:zap: add humanoid demo to dataset

processed/amass/assets/robots/booster_t1/MUJOCO_LOG.TXT

@@ -0,0 +1,15 @@
+Sun Nov  2 15:58:18 2025
+WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 0.6200.
+
+Sun Nov  2 15:58:20 2025
+WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 0.6200.
+
+Sun Nov  2 15:58:24 2025
+WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 0.6200.
+
+Sun Nov  2 15:58:25 2025
+WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 0.6200.
+
+Sun Nov  2 15:58:31 2025
+WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 0.6200.
+

processed/amass/assets/robots/booster_t1/T1_locomotion.urdf

@@ -0,0 +1,1221 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="T1">
+  <link
+    name="Trunk">
+    <inertial>
+      <origin
+        xyz="0.0551365401093076 -1.42058017623659E-06 0.105062332707657"
+        rpy="0 0 0" />
+      <mass
+        value="11.7" />
+      <inertia
+        ixx="0.0915287235057927"
+        ixy="-4.25369739206781E-07"
+        ixz="0.000646360369011163"
+        iyy="0.076778716903413"
+        iyz="5.82340020271393E-07"
+        izz="0.0556171053368987" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Trunk.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.76 0.76 0.76 0.2" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.06 0 0.12"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.15 0.2 0.3" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="H1">
+    <inertial>
+      <origin
+        xyz="-0.000508 -0.001403 0.057432"
+        rpy="0 0 0" />
+      <mass
+        value="0.443910" />
+      <inertia
+        ixx="0.000224"
+        ixy="0.000003"
+        ixz="0.000001"
+        iyy="0.000241"
+        iyz="-0.000002"
+        izz="0.000150" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/H1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="AAHead_yaw"
+    type="fixed">
+    <origin
+      xyz="0.0625 0 0.243"
+      rpy="0 0 0" />
+    <parent
+      link="Trunk" />
+    <child
+      link="H1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="7"
+      velocity="12.56" />
+  </joint>
+  <link
+    name="H2">
+    <inertial>
+      <origin
+        xyz="0.007802 0.001262 0.098631"
+        rpy="0 0 0" />
+      <mass
+        value="0.631019" />
+      <inertia
+        ixx="0.002025"
+        ixy="-0.000025"
+        ixz="0.000046"
+        iyy="0.001920"
+        iyz="0.000036"
+        izz="0.001739" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/H2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Head_pitch"
+    type="fixed">
+    <origin
+      xyz="0 0 0.06185"
+      rpy="0 0 0" />
+    <parent
+      link="H1" />
+    <child
+      link="H2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.35"
+      upper="1.22"
+      effort="7"
+      velocity="12.56" />
+  </joint>
+  <link
+    name="AL1">
+    <inertial>
+      <origin
+        xyz="-0.000677 0.044974 0.000000"
+        rpy="0 0 0" />
+      <mass
+        value="0.53" />
+      <inertia
+        ixx="0.001293"
+        ixy="-0.000017"
+        ixz="0.000000"
+        iyy="0.000293"
+        iyz="0.000000"
+        izz="0.001367" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/AL1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.76 0.76 0.76 0.2" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Left_Shoulder_Pitch"
+    type="fixed">
+    <origin
+      xyz="0.0575 0.1063 0.219"
+      rpy="0 0.2 0" />
+    <parent
+      link="Trunk" />
+    <child
+      link="AL1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.31"
+      upper="1.22"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="AL2">
+    <inertial>
+      <origin
+        xyz="0.003862 0.037976 0.000000"
+        rpy="0 0 0" />
+      <mass
+        value="0.160" />
+      <inertia
+        ixx="0.000345"
+        ixy="0.000008"
+        ixz="0.000000"
+        iyy="0.000177"
+        iyz="0.000000"
+        izz="0.000401" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/AL2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Left_Shoulder_Roll"
+    type="fixed">
+    <origin
+      xyz="0 0.047 0"
+      rpy="-1.35 0 0" />
+    <parent
+      link="AL1" />
+    <child
+      link="AL2" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.74"
+      upper="1.57"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="AL3">
+    <inertial>
+      <origin
+        xyz="0.000000 0.085353 -0.000099"
+        rpy="0 0 0" />
+      <mass
+        value="1.02" />
+      <inertia
+        ixx="0.012869"
+        ixy="0.000000"
+        ixz="0.000000"
+        iyy="0.000621"
+        iyz="-0.000024"
+        izz="0.012798" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/AL3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Left_Elbow_Pitch"
+    type="fixed">
+    <origin
+      xyz="0.00025 0.0605 0"
+      rpy="0 0 0" />
+    <parent
+      link="AL2" />
+    <child
+      link="AL3" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.27"
+      upper="2.27"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="left_hand_link">
+    <inertial>
+      <origin
+        xyz="-0.000108 0.109573 0.000591"
+        rpy="0 0 0" />
+      <mass
+        value="0.327214390850251" />
+      <inertia
+        ixx="0.008159"
+        ixy="-0.000003"
+        ixz="0.000000"
+        iyy="0.000215"
+        iyz="0.000017"
