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meta/info.json

@@ -0,0 +1,477 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "Unitree_G1_Dex3",
+  "total_episodes": 4,
+  "total_frames": 8498,
+  "total_tasks": 1,
+  "total_videos": 16,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:4"
+  },
+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "urdf_path": {
+    "g1_body": "urdf/g1_body29_hand14.urdf",
+    "left_hand": "urdf/unitree_dex3_left.urdf",
+    "right_hand": "urdf/unitree_dex3_right.urdf"
+  },
+  "features": {
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        28
+      ],
+      "names": {
+        "motors":
+        [
+          "kLeftShoulderPitch",
+          "kLeftShoulderRoll",
+          "kLeftShoulderYaw",
+          "kLeftElbow",
+          "kLeftWristRoll",
+          "kLeftWristPitch",
+          "kLeftWristYaw",
+          "kRightShoulderPitch",
+          "kRightShoulderRoll",
+          "kRightShoulderYaw",
+          "kRightElbow",
+          "kRightWristRoll",
+          "kRightWristPitch",
+          "kRightWristYaw",
+          "kLeftHandThumb0",
+          "kLeftHandThumb1",
+          "kLeftHandThumb2",
+          "kLeftHandMiddle0",
+          "kLeftHandMiddle1",
+          "kLeftHandIndex0",
+          "kLeftHandIndex1",
+          "kRightHandThumb0",
+          "kRightHandThumb1",
+          "kRightHandThumb2",
+          "kRightHandIndex0",
+          "kRightHandIndex1",
+          "kRightHandMiddle0",
+          "kRightHandMiddle1"
+        ]
+      }
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        28
+      ],
+      "names": {
+        "motors":
+        [
+          "kLeftShoulderPitch",
+          "kLeftShoulderRoll",
+          "kLeftShoulderYaw",
+          "kLeftElbow",
+          "kLeftWristRoll",
+          "kLeftWristPitch",
+          "kLeftWristYaw",
+          "kRightShoulderPitch",
+          "kRightShoulderRoll",
+          "kRightShoulderYaw",
+          "kRightElbow",
+          "kRightWristRoll",
+          "kRightWristPitch",
+          "kRightWristYaw",
+          "kLeftHandThumb0",
+          "kLeftHandThumb1",
+          "kLeftHandThumb2",
+          "kLeftHandMiddle0",
+          "kLeftHandMiddle1",
+          "kLeftHandIndex0",
+          "kLeftHandIndex1",
+          "kRightHandThumb0",
+          "kRightHandThumb1",
+          "kRightHandThumb2",
+          "kRightHandIndex0",
+          "kRightHandIndex1",
+          "kRightHandMiddle0",
+          "kRightHandMiddle1"
+        ]
+      }
+    },
+    "observation.raw_vr_data": {
+      "dtype": "float32",
+      "shape": [
+        188
+      ],
+      "names": {
+        "motors":
+        [
+          "left_arm_pose_0",
+          "left_arm_pose_1",
+          "left_arm_pose_2",
+          "left_arm_pose_3",
+          "left_arm_pose_4",
+          "left_arm_pose_5",
+          "left_arm_pose_6",
+          "left_arm_pose_7",
+          "left_arm_pose_8",
+          "left_arm_pose_9",
+          "left_arm_pose_10",
+          "left_arm_pose_11",
+          "left_arm_pose_12",
+          "left_arm_pose_13",
+          "left_arm_pose_14",
+          "left_arm_pose_15",
+          "right_arm_pose_0",
+          "right_arm_pose_1",
+          "right_arm_pose_2",
+          "right_arm_pose_3",
+          "right_arm_pose_4",
+          "right_arm_pose_5",
+          "right_arm_pose_6",
+          "right_arm_pose_7",
+          "right_arm_pose_8",
+          "right_arm_pose_9",
+          "right_arm_pose_10",
+          "right_arm_pose_11",
+          "right_arm_pose_12",
+          "right_arm_pose_13",
+          "right_arm_pose_14",
+          "right_arm_pose_15",
+          "tele_state_right_aButton",
+          "tele_state_thumbstick_both",
+          "left_thumbstick_x",
+          "left_thumbstick_y",
+          "right_thumbstick_x",
+          "right_thumbstick_y",
+          "left_hand_pos_0",
+          "left_hand_pos_1",
+          "left_hand_pos_2",
+          "left_hand_pos_3",
+          "left_hand_pos_4",
+          "left_hand_pos_5",
+          "left_hand_pos_6",
+          "left_hand_pos_7",
+          "left_hand_pos_8",
+          "left_hand_pos_9",
+          "left_hand_pos_10",
+          "left_hand_pos_11",
+          "left_hand_pos_12",
+          "left_hand_pos_13",
+          "left_hand_pos_14",
+          "left_hand_pos_15",
+          "left_hand_pos_16",
+          "left_hand_pos_17",
+          "left_hand_pos_18",
+          "left_hand_pos_19",
+          "left_hand_pos_20",
+          "left_hand_pos_21",
+          "left_hand_pos_22",
+          "left_hand_pos_23",
+          "left_hand_pos_24",
+          "left_hand_pos_25",
+          "left_hand_pos_26",
+          "left_hand_pos_27",
+          "left_hand_pos_28",
+          "left_hand_pos_29",
+          "left_hand_pos_30",
+          "left_hand_pos_31",
+          "left_hand_pos_32",
+          "left_hand_pos_33",
+          "left_hand_pos_34",
+          "left_hand_pos_35",
+          "left_hand_pos_36",
+          "left_hand_pos_37",
+          "left_hand_pos_38",
+          "left_hand_pos_39",
+          "left_hand_pos_40",
+          "left_hand_pos_41",
+          "left_hand_pos_42",
+          "left_hand_pos_43",
+          "left_hand_pos_44",
+          "left_hand_pos_45",
+          "left_hand_pos_46",
+          "left_hand_pos_47",
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+          "left_hand_pos_50",
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+          "left_hand_pos_53",
+          "left_hand_pos_54",
+          "left_hand_pos_55",
+          "left_hand_pos_56",
+          "left_hand_pos_57",
+          "left_hand_pos_58",
+          "left_hand_pos_59",
+          "left_hand_pos_60",
+          "left_hand_pos_61",
+          "left_hand_pos_62",
+          "left_hand_pos_63",
