="0 0 1" range="-2.618 2.618"/>
+                  <geom class="visual" mesh="right_shoulder_yaw_link"/>
+                  <geom name="right_shoulder_yaw_collision" class="collision" size="0.035" fromto="0 0 -0.08 0 0 0.05"/>
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="right_elbow_joint" axis="0 1 0" range="-1.0472 2.0944"/>
+                    <geom class="visual" mesh="right_elbow_link"/>
+                    <geom name="right_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01"/>
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="right_wrist_roll_joint" axis="1 0 0" range="-1.97222 1.97222"/>
+                      <geom class="visual" mesh="right_wrist_roll_link"/>
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="right_wrist_pitch_joint" axis="0 1 0" range="-1.61443 1.61443"/>
+                        <geom class="visual" mesh="right_wrist_pitch_link"/>
+                        <geom name="right_wrist_collision" class="collision" size="0.035" fromto="-0.01 0 0 0.06 0 0"/>
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
+                          <joint name="right_wrist_yaw_joint" axis="0 0 1" range="-1.61443 1.61443"/>
+                          <geom class="visual" mesh="right_wrist_yaw_link"/>
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" class="visual" mesh="right_rubber_hand"
+                            material="black"/>
+                          <site name="right_palm" pos="0.08 0 0" size="0.01"/>
+                          <geom name="right_hand_collision" class="collision" size="0.035" fromto="0.07 0 0 0.15 0.02 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="left_elbow_link" body2="left_wrist_pitch_link"/>
+    <exclude body1="right_elbow_link" body2="right_wrist_pitch_link"/>
+    <exclude body1="pelvis" body2="right_hip_roll_link"/>
+    <exclude body1="pelvis" body2="left_hip_roll_link"/>
+  </contact>
+  <sensor>
+    <gyro name="imu_ang_vel" site="imu_in_pelvis"/>
+    <velocimeter name="imu_lin_vel" site="imu_in_pelvis"/>
+    <accelerometer name="imu_lin_acc" site="imu_in_pelvis"/>
+    <subtreeangmom name="root_angmom" body="pelvis"/>
+  </sensor>
+</mujoco>
diff --git a/g1_mjlab/meshes/head_link.STL b/g1_mjlab/meshes/head_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..401f822751c33dab53c6cee77eb62890aca5cd8f
--- /dev/null
+++ b/g1_mjlab/meshes/head_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:005fb67fbd3eff94aa8bf4a6e83238174e9f91b6721f7111594322f223724411
+size 932784
diff --git a/g1_mjlab/meshes/left_ankle_pitch_link.STL b/g1_mjlab/meshes/left_ankle_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7cd705218062fc63478e2ad98418eaaf021f25c7
--- /dev/null
+++ b/g1_mjlab/meshes/left_ankle_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d49e3abc6f5b12e532062cd575b87b5ef40cd2a3fc18f54a1ca5bba4f773d51d
+size 71184
diff --git a/g1_mjlab/meshes/left_ankle_roll_link.STL b/g1_mjlab/meshes/left_ankle_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..cb69f65c6a8059fc6720cb393540f579b4d0c26e
--- /dev/null
+++ b/g1_mjlab/meshes/left_ankle_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4092af943141d4d9f74232f3cfa345afc6565f46a077793b8ae0e68b39dc33f
+size 653384
diff --git a/g1_mjlab/meshes/left_elbow_link.STL b/g1_mjlab/meshes/left_elbow_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7fa05272ef8e4c48ba57532175c7388784414369
--- /dev/null
+++ b/g1_mjlab/meshes/left_elbow_link.STL
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