+        izz="0.008131" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/left_hand_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Left_Elbow_Yaw"
+    type="fixed">
+    <origin
+      xyz="0 0.1471 0"
+      rpy="0 0 -0.5" />
+    <parent
+      link="AL3" />
+    <child
+      link="left_hand_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.44"
+      upper="0"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="AR1">
+    <inertial>
+      <origin
+        xyz="-0.000677 -0.044974 0.000000"
+        rpy="0 0 0" />
+      <mass
+        value="0.53" />
+      <inertia
+        ixx="0.001293"
+        ixy="-0.000017"
+        ixz="0.000000"
+        iyy="0.000293"
+        iyz="0.000000"
+        izz="0.001367" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/AR1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.76 0.76 0.76 0.2" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Right_Shoulder_Pitch"
+    type="fixed">
+    <origin
+      xyz="0.0575 -0.1063 0.219"
+      rpy="0 0.2 0" />
+    <parent
+      link="Trunk" />
+    <child
+      link="AR1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.31"
+      upper="1.22"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="AR2">
+    <inertial>
+      <origin
+        xyz="0.003862 -0.037976 0.000000"
+        rpy="0 0 0" />
+      <mass
+        value="0.160" />
+      <inertia
+        ixx="0.000345"
+        ixy="-0.000008"
+        ixz="0.000000"
+        iyy="0.000177"
+        iyz="0.000000"
+        izz="0.000401" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/AR2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Right_Shoulder_Roll"
+    type="fixed">
+    <origin
+      xyz="0 -0.047 0"
+      rpy="1.35 0 0" />
+    <parent
+      link="AR1" />
+    <child
+      link="AR2" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.57"
+      upper="1.74"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="AR3">
+    <inertial>
+      <origin  
+        xyz="0.000000 -0.085353 -0.000099"
+        rpy="0 0 0" />
+      <mass
+        value="1.02" />
+      <inertia
+        ixx="0.012869"
+        ixy="0.000000"
+        ixz="0.000000"
+        iyy="0.000621"
+        iyz="0.000024"
+        izz="0.012798" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/AR3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Right_Elbow_Pitch"
+    type="fixed">
+    <origin
+      xyz="0.00025 -0.0605 0"
+      rpy="0 0 0" />
+    <parent
+      link="AR2" />
+    <child
+      link="AR3" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.27"
+      upper="2.27"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="right_hand_link">
+    <inertial>
+      <origin     
+xyz="-0.000108 -0.109573 0.000591"
+        rpy="0 0 0" />
+      <mass
+        value="0.327214390850251" />
+      <inertia
+        ixx="0.008159"
+        ixy="0.000003"
+        ixz="0.000000"
+        iyy="0.000215"
+        iyz="-0.000017"
+        izz="0.008131" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Right_Elbow_Yaw"
+    type="fixed">
+    <origin
+      xyz="0 -0.1471 0"
+      rpy="0 0 0.5" />
+    <parent
+      link="AR3" />
+    <child
+      link="right_hand_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="2.44"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="Waist">
+    <inertial>
+      <origin
+        xyz="0.002284 0.000003 0.007301"
+        rpy="0 0 0" />
+      <mass
+        value="2.581" />
+      <inertia
+        ixx="0.005289"
+        ixy="0.000000"
+        ixz="0.000207"
+        iyy="0.005299"
+        iyz="0.000001"
+        izz="0.004821" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Waist.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Waist"
+    type="fixed">
+    <origin
+      xyz="0.0625 0 -0.1155"
+      rpy="0 0 0" />
+    <parent
+      link="Trunk" />
+    <child
+      link="Waist" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="30"
+      velocity="10.88" />
+  </joint>
+  <link
+    name="Hip_Pitch_Left">
+    <inertial>
+      <origin
+        xyz="0.000534 -0.007296 -0.018083"
+        rpy="0 0 0" />
+      <mass
+        value="1.021" />
+      <inertia
+        ixx="0.001805"
+        ixy="0.000006"
+        ixz="-0.000015"
+        iyy="0.001421"
+        iyz="0.000080"
+        izz="0.001292" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Hip_Pitch_Left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.76 0.76 0.76 0.2" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Left_Hip_Pitch"
+    type="revolute">
+    <origin
+      xyz="0 0.106 0"
+      rpy="0 0 0" />
+    <parent
+      link="Waist" />
+    <child
+      link="Hip_Pitch_Left" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.8"
+      upper="1.57"
+      effort="45"
+      velocity="12.5" />
+  </joint>
+  <link
+    name="Hip_Roll_Left">
+    <inertial>
+      <origin
+        xyz="0.001101 0.000024 -0.053750"
+        rpy="0 0 0" />
+      <mass
+        value="0.385" />
+      <inertia
+        ixx="0.001517"
+        ixy="0.000000"
+        ixz="0.000017"
+        iyy="0.001743"
+        iyz="0.000000"
+        izz="0.000515" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Hip_Roll_Left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Left_Hip_Roll"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.02"
+      rpy="0 0 0" />
+    <parent
+      link="Hip_Pitch_Left" />
+    <child
+      link="Hip_Roll_Left" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.3"