+          "left_hand_pos_64",
+          "left_hand_pos_65",
+          "left_hand_pos_66",
+          "left_hand_pos_67",
+          "left_hand_pos_68",
+          "left_hand_pos_69",
+          "left_hand_pos_70",
+          "left_hand_pos_71",
+          "left_hand_pos_72",
+          "left_hand_pos_73",
+          "left_hand_pos_74",
+          "right_hand_pos_0",
+          "right_hand_pos_1",
+          "right_hand_pos_2",
+          "right_hand_pos_3",
+          "right_hand_pos_4",
+          "right_hand_pos_5",
+          "right_hand_pos_6",
+          "right_hand_pos_7",
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+          "right_hand_pos_11",
+          "right_hand_pos_12",
+          "right_hand_pos_13",
+          "right_hand_pos_14",
+          "right_hand_pos_15",
+          "right_hand_pos_16",
+          "right_hand_pos_17",
+          "right_hand_pos_18",
+          "right_hand_pos_19",
+          "right_hand_pos_20",
+          "right_hand_pos_21",
+          "right_hand_pos_22",
+          "right_hand_pos_23",
+          "right_hand_pos_24",
+          "right_hand_pos_25",
+          "right_hand_pos_26",
+          "right_hand_pos_27",
+          "right_hand_pos_28",
+          "right_hand_pos_29",
+          "right_hand_pos_30",
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+          "right_hand_pos_72",
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+        ]
+      }
+    },
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+        640,
+        3
+      ],
+      "names": [
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+        "width",
+        "depth"
+      ],
+      "info": {
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+    },
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+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.cam_left_wrist": {
+      "dtype": "video",
+      "shape": [
+        640,
+        480,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.height": 640,
+        "video.width": 480,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.cam_right_wrist": {
+      "dtype": "video",
+      "shape": [
+        640,
+        480,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
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+        "video.codec": "av1",
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+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "timestamp": {
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+      "names": null
+    },
+    "frame_index": {
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+      "names": null
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
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+        1
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+      "names": null
+    },
+    "task_index": {
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+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "vr_data_names": {
+      "left_arm_pose": "4x4 transformation matrix (flattened to 16 elements)",
+      "right_arm_pose": "4x4 transformation matrix (flattened to 16 elements)",
+      "left_hand_pos": "75-dimensional hand pose data",
+      "right_hand_pos": "75-dimensional hand pose data",
+      "left_gripper_value": "Gripper control value [0,1]",
+      "right_gripper_value": "Gripper control value [0,1]",
+      "tele_state": "Controller state information"
+    },
+    "urdf_files": {
+      "g1_body": "urdf/g1_body29_hand14.urdf",
+      "left_hand": "urdf/unitree_dex3_left.urdf",
+      "right_hand": "urdf/unitree_dex3_right.urdf"
+    },
+    "camera_specifications": {
+      "head_camera": {
+        "model": "Intel RealSense D435i",
+        "product_line": "Intel RealSense Camera",
+        "release_date": "Q1 2019",
+        "depth_technology": "Active Stereoscopic",
+        "operating_range": "0.3m - 3m",
+        "depth_resolution": "1280x720 @ 30fps",
+        "fov": {
+          "horizontal": 87,
+          "vertical": 58
+        },
+        "rgb_sensor": true,
+        "tracking_module": false,
+        "dimensions": "90mm x 25mm x 25mm",
+        "power_consumption": "N/A",
+        "interface": "USB 3.0"
+      },
+      "wrist_camera": {
+        "model": "Intel RealSense D405",
+        "product_line": "Intel RealSense Camera",
+        "release_date": "Q1 2022",
+        "depth_technology": "Stereo",
+        "operating_range": "7cm - 50cm",
+        "depth_resolution": "720p @ 30fps",
+        "fov": {
+          "horizontal": 87,
+          "vertical": 58
+        },
+        "rgb_sensor": true,
+        "tracking_module": false,
+        "dimensions": "42mm x 42mm x 23mm",
+        "power_consumption": "1.55 W",
+        "interface": "USB"
+      }
+    }
+  }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "teleop"}

urdf/g1_body29_hand14.urdf

@@ -0,0 +1,1476 @@
+<robot name="g1">
+  <mujoco>
+    <compiler meshdir="meshes" discardvisual="false"/>
+  </mujoco>
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world"/>
+    <child link="pelvis"/>
+  </joint> -->
+
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="0 0 -0.07605" rpy="0 0 0"/>
+      <mass value="3.813"/>
+      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/pelvis.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="pelvis_contour_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/pelvis_contour_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/pelvis_contour_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pelvis_contour_joint" type="fixed">
+    <parent link="pelvis"/>
+    <child link="pelvis_contour_link"/>
+  </joint>
+
+  <!-- Legs -->
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
+      <mass value="1.35"/>
+      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="left_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