+      upper="1.57"
+      effort="30"
+      velocity="10.9" />
+  </joint>
+  <link
+    name="Hip_Yaw_Left">
+    <inertial>
+      <origin
+        xyz="-0.007233 0.000206 -0.089184"
+        rpy="0 0 0" />
+      <mass
+        value="2.166" />
+      <inertia
+        ixx="0.025108"
+        ixy="-0.000007"
+        ixz="0.002094"
+        iyy="0.025733"
+        iyz="-0.000050"
+        izz="0.002787" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Hip_Yaw_Left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.16" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Left_Hip_Yaw"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.081854"
+      rpy="0 0 0" />
+    <parent
+      link="Hip_Roll_Left" />
+    <child
+      link="Hip_Yaw_Left" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1"
+      upper="1"
+      effort="30"
+      velocity="10.9" />
+  </joint>
+  <link
+    name="Shank_Left">
+    <inertial>
+      <origin
+        xyz="-0.006012 0.000259 -0.124318"
+        rpy="0 0 0" />
+      <mass
+        value="1.73" />
+      <inertia
+        ixx="0.034618"
+        ixy="0.000011"
+        ixz="0.001561"
+        iyy="0.034539"
+        iyz="0.000197"
+        izz="0.001934" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Shank_Left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.12"
+        rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.15" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Left_Knee_Pitch"
+    type="revolute">
+    <origin
+      xyz="-0.014 0 -0.134"
+      rpy="0 0 0" />
+    <parent
+      link="Hip_Yaw_Left" />
+    <child
+      link="Shank_Left" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="2.34"
+      effort="60"
+      velocity="11.7" />
+  </joint>
+  <link
+    name="Ankle_Cross_Left">
+    <inertial>
+      <origin
+        xyz="-0.003722 0.000000 -0.007981"
+        rpy="0 0 0" />
+      <mass
+        value="0.073" />
+      <inertia
+        ixx="0.000012"
+        ixy="0.000000"
+        ixz="0.000003"
+        iyy="0.000029"
+        iyz="0.000000"
+        izz="0.000025" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Ankle_Cross_Left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Left_Ankle_Pitch"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.28"
+      rpy="0 0 0" />
+    <parent
+      link="Shank_Left" />
+    <child
+      link="Ankle_Cross_Left" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.87"
+      upper="0.35"
+      effort="24"
+      velocity="18.8" />
+  </joint>
+  <link
+    name="left_foot_link">
+    <inertial>
+      <origin
+        xyz="-0.000249 0.000000 -0.009140"
+        rpy="0 0 0" />
+      <mass
+        value="0.685" />
+      <inertia
+        ixx="0.001738"
+        ixy="0.000000"
+        ixz="-0.000147"
+        iyy="0.002385"
+        iyz="0.000000"
+        izz="0.002671" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/left_foot_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.01 0 -0.015"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.223 0.1 0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Left_Ankle_Roll"
+    type="revolute">
+    <origin
+      xyz="0 0.00025 -0.012"
+      rpy="0 0 0" />
+    <parent
+      link="Ankle_Cross_Left" />
+    <child
+      link="left_foot_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.44"
+      upper="0.44"
+      effort="15"
+      velocity="12.4" />
+  </joint>
+  <link
+    name="Hip_Pitch_Right">
+    <inertial>
+      <origin
+        xyz="0.000534 0.007514 -0.018082"
+        rpy="0 0 0" />
+      <mass
+        value="1.021" />
+      <inertia
+        ixx="0.001805"
+        ixy="-0.000008"
+        ixz="-0.000015"
+        iyy="0.001421"
+        iyz="-0.000085"
+        izz="0.001292" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Hip_Pitch_Right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.76 0.76 0.76 0.2" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Right_Hip_Pitch"
+    type="revolute">
+    <origin
+      xyz="0 -0.106 0"
+      rpy="0 0 0" />
+    <parent
+      link="Waist" />
+    <child
+      link="Hip_Pitch_Right" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.8"
+      upper="1.57"
+      effort="45"
+      velocity="12.5" />
+  </joint>
+  <link
+    name="Hip_Roll_Right">
+    <inertial>
+      <origin
+        xyz="0.001099 0.000024 -0.053748"
+        rpy="0 0 0" />
+      <mass
+        value="0.385" />
+      <inertia
+        ixx="0.001517"
+        ixy="0.000000"
+        ixz="0.000017"
+        iyy="0.001743"
+        iyz="0.000000"
+        izz="0.000515" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Hip_Roll_Right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Right_Hip_Roll"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.02"
+      rpy="0 0 0" />
+    <parent
+      link="Hip_Pitch_Right" />
+    <child
+      link="Hip_Roll_Right" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.57"
+      upper="0.3"
+      effort="30"
+      velocity="10.9" />
+  </joint>
+  <link
+    name="Hip_Yaw_Right">
+    <inertial>
+      <origin
+        xyz="-0.007191 -0.000149 -0.089220"
+        rpy="0 0 0" />
+      <mass
+        value="2.17" />
+      <inertia
+        ixx="0.025137"
+        ixy="0.000006"
+        ixz="0.002086"
+        iyy="0.025762"
+        iyz="0.000044"