+      <mass value="1.52"/>
+      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
+    <parent link="left_hip_pitch_link"/>
+    <child link="left_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20"/>
+  </joint>
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
+      <mass value="1.702"/>
+      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
+    <parent link="left_hip_roll_link"/>
+    <child link="left_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
+      <mass value="1.932"/>
+      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
+    <parent link="left_hip_yaw_link"/>
+    <child link="left_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
+      <mass value="0.074"/>
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
+    <parent link="left_knee_link"/>
+    <child link="left_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
+      <mass value="0.608"/>
+      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
+    <parent link="left_ankle_pitch_link"/>
+    <child link="left_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
+      <mass value="1.35"/>
+      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="right_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
+      <mass value="1.52"/>
+      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
+    <parent link="right_hip_pitch_link"/>
+    <child link="right_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20"/>
+  </joint>
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
+      <mass value="1.702"/>
+      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
+    <parent link="right_hip_roll_link"/>
+    <child link="right_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
+      <mass value="1.932"/>
+      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
+    <parent link="right_hip_yaw_link"/>
+    <child link="right_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
+      <mass value="0.074"/>
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
+    <parent link="right_knee_link"/>
+    <child link="right_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
+      <mass value="0.608"/>
+      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
+    <parent link="right_ankle_pitch_link"/>
+    <child link="right_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
+  </joint>
+
+  <!-- Torso -->
+  <link name="waist_yaw_link">
+    <inertial>
+      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0"/>
+      <mass value="0.214"/>
+      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/waist_yaw_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="waist_yaw_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="waist_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
+  </joint>
+  <link name="waist_roll_link">
+    <inertial>
+      <origin xyz="0 2.3E-05 0" rpy="0 0 0"/>
+      <mass value="0.086"/>
+      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/waist_roll_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="waist_roll_joint" type="revolute">
+    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
+    <parent link="waist_yaw_link"/>
+    <child link="waist_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
+  </joint>
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
+      <mass value="6.78"/>
+      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="waist_pitch_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="waist_roll_link"/>
+    <child link="torso_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
+  </joint>
+
+  <!-- LOGO -->
+  <joint name="logo_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="logo_link"/>
+  </joint>
+  <link name="logo_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/logo_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/logo_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Head -->
+  <link name="head_link">
+    <inertial>
+      <origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
+      <mass value="1.036"/>
+      <inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/head_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/head_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="head_link"/>
+  </joint>
+
+
+  <!-- IMU -->
+  <link name="imu_in_torso"></link>
+  <joint name="imu_in_torso_joint" type="fixed">
+    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="imu_in_torso"/>
+  </joint>
+
+  <link name="imu_in_pelvis"></link>
+  <joint name="imu_in_pelvis_joint" type="fixed">
+    <origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="imu_in_pelvis"/>
+  </joint>
+
+  <!-- d435 -->
+  <link name="d435_link"></link>
+  <joint name="d435_joint" type="fixed">
+    <origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0"/>
+    <parent link="torso_link"/>
+    <child link="d435_link"/>
+  </joint>
+
+  <!-- mid360 -->
+  <link name="mid360_link"></link>
+  <joint name="mid360_joint" type="fixed">
+    <origin xyz="0.0002835 0.00003 0.41618" rpy="0 0.04014257279586953 0"/>
+    <parent link="torso_link"/>
+    <child link="mid360_link"/>
+  </joint>
+
+  <!-- Arm -->
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
+      <mass value="0.718"/>
+      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
+    <parent link="torso_link"/>
+    <child link="left_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
+      <mass value="0.643"/>
+      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
+    <parent link="left_shoulder_pitch_link"/>
+    <child link="left_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
+      <mass value="0.734"/>
+      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
+    <parent link="left_shoulder_roll_link"/>
+    <child link="left_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
+      <mass value="0.6"/>
+      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
+    <parent link="left_shoulder_yaw_link"/>
+    <child link="left_elbow_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
+  </joint>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="left_elbow_link"/>
+    <child link="left_wrist_roll_link"/>
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
+  </joint>
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0"/>
+      <mass value="0.08544498"/>
+      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="left_wrist_roll_link"/>
+    <child link="left_wrist_pitch_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0 0 0"/>
+      <mass value="0.48404956"/>
+      <inertia ixx="0.00016579646273" ixy="-0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="0.00000081417712" izz="0.00042953697654"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_wrist_pitch_link"/>
+    <child link="left_wrist_yaw_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0"/>
+      <mass value="0.08457647"/>
+      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 0.003 0" rpy="0 0 0"/>
+    <parent link="left_wrist_yaw_link"/>
+    <child link="left_hand_palm_link"/>
+  </joint>
+  <link name="left_hand_palm_link">
+    <inertial>
+      <origin xyz="0.06214634836 -0.00050869656 -0.00058171093" rpy="0 0 0"/>
+      <mass value="0.37283854"/>
+      <inertia ixx="0.00027535181027" ixy="-0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_palm_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_palm_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_0_joint" type="revolute">
+    <origin xyz="0.0255 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="left_hand_palm_link"/>
+    <child link="left_hand_thumb_0_link"/>
+    <limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
+  </joint>
+  <link name="left_hand_thumb_0_link">
+    <inertial>
+      <origin xyz="-0.00088424580 -0.00863407079 0.00094429336" rpy="0 0 0"/>
+      <mass value="0.08623657"/>
+      <inertia ixx="0.00001602919238" ixy="0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="-0.00000051094752" izz="0.00001637877663"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_0_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_0_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_1_joint" type="revolute">
+    <origin xyz="-0.0025 -0.0193 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_thumb_0_link"/>
+    <child link="left_hand_thumb_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-0.72431163" upper="1.04719755"/>
+  </joint>
+  <link name="left_hand_thumb_1_link">
+    <inertial>
+      <origin xyz="-0.00082788768 -0.03547435774 -0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00001274699945" ixy="-0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="-0.00000027839003" izz="0.00001234543582"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_1_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.001 -0.032 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.03 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_2_joint" type="revolute">
+    <origin xyz="0 -0.0458 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_thumb_1_link"/>
+    <child link="left_hand_thumb_2_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
+  </joint>
+  <link name="left_hand_thumb_2_link">
+    <inertial>
+      <origin xyz="-0.00171735242 -0.02628192939 0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000461267817" ixy="-0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="-0.00000002549885" izz="0.00000386625776"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_2_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_2_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_middle_0_joint" type="revolute">
+    <origin xyz="0.0777 0.0016 -0.0285" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_palm_link"/>
+    <child link="left_hand_middle_0_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
+  </joint>
+  <link name="left_hand_middle_0_link">
+    <inertial>
+      <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_middle_0_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_middle_0_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_middle_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_middle_0_link"/>
+    <child link="left_hand_middle_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
+  </joint>
+  <link name="left_hand_middle_1_link">
+    <inertial>
+      <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_middle_1_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_middle_1_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_0_joint" type="revolute">
+    <origin xyz="0.0777 0.0016 0.0285" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_palm_link"/>
+    <child link="left_hand_index_0_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
+  </joint>
+  <link name="left_hand_index_0_link">
+    <inertial>
+      <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_0_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_0_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_index_0_link"/>
+    <child link="left_hand_index_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
+  </joint>
+  <link name="left_hand_index_1_link">
+    <inertial>
+      <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_1_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_1_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
+      <mass value="0.718"/>
+      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
+    <parent link="torso_link"/>
+    <child link="right_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
+      <mass value="0.643"/>
+      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
+    <parent link="right_shoulder_pitch_link"/>