+        izz="0.002787" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Hip_Yaw_Right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.16" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Right_Hip_Yaw"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.081854"
+      rpy="0 0 0" />
+    <parent
+      link="Hip_Roll_Right" />
+    <child
+      link="Hip_Yaw_Right" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1"
+      upper="1"
+      effort="30"
+      velocity="10.9" />
+  </joint>
+  <link
+    name="Shank_Right">
+    <inertial>
+      <origin
+        xyz="-0.005741 -0.000541 -0.122602"
+        rpy="0 0 0" />
+      <mass
+        value="1.79" />
+      <inertia
+        ixx="0.035098"
+        ixy="-0.000009"
+        ixz="0.001554"
+        iyy="0.034958"
+        iyz="-0.000086"
+        izz="0.002039" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Shank_Right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.12"
+        rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.15" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Right_Knee_Pitch"
+    type="revolute">
+    <origin
+      xyz="-0.014 0 -0.134"
+      rpy="0 0 0" />
+    <parent
+      link="Hip_Yaw_Right" />
+    <child
+      link="Shank_Right" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="2.34"
+      effort="60"
+      velocity="11.7" />
+  </joint>
+  <link
+    name="Ankle_Cross_Right">
+    <inertial>
+      <origin
+        xyz="-0.003722 0.000000 -0.007981"
+        rpy="0 0 0" />
+      <mass
+        value="0.073" />
+      <inertia
+        ixx="0.000012"
+        ixy="0.000000"
+        ixz="0.000003"
+        iyy="0.000029"
+        iyz="0.000000"
+        izz="0.000025" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Ankle_Cross_Right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Right_Ankle_Pitch"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.28"
+      rpy="0 0 0" />
+    <parent
+      link="Shank_Right" />
+    <child
+      link="Ankle_Cross_Right" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.87"
+      upper="0.35"
+      effort="24"
+      velocity="18.8" />
+  </joint>
+  <link
+    name="right_foot_link">
+    <inertial>
+      <origin
+        xyz="-0.000248 0.000000 -0.009140"
+        rpy="0 0 0" />
+      <mass
+        value="0.685" />
+      <inertia
+        ixx="0.001738"
+        ixy="0.000000"
+        ixz="-0.000147"
+        iyy="0.002385"
+        iyz="0.000000"
+        izz="0.002671" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_foot_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.01 0 -0.015"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.223 0.1 0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Right_Ankle_Roll"
+    type="revolute">
+    <origin
+      xyz="0 -0.00025 -0.012"
+      rpy="0 0 0" />
+    <parent
+      link="Ankle_Cross_Right" />
+    <child
+      link="right_foot_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.44"
+      upper="0.44"
+      effort="15"
+      velocity="12.4" />
+  </joint>
+</robot>

processed/amass/assets/robots/booster_t1/T1_locomotion.xml

@@ -0,0 +1,140 @@
+<mujoco model="T1">
+    <compiler angle="radian" meshdir="meshes/" />
+    <size njmax="500" nconmax="100" />
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
+        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
+        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
+        <mesh name="Trunk" file="Trunk.STL" />
+        <mesh name="H1" file="H1.STL" />
+        <mesh name="H2" file="H2.STL" />
+        <mesh name="AL1" file="AL1.STL" />
+        <mesh name="AL2" file="AL2.STL" />
+        <mesh name="AL3" file="AL3.STL" />
+        <mesh name="left_hand_link" file="left_hand_link.STL" />
+        <mesh name="AR1" file="AR1.STL" />
+        <mesh name="AR2" file="AR2.STL" />
+        <mesh name="AR3" file="AR3.STL" />
+        <mesh name="right_hand_link" file="right_hand_link.STL" />
+        <mesh name="Waist" file="Waist.STL" />
+        <mesh name="Hip_Pitch_Left" file="Hip_Pitch_Left.STL" />
+        <mesh name="Hip_Roll_Left" file="Hip_Roll_Left.STL" />
+        <mesh name="Hip_Yaw_Left" file="Hip_Yaw_Left.STL" />
+        <mesh name="Shank_Left" file="Shank_Left.STL" />
+        <mesh name="Ankle_Cross_Left" file="Ankle_Cross_Left.STL" />
+        <mesh name="left_foot_link" file="left_foot_link.STL" />
+        <mesh name="Hip_Pitch_Right" file="Hip_Pitch_Right.STL" />
+        <mesh name="Hip_Roll_Right" file="Hip_Roll_Right.STL" />
+        <mesh name="Hip_Yaw_Right" file="Hip_Yaw_Right.STL" />
+        <mesh name="Shank_Right" file="Shank_Right.STL" />
+        <mesh name="Ankle_Cross_Right" file="Ankle_Cross_Right.STL" />
+        <mesh name="right_foot_link" file="right_foot_link.STL" />
+    </asset>
+    <worldbody>
+        <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false" />
+        <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
+        <geom name="ground" type="plane" pos="0 0 0" size="0 0 1" material="matplane" condim="1"/>
+        <body name="Trunk" pos="0 0 0.7">
+            <inertial pos="0.054281 8.47449e-06 0.0893932" quat="0.999999 -0.000254757 -0.00132228 -0.000215148" mass="19.4304" diaginertia="0.502019 0.3531 0.207324" />
+            <site name='imu' size='0.01' pos='0.0 0.0 0.0' />
+            <joint type="free" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.76 0.76 0.76 1.0" mesh="Trunk" />