+    <child link="right_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
+      <mass value="0.734"/>
+      <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
+    <parent link="right_shoulder_roll_link"/>
+    <child link="right_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
+      <mass value="0.6"/>
+      <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
+    <parent link="right_shoulder_yaw_link"/>
+    <child link="right_elbow_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
+  </joint>
+  <joint name="right_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="right_elbow_link"/>
+    <child link="right_wrist_roll_link"/>
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
+  </joint>
+  <link name="right_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0"/>
+      <mass value="0.08544498"/>
+      <inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="right_wrist_roll_link"/>
+    <child link="right_wrist_pitch_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="right_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 0.00111685314 -0.00111658096" rpy="0 0 0"/>
+      <mass value="0.48404956"/>
+      <inertia ixx="0.00016579646273" ixy="0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="-0.00000081417712" izz="0.00042953697654"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_wrist_pitch_link"/>
+    <child link="right_wrist_yaw_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="right_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0"/>
+      <mass value="0.08457647"/>
+      <inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 -0.003 0" rpy="0 0 0"/>
+    <parent link="right_wrist_yaw_link"/>
+    <child link="right_hand_palm_link"/>
+  </joint>
+  <link name="right_hand_palm_link">
+    <inertial>
+      <origin xyz="0.06214634836 0.00050869656 -0.00058171093" rpy="0 0 0"/>
+      <mass value="0.37283854"/>
+      <inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="0.00000042279435" izz="0.00039623390907"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_palm_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_palm_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_0_joint" type="revolute">
+    <origin xyz="0.0255 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="right_hand_palm_link"/>
+    <child link="right_hand_thumb_0_link"/>
+    <limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
+  </joint>
+  <link name="right_hand_thumb_0_link">
+    <inertial>
+      <origin xyz="-0.00088424580 0.00863407079 0.00094429336" rpy="0 0 0"/>
+      <mass value="0.08623657"/>
+      <inertia ixx="0.00001602919238" ixy="-0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="0.00000051094752" izz="0.00001637877663"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_0_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_0_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_1_joint" type="revolute">
+    <origin xyz="-0.0025 0.0193 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_thumb_0_link"/>
+    <child link="right_hand_thumb_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.04719755" upper="0.72431163"/>
+  </joint>
+  <link name="right_hand_thumb_1_link">
+    <inertial>
+      <origin xyz="-0.00082788768 0.03547435774 -0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00001274699945" ixy="0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="0.00000027839003" izz="0.00001234543582"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_1_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.001 0.032 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.03 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_2_joint" type="revolute">
+    <origin xyz="0 0.0458 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_thumb_1_link"/>
+    <child link="right_hand_thumb_2_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
+  </joint>
+  <link name="right_hand_thumb_2_link">
+    <inertial>
+      <origin xyz="-0.00171735242 0.02628192939 0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000461267817" ixy="0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="0.00000002549885" izz="0.00000386625776"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_2_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_2_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_middle_0_joint" type="revolute">
+    <origin xyz="0.0777 -0.0016 -0.0285" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_palm_link"/>
+    <child link="right_hand_middle_0_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
+  </joint>
+  <link name="right_hand_middle_0_link">
+    <inertial>
+      <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_middle_0_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_middle_0_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_middle_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_middle_0_link"/>
+    <child link="right_hand_middle_1_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
+  </joint>
+  <link name="right_hand_middle_1_link">
+    <inertial>
+      <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_middle_1_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_middle_1_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_0_joint" type="revolute">
+    <origin xyz="0.0777 -0.0016 0.0285" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_palm_link"/>
+    <child link="right_hand_index_0_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
+  </joint>
+  <link name="right_hand_index_0_link">
+    <inertial>
+      <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_0_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_0_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_index_0_link"/>
+    <child link="right_hand_index_1_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