+            <geom size="0.075 0.1 0.15" pos="0.06 0 0.12" type="box" rgba="0.76 0.76 0.76 0.0" />
+            <geom pos="0.0625 0 0.243" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="H1" />
+            <geom pos="0.0625 0 0.30485" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="H2" />
+            <geom pos="0.0575 0.1063 0.219" quat="0.995004 0 0.0998334 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.76 0.76 0.76 1.0" mesh="AL1" />
+            <geom pos="0.0575 0.1533 0.219" quat="0.776807 -0.621775 0.0779406 0.0623856" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="AL2" />
+            <geom pos="0.0460173 0.16655 0.161096" quat="0.776807 -0.621775 0.0779406 0.0623856" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="AL3" />
+            <geom pos="0.0175025 0.198766 0.0204279" quat="0.768092 -0.621729 -0.078312 -0.131739" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="left_hand_link" />
+            <geom pos="0.0575 -0.1063 0.219" quat="0.995004 0 0.0998334 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.76 0.76 0.76 1.0" mesh="AR1" />
+            <geom pos="0.0575 -0.1533 0.219" quat="0.776807 0.621775 0.0779406 -0.0623856" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="AR2" />
+            <geom pos="0.0460173 -0.16655 0.161096" quat="0.776807 0.621775 0.0779406 -0.0623856" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="AR3" />
+            <geom pos="0.0175025 -0.198766 0.0204279" quat="0.768092 0.621729 -0.078312 0.131739" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="right_hand_link" />
+            <geom pos="0.0625 0 -0.1155" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Waist" />
+            <body name="Hip_Pitch_Left" pos="0.0625 0.106 -0.1155">
+                <inertial pos="0.000534 -0.007296 -0.018083" quat="0.975141 0.2211 0.0145808 0.0017406" mass="1.021" diaginertia="0.00180547 0.00145926 0.00125327" />
+                <joint name="Left_Hip_Pitch" pos="0 0 0" axis="0 1 0" limited="true" range="-1.8 1.57" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.76 0.76 0.76 1.0" mesh="Hip_Pitch_Left" />
+                <body name="Hip_Roll_Left" pos="0 0 -0.02">
+                    <inertial pos="0.001101 2.4e-05 -0.05375" quat="0.707081 -0.00599604 -0.00599604 0.707081" mass="0.385" diaginertia="0.001743 0.00151729 0.000514712" />
+                    <joint name="Left_Hip_Roll" pos="0 0 0" axis="1 0 0" limited="true" range="-0.3 1.57" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Hip_Roll_Left" />
+                    <body name="Hip_Yaw_Left" pos="0 0 -0.081854">
+                        <inertial pos="-0.007233 0.000206 -0.089184" quat="0.696808 -0.033953 -0.0315708 0.715758" mass="2.166" diaginertia="0.0257334 0.0253024 0.00259215" />
+                        <joint name="Left_Hip_Yaw" pos="0 0 0" axis="0 0 1" limited="true" range="-1 1" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Hip_Yaw_Left" />
+                        <geom size="0.05 0.08" type="cylinder" rgba="0.4 0.4 0.4 0.0" />
+                        <body name="Shank_Left" pos="-0.014 0 -0.134">
+                            <inertial pos="-0.006012 0.000259 -0.124318" quat="0.997573 0.00144024 -0.023949 0.0653706" mass="1.73" diaginertia="0.0346951 0.0345375 0.00185844" />
+                            <joint name="Left_Knee_Pitch" pos="0 0 0" axis="0 1 0" limited="true" range="0 2.34" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Shank_Left" />
+                            <geom size="0.05 0.075" pos="0 0 -0.12" type="cylinder" rgba="0.4 0.4 0.4 0.0" />
+                            <body name="Ankle_Cross_Left" pos="0 0 -0.28">
+                                <inertial pos="-0.003722 0 -0.007981" quat="0.443136 0.551027 0.551027 0.443136" mass="0.073" diaginertia="2.9e-05 2.56589e-05 1.13411e-05" />
+                                <joint name="Left_Ankle_Pitch" pos="0 0 0" axis="0 1 0" limited="true" range="-0.87 0.35" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 0.0" mesh="Ankle_Cross_Left" />
+                                <body name="left_foot_link" pos="0 0.00025 -0.012">
+                                    <inertial pos="-0.000249 0 -0.00914" quat="0 0.651138 0 0.75896" mass="0.685" diaginertia="0.00269361 0.002385 0.00171539" />
+                                    <joint name="Left_Ankle_Roll" pos="0 0 0" axis="1 0 0" limited="true" range="-0.44 0.44" />
+                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="left_foot_link" />
+                                    <geom size="0.1115 0.05 0.015" pos="0.01 0 -0.015" type="box" rgba="0.4 0.4 0.4 0.0" />
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <body name="Hip_Pitch_Right" pos="0.0625 -0.106 -0.1155">
+                <inertial pos="0.000534 0.007514 -0.018082" quat="0.973446 -0.228403 0.0147148 -0.00419349" mass="1.021" diaginertia="0.00180552 0.0014632 0.00124928" />
+                <joint name="Right_Hip_Pitch" pos="0 0 0" axis="0 1 0" limited="true" range="-1.8 1.57" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.76 0.76 0.76 1.0" mesh="Hip_Pitch_Right" />
+                <body name="Hip_Roll_Right" pos="0 0 -0.02">
+                    <inertial pos="0.001099 2.4e-05 -0.053748" quat="0.707081 -0.00599604 -0.00599604 0.707081" mass="0.385" diaginertia="0.001743 0.00151729 0.000514712" />
+                    <joint name="Right_Hip_Roll" pos="0 0 0" axis="1 0 0" limited="true" range="-1.57 0.3" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Hip_Roll_Right" />
+                    <body name="Hip_Yaw_Right" pos="0 0 -0.081854">
+                        <inertial pos="-0.007191 -0.000149 -0.08922" quat="0.714468 -0.0315638 -0.0336391 0.698146" mass="2.17" diaginertia="0.0257623 0.0253298 0.00259389" />
+                        <joint name="Right_Hip_Yaw" pos="0 0 0" axis="0 0 1" limited="true" range="-1 1" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Hip_Yaw_Right" />
+                        <geom size="0.05 0.08" type="cylinder" rgba="0.4 0.4 0.4 0.0" />
+                        <body name="Shank_Right" pos="-0.014 0 -0.134">
+                            <inertial pos="-0.005741 -0.000541 -0.122602" quat="0.99926 -0.000580963 -0.023461 -0.0304754" mass="1.79" diaginertia="0.0351717 0.0349574 0.00196589" />
+                            <joint name="Right_Knee_Pitch" pos="0 0 0" axis="0 1 0" limited="true" range="0 2.34" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Shank_Right" />
+                            <geom size="0.05 0.075" pos="0 0 -0.12" type="cylinder" rgba="0.4 0.4 0.4 0.0" />
+                            <body name="Ankle_Cross_Right" pos="0 0 -0.28">
+                                <inertial pos="-0.003722 0 -0.007981" quat="0.443136 0.551027 0.551027 0.443136" mass="0.073" diaginertia="2.9e-05 2.56589e-05 1.13411e-05" />
+                                <joint name="Right_Ankle_Pitch" pos="0 0 0" axis="0 1 0" limited="true" range="-0.87 0.35" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Ankle_Cross_Right" />
+                                <body name="right_foot_link" pos="0 -0.00025 -0.012">
+                                    <inertial pos="-0.000248 0 -0.00914" quat="0 0.651138 0 0.75896" mass="0.685" diaginertia="0.00269361 0.002385 0.00171539" />
+                                    <joint name="Right_Ankle_Roll" pos="0 0 0" axis="1 0 0" limited="true" range="-0.44 0.44" />
+                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="right_foot_link" />
+                                    <geom size="0.1115 0.05 0.015" pos="0.01 0 -0.015" type="box" rgba="0.4 0.4 0.4 0.0" />
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <actuator>
+        <motor name="Left_Hip_Pitch" joint="Left_Hip_Pitch" ctrlrange="-45.0 45.0" ctrllimited="true" />
+        <motor name="Left_Hip_Roll" joint="Left_Hip_Roll" ctrlrange="-45.0 45.0" ctrllimited="true" />
+        <motor name="Left_Hip_Yaw" joint="Left_Hip_Yaw" ctrlrange="-30.0 30.0" ctrllimited="true" />
+        <motor name="Left_Knee_Pitch" joint="Left_Knee_Pitch" ctrlrange="-65.0 65.0" ctrllimited="true" />
+        <motor name="Left_Ankle_Pitch" joint="Left_Ankle_Pitch" ctrlrange="-24.0 24.0" ctrllimited="true" />
+        <motor name="Left_Ankle_Roll" joint="Left_Ankle_Roll" ctrlrange="-15.0 15.0" ctrllimited="true" />
+        <motor name="Right_Hip_Pitch" joint="Right_Hip_Pitch" ctrlrange="-45.0 45.0" ctrllimited="true" />
+        <motor name="Right_Hip_Roll" joint="Right_Hip_Roll" ctrlrange="-45.0 45.0" ctrllimited="true" />
+        <motor name="Right_Hip_Yaw" joint="Right_Hip_Yaw" ctrlrange="-30.0 30.0" ctrllimited="true" />
+        <motor name="Right_Knee_Pitch" joint="Right_Knee_Pitch" ctrlrange="-65.0 65.0" ctrllimited="true" />
+        <motor name="Right_Ankle_Pitch" joint="Right_Ankle_Pitch" ctrlrange="-24.0 24.0" ctrllimited="true" />
+        <motor name="Right_Ankle_Roll" joint="Right_Ankle_Roll" ctrlrange="-15.0 15.0" ctrllimited="true" />
+    </actuator>
+    <sensor>
+        <framequat name="orientation" objtype="site" noise="0.001" objname="imu" />
+        <gyro name="angular-velocity" site="imu" noise="0.005" />
+    </sensor>
+</mujoco>

processed/amass/assets/robots/booster_t1/T1_serial.urdf

@@ -0,0 +1,1261 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="T1">
+  <link
+    name="Trunk">
+    <inertial>
+      <origin
+        xyz="0.0551365401093076 -1.42058017623659E-06 0.105062332707657"
+        rpy="0 0 0" />
+      <mass
+        value="11.7" />
+      <inertia
+        ixx="0.0915287235057927"
+        ixy="-4.25369739206781E-07"
+        ixz="0.000646360369011163"
+        iyy="0.076778716903413"
+        iyz="5.82340020271393E-07"
+        izz="0.0556171053368987" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Trunk.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.76 0.76 0.76 0.2" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.06 0 0.12"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.15 0.2 0.3" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="H1">
+    <inertial>
+      <origin
+        xyz="-0.000508 -0.001403 0.057432"
+        rpy="0 0 0" />
+      <mass
+        value="0.443910" />
+      <inertia
+        ixx="0.000224"
+        ixy="0.000003"
+        ixz="0.000001"
+        iyy="0.000241"
+        iyz="-0.000002"
+        izz="0.000150" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/H1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="AAHead_yaw"
+    type="revolute">
+    <origin
+      xyz="0.0625 0 0.243"
+      rpy="0 0 0" />
+    <parent
+      link="Trunk" />
+    <child
+      link="H1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="7"
+      velocity="12.56" />
+  </joint>
+  <link
+    name="H2">
+    <inertial>
+      <origin
+        xyz="0.007802 0.001262 0.098631"
+        rpy="0 0 0" />