+  </joint>
+  <link name="right_hand_index_1_link">
+    <inertial>
+      <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_1_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_1_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>

urdf/unitree_dex3_left.urdf

@@ -0,0 +1,443 @@
+<robot name="dex3_left">
+  <mujoco>
+    <compiler meshdir="meshes" discardvisual="false" />
+  </mujoco>
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world"/>
+    <child link="pelvis"/>
+  </joint> -->
+
+  <link name="left_hand_palm_link">
+    <inertial>
+      <origin xyz="0.06214634836 -0.00050869656 -0.00058171093" rpy="0 0 0"/>
+      <mass value="0.37283854"/>
+      <inertia ixx="0.00027535181027" ixy="-0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_palm_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_palm_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_0_joint" type="revolute">
+    <origin xyz="0.0255 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="left_hand_palm_link"/>
+    <child link="left_hand_thumb_0_link"/>
+    <limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
+  </joint>
+  <link name="left_hand_thumb_0_link">
+    <inertial>
+      <origin xyz="-0.00088424580 -0.00863407079 0.00094429336" rpy="0 0 0"/>
+      <mass value="0.08623657"/>
+      <inertia ixx="0.00001602919238" ixy="0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="-0.00000051094752" izz="0.00001637877663"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_0_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_0_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_1_joint" type="revolute">
+    <origin xyz="-0.0025 -0.0193 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_thumb_0_link"/>
+    <child link="left_hand_thumb_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-0.72431163" upper="0.920"/>
+  </joint>
+  <link name="left_hand_thumb_1_link">
+    <inertial>
+      <origin xyz="-0.00082788768 -0.03547435774 -0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00001274699945" ixy="-0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="-0.00000027839003" izz="0.00001234543582"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_1_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.001 -0.032 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.03 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_2_joint" type="revolute">
+    <origin xyz="0 -0.0458 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_thumb_1_link"/>
+    <child link="left_hand_thumb_2_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
+  </joint>
+  <link name="left_hand_thumb_2_link">
+    <inertial>
+      <origin xyz="-0.00171735242 -0.02628192939 0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000461267817" ixy="-0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="-0.00000002549885" izz="0.00000386625776"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_2_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_2_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_middle_0_joint" type="revolute">
+    <origin xyz="0.0777 0.0016 -0.0285" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_palm_link"/>
+    <child link="left_hand_middle_0_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
+  </joint>
+  <link name="left_hand_middle_0_link">
+    <inertial>
+      <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_middle_0_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_middle_0_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_middle_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_middle_0_link"/>
+    <child link="left_hand_middle_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
+  </joint>
+  <link name="left_hand_middle_1_link">
+    <inertial>
+      <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_middle_1_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_middle_1_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_0_joint" type="revolute">
+    <origin xyz="0.0777 0.0016 0.0285" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_palm_link"/>
+    <child link="left_hand_index_0_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
+  </joint>
+  <link name="left_hand_index_0_link">
+    <inertial>
+      <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_0_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_0_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_hand_index_0_link"/>
+    <child link="left_hand_index_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
+  </joint>
+  <link name="left_hand_index_1_link">
+    <inertial>
+      <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_1_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_1_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+<!-- virtual auxiliary link -->
+
+<!-- for openxr / apple vision pro, good retarget with thumb and index. ==> teleop_hand_and_arm.py -->
+  <joint name="base_thumb" type="fixed">
+    <parent link="base_link" />
+    <child link="base_link_thumb" />
+    <origin rpy="0 0 0" xyz="-0.015 0.015 0.02" />
+  </joint>
+  <joint name="base_index" type="fixed">
+    <parent link="base_link" />
+    <child link="base_link_index" />
+    <origin rpy="0 0 0" xyz="-0.015 0 0" />
+  </joint>
+  <joint name="base_middle" type="fixed">
+    <parent link="base_link" />
+    <child link="base_link_middle" />
+    <origin rpy="0 0 0" xyz="-0.015 0 -0.03" />
+  </joint>
+  <joint name="base" type="fixed">
+    <parent link="base_link" />
+    <child link="left_hand_palm_link" />
+    <origin rpy="0 0 -1.57" xyz="0 0 0" />
+  </joint>
+
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="left_hand_thumb_2_link" />
+    <child link="thumb_tip" />
+    <origin rpy="0 0 0" xyz="0 -0.05 0" />
+  </joint>
+
+  <joint name="middle_joint" type="fixed">