+      <mass
+        value="0.631019" />
+      <inertia
+        ixx="0.002025"
+        ixy="-0.000025"
+        ixz="0.000046"
+        iyy="0.001920"
+        iyz="0.000036"
+        izz="0.001739" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/H2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.01 0 0.11"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.08" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Head_pitch"
+    type="revolute">
+    <origin
+      xyz="0 0 0.06185"
+      rpy="0 0 0" />
+    <parent
+      link="H1" />
+    <child
+      link="H2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.35"
+      upper="1.22"
+      effort="7"
+      velocity="12.56" />
+  </joint>
+  <link
+    name="AL1">
+    <inertial>
+      <origin
+        xyz="-0.000677 0.044974 0.000000"
+        rpy="0 0 0" />
+      <mass
+        value="0.53" />
+      <inertia
+        ixx="0.001293"
+        ixy="-0.000017"
+        ixz="0.000000"
+        iyy="0.000293"
+        iyz="0.000000"
+        izz="0.001367" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/AL1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.76 0.76 0.76 0.2" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Left_Shoulder_Pitch"
+    type="revolute">
+    <origin
+      xyz="0.0575 0.1063 0.219"
+      rpy="0 0.00088113 0" />
+    <parent
+      link="Trunk" />
+    <child
+      link="AL1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.31"
+      upper="1.22"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="AL2">
+    <inertial>
+      <origin
+        xyz="0.003862 0.037976 0.000000"
+        rpy="0 0 0" />
+      <mass
+        value="0.160" />
+      <inertia
+        ixx="0.000345"
+        ixy="0.000008"
+        ixz="0.000000"
+        iyy="0.000177"
+        iyz="0.000000"
+        izz="0.000401" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/AL2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Left_Shoulder_Roll"
+    type="revolute">
+    <origin
+      xyz="0 0.047 0"
+      rpy="0 0 0" />
+    <parent
+      link="AL1" />
+    <child
+      link="AL2" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.74"
+      upper="1.57"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="AL3">
+    <inertial>
+      <origin
+        xyz="0.000000 0.085353 -0.000099"
+        rpy="0 0 0" />
+      <mass
+        value="1.02" />
+      <inertia
+        ixx="0.012869"
+        ixy="0.000000"
+        ixz="0.000000"
+        iyy="0.000621"
+        iyz="-0.000024"
+        izz="0.012798" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/AL3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0.05 0"
+        rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.15" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Left_Elbow_Pitch"
+    type="revolute">
+    <origin
+      xyz="0.00025 0.0605 0"
+      rpy="0 0 0" />
+    <parent
+      link="AL2" />
+    <child
+      link="AL3" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.27"
+      upper="2.27"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="left_hand_link">
+    <inertial>
+      <origin
+        xyz="-0.000108 0.109573 0.000591"
+        rpy="0 0 0" />
+      <mass
+        value="0.327214390850251" />
+      <inertia
+        ixx="0.008159"
+        ixy="-0.000003"
+        ixz="0.000000"
+        iyy="0.000215"
+        iyz="0.000017"
+        izz="0.008131" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/left_hand_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0.13 0"
+        rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.175" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Left_Elbow_Yaw"
+    type="revolute">
+    <origin
+      xyz="0 0.1471 0"
+      rpy="0 0 0" />
+    <parent
+      link="AL3" />
+    <child
+      link="left_hand_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.44"
+      upper="0"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="AR1">
+    <inertial>
+      <origin
+        xyz="-0.000677 -0.044974 0.000000"
+        rpy="0 0 0" />
+      <mass
+        value="0.53" />
+      <inertia
+        ixx="0.001293"
+        ixy="-0.000017"
+        ixz="0.000000"
+        iyy="0.000293"
+        iyz="0.000000"
+        izz="0.001367" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/AR1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.76 0.76 0.76 0.2" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Right_Shoulder_Pitch"
+    type="revolute">
+    <origin
+      xyz="0.0575 -0.1063 0.219"
+      rpy="0 0.00088113 0" />
+    <parent
+      link="Trunk" />
+    <child
+      link="AR1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.31"
+      upper="1.22"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="AR2">
+    <inertial>
+      <origin
+        xyz="0.003862 -0.037976 0.000000"
+        rpy="0 0 0" />
+      <mass
+        value="0.160" />
+      <inertia
+        ixx="0.000345"
+        ixy="-0.000008"
+        ixz="0.000000"
+        iyy="0.000177"
+        iyz="0.000000"
+        izz="0.000401" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/AR2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Right_Shoulder_Roll"
+    type="revolute">
+    <origin
+      xyz="0 -0.047 0"
+      rpy="0 0 0" />
+    <parent
+      link="AR1" />
+    <child
+      link="AR2" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.57"