+    <parent link="left_hand_middle_1_link" />
+    <child link="middle_tip" />
+    <origin rpy="0 0 0" xyz="0.05 0 0" />
+  </joint>
+
+  <joint name="index_joint" type="fixed">
+    <parent link="left_hand_index_1_link" />
+    <child link="index_tip" />
+    <origin rpy="0 0 0" xyz="0.05 0 0" />
+  </joint>
+
+  <link name="base_link_thumb">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.005" />
+        </geometry>
+        <material name="red">
+          <color rgba="1 0 0 1" />
+        </material>
+      </visual>
+  </link>
+  <link name="base_link_index">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.005" />
+        </geometry>
+        <material name="green">
+          <color rgba="0 1 0 1" />
+        </material>
+      </visual>
+  </link>
+  <link name="base_link_middle">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.005" />
+        </geometry>
+        <material name="blue">
+          <color rgba="0 0 1 1" />
+        </material>
+      </visual>
+  </link>
+  <link name="base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.01" />
+        </geometry>
+        <material name="purple">
+          <color rgba="1 0 1 1" />
+        </material>
+      </visual>
+  </link>
+
+  <link name="thumb_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+  </link>
+
+  <link name="index_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+
+  <link name="middle_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 1 1" />
+      </material>
+    </visual>
+  </link>
+
+ <!-- for mediapipe -->
+ <!-- <link name="base_link_thumb" />
+ <joint name="base_thumb" type="fixed">
+   <parent link="base_link_thumb" />
+   <child link="base_link" />
+   <origin rpy="0 0 0" xyz="-0.04 0.05 -0.06" />
+ </joint>
+
+ <link name="base_link" />
+ <joint name="base" type="fixed">
+   <parent link="base_link" />
+   <child link="left_hand_palm_link" />
+   <origin rpy="1.57 -1.57 0" xyz="0.02 -0.01 0" />
+ </joint>
+
+   <link name="thumb_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+  </link>
+
+  <link name="index_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+
+  <link name="middle_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 1 1" />
+      </material>
+    </visual>
+  </link>
+
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="left_hand_thumb_2_link" />
+    <child link="thumb_tip" />
+    <origin rpy="0 0 0" xyz="0.003 -0.05 0" />
+  </joint>
+
+  <joint name="middle_joint" type="fixed">
+    <parent link="left_hand_middle_1_link" />
+    <child link="middle_tip" />
+    <origin rpy="0 0 0" xyz="0.05 -0.003 0" />
+  </joint>
+
+  <joint name="index_joint" type="fixed">
+    <parent link="left_hand_index_1_link" />
+    <child link="index_tip" />
+    <origin rpy="0 0 0" xyz="0.05 -0.003 0" />
+  </joint> -->
+
+</robot>

urdf/unitree_dex3_right.urdf

@@ -0,0 +1,443 @@
+<robot name="dex3_right">
+  <mujoco>
+    <compiler meshdir="meshes" discardvisual="false" />
+  </mujoco>
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world"/>
+    <child link="pelvis"/>
+  </joint> -->
+
+  <link name="right_hand_palm_link">
+    <inertial>
+      <origin xyz="0.06214634836 0.00050869656 -0.00058171093" rpy="-1.57 1.57 0"/>
+      <mass value="0.37283854"/>
+      <inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="0.00000042279435" izz="0.00039623390907"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_palm_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_palm_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_0_joint" type="revolute">
+    <origin xyz="0.0255 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="right_hand_palm_link"/>
+    <child link="right_hand_thumb_0_link"/>
+    <limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
+  </joint>
+  <link name="right_hand_thumb_0_link">
+    <inertial>
+      <origin xyz="-0.00088424580 0.00863407079 0.00094429336" rpy="0 0 0"/>
+      <mass value="0.08623657"/>
+      <inertia ixx="0.00001602919238" ixy="-0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="0.00000051094752" izz="0.00001637877663"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_0_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_0_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_1_joint" type="revolute">
+    <origin xyz="-0.0025 0.0193 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_thumb_0_link"/>
+    <child link="right_hand_thumb_1_link"/>
+    <limit effort="1.4" velocity="12" lower="-0.920" upper="0.72431163"/>
+  </joint>
+  <link name="right_hand_thumb_1_link">
+    <inertial>
+      <origin xyz="-0.00082788768 0.03547435774 -0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00001274699945" ixy="0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="0.00000027839003" izz="0.00001234543582"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_1_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.001 0.032 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.03 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_2_joint" type="revolute">
+    <origin xyz="0 0.0458 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_thumb_1_link"/>
+    <child link="right_hand_thumb_2_link"/>
+    <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
+  </joint>
+  <link name="right_hand_thumb_2_link">
+    <inertial>
+      <origin xyz="-0.00171735242 0.02628192939 0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000461267817" ixy="0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="0.00000002549885" izz="0.00000386625776"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_2_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_2_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_middle_0_joint" type="revolute">
+    <origin xyz="0.0777 -0.0016 -0.0285" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_palm_link"/>
+    <child link="right_hand_middle_0_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
+  </joint>
+  <link name="right_hand_middle_0_link">
+    <inertial>
+      <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_middle_0_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_middle_0_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_middle_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_middle_0_link"/>
+    <child link="right_hand_middle_1_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
+  </joint>
+  <link name="right_hand_middle_1_link">
+    <inertial>
+      <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_middle_1_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_middle_1_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_0_joint" type="revolute">
+    <origin xyz="0.0777 -0.0016 0.0285" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_palm_link"/>
+    <child link="right_hand_index_0_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
+  </joint>
+  <link name="right_hand_index_0_link">
+    <inertial>
+      <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
+      <mass value="0.05885070"/>
+      <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_0_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_0_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_1_joint" type="revolute">
+    <origin xyz="0.0458 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_hand_index_0_link"/>
+    <child link="right_hand_index_1_link"/>
+    <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
+  </joint>
+  <link name="right_hand_index_1_link">
+    <inertial>
+      <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
+      <mass value="0.02030626"/>
+      <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_1_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_1_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+<!-- virtual auxiliary link -->
+
+<!-- for openxr / apple vision pro, good retarget with thumb and index.  ==> teleop_hand_and_arm.py -->
+  <joint name="base_thumb" type="fixed">
+    <parent link="base_link" />
+    <child link="base_link_thumb" />
+    <origin rpy="0 0 0" xyz="-0.015 0.015 -0.02" />
+  </joint>
+  <joint name="base_index" type="fixed">
+    <parent link="base_link" />
+    <child link="base_link_index" />
+    <origin rpy="0 0 0" xyz="-0.015 0 0" />
+  </joint>
+  <joint name="base_middle" type="fixed">
+    <parent link="base_link" />
+    <child link="base_link_middle" />
+    <origin rpy="0 0 0" xyz="-0.015 0 0.03" />
+  </joint>
+  <joint name="base" type="fixed">
+    <parent link="base_link" />
+    <child link="right_hand_palm_link" />
+    <origin rpy="3.14 0 -1.57" xyz="0 0 0" />
+  </joint>
+  
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="right_hand_thumb_2_link" />
+    <child link="thumb_tip" />
+    <origin rpy="0 0 0" xyz="0 0.05 0" />
+  </joint>
+
+  <joint name="middle_joint" type="fixed">
+    <parent link="right_hand_middle_1_link" />
+    <child link="middle_tip" />
+    <origin rpy="0 0 0" xyz="0.05 0 0" />
+  </joint>
+
+  <joint name="index_joint" type="fixed">
+    <parent link="right_hand_index_1_link" />
+    <child link="index_tip" />
+    <origin rpy="0 0 0" xyz="0.05 0 0" />
+  </joint>
+
+  <link name="base_link_thumb">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.005" />
+        </geometry>
+        <material name="red">
+          <color rgba="1 0 0 1" />
+        </material>
+      </visual>
+  </link>
+  <link name="base_link_index">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.005" />
+        </geometry>
+        <material name="green">
+          <color rgba="0 1 0 1" />
+        </material>
+      </visual>
+  </link>
+  <link name="base_link_middle">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.005" />
+        </geometry>
+        <material name="blue">
+          <color rgba="0 0 1 1" />
+        </material>
+      </visual>
+  </link>
+  <link name="base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="0.01" />
+        </geometry>
+        <material name="purple">
+          <color rgba="1 0 1 1" />
+        </material>
+      </visual>
+  </link>
+
+  <link name="thumb_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+  </link>
+
+  <link name="index_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+
+  <link name="middle_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 1 1" />
+      </material>
+    </visual>
+  </link>
+
+<!-- for mediapipe -->
+ <!-- <link name="base_link_thumb" />
+ <joint name="base_thumb" type="fixed">
+   <parent link="base_link_thumb" />
+   <child link="base_link" />
+   <origin rpy="0 0 0" xyz="-0.04 -0.05 -0.06" />
+ </joint>
+
+ <link name="base_link" />
+ <joint name="base" type="fixed">
+   <parent link="base_link" />
+   <child link="right_hand_palm_link" />
+   <origin rpy="0 -1.57 -1.57" xyz="0.02 -0.01 0" />
+ </joint>
+
+   <link name="thumb_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+  </link>
+
+  <link name="index_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+
+  <link name="middle_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 1 1" />
+      </material>
+    </visual>
+  </link>
+
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="right_hand_thumb_2_link" />
+    <child link="thumb_tip" />
+    <origin rpy="0 0 0" xyz="0.003 0.05 0" />
+  </joint>
+
+  <joint name="middle_joint" type="fixed">
+    <parent link="right_hand_middle_1_link" />
+    <child link="middle_tip" />
+    <origin rpy="0 0 0" xyz="0.05 0.003 0" />
+  </joint>
+
+  <joint name="index_joint" type="fixed">
+    <parent link="right_hand_index_1_link" />
+    <child link="index_tip" />
+    <origin rpy="0 0 0" xyz="0.05 0.003 0" />
+  </joint> -->
+
+</robot>

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