+      upper="1.74"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="AR3">
+    <inertial>
+      <origin  
+        xyz="0.000000 -0.085353 -0.000099"
+        rpy="0 0 0" />
+      <mass
+        value="1.02" />
+      <inertia
+        ixx="0.012869"
+        ixy="0.000000"
+        ixz="0.000000"
+        iyy="0.000621"
+        iyz="0.000024"
+        izz="0.012798" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/AR3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 -0.05 0"
+        rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.15" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Right_Elbow_Pitch"
+    type="revolute">
+    <origin
+      xyz="0.00025 -0.0605 0"
+      rpy="0 0 0" />
+    <parent
+      link="AR2" />
+    <child
+      link="AR3" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.27"
+      upper="2.27"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="right_hand_link">
+    <inertial>
+      <origin     
+xyz="-0.000108 -0.109573 0.000591"
+        rpy="0 0 0" />
+      <mass
+        value="0.327214390850251" />
+      <inertia
+        ixx="0.008159"
+        ixy="0.000003"
+        ixz="0.000000"
+        iyy="0.000215"
+        iyz="-0.000017"
+        izz="0.008131" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 -0.13 0"
+        rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.175" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Right_Elbow_Yaw"
+    type="revolute">
+    <origin
+      xyz="0 -0.1471 0"
+      rpy="0 0 0" />
+    <parent
+      link="AR3" />
+    <child
+      link="right_hand_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="2.44"
+      effort="18"
+      velocity="18.84" />
+  </joint>
+  <link
+    name="Waist">
+    <inertial>
+      <origin
+        xyz="0.002284 0.000003 0.007301"
+        rpy="0 0 0" />
+      <mass
+        value="2.581" />
+      <inertia
+        ixx="0.005289"
+        ixy="0.000000"
+        ixz="0.000207"
+        iyy="0.005299"
+        iyz="0.000001"
+        izz="0.004821" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Waist.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Waist"
+    type="revolute">
+    <origin
+      xyz="0.0625 0 -0.1155"
+      rpy="0 0 0" />
+    <parent
+      link="Trunk" />
+    <child
+      link="Waist" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="30"
+      velocity="10.88" />
+  </joint>
+  <link
+    name="Hip_Pitch_Left">
+    <inertial>
+      <origin
+        xyz="0.000534 -0.007296 -0.018083"
+        rpy="0 0 0" />
+      <mass
+        value="1.021" />
+      <inertia
+        ixx="0.001805"
+        ixy="0.000006"
+        ixz="-0.000015"
+        iyy="0.001421"
+        iyz="0.000080"
+        izz="0.001292" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Hip_Pitch_Left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.76 0.76 0.76 0.2" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Left_Hip_Pitch"
+    type="revolute">
+    <origin
+      xyz="0 0.106 0"
+      rpy="0 0 0" />
+    <parent
+      link="Waist" />
+    <child
+      link="Hip_Pitch_Left" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.8"
+      upper="1.57"
+      effort="45"
+      velocity="12.5" />
+  </joint>
+  <link
+    name="Hip_Roll_Left">
+    <inertial>
+      <origin
+        xyz="0.001101 0.000024 -0.053750"
+        rpy="0 0 0" />
+      <mass
+        value="0.385" />
+      <inertia
+        ixx="0.001517"
+        ixy="0.000000"
+        ixz="0.000017"
+        iyy="0.001743"
+        iyz="0.000000"
+        izz="0.000515" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Hip_Roll_Left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Left_Hip_Roll"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.02"
+      rpy="0 0 0" />
+    <parent
+      link="Hip_Pitch_Left" />
+    <child
+      link="Hip_Roll_Left" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.2"
+      upper="1.57"
+      effort="30"
+      velocity="10.9" />
+  </joint>
+  <link
+    name="Hip_Yaw_Left">
+    <inertial>
+      <origin
+        xyz="-0.007233 0.000206 -0.089184"
+        rpy="0 0 0" />
+      <mass
+        value="2.166" />
+      <inertia
+        ixx="0.025108"
+        ixy="-0.000007"
+        ixz="0.002094"
+        iyy="0.025733"
+        iyz="-0.000050"
+        izz="0.002787" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Hip_Yaw_Left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.16" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Left_Hip_Yaw"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.081854"
+      rpy="0 0 0" />
+    <parent
+      link="Hip_Roll_Left" />
+    <child
+      link="Hip_Yaw_Left" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1"
+      upper="1"
+      effort="30"
+      velocity="10.9" />
+  </joint>
+  <link
+    name="Shank_Left">
+    <inertial>
+      <origin
+        xyz="-0.006012 0.000259 -0.124318"
+        rpy="0 0 0" />
+      <mass
+        value="1.73" />
+      <inertia
+        ixx="0.034618"
+        ixy="0.000011"
+        ixz="0.001561"
+        iyy="0.034539"
+        iyz="0.000197"
+        izz="0.001934" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Shank_Left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.12"
+        rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.15" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Left_Knee_Pitch"
+    type="revolute">
+    <origin
+      xyz="-0.014 0 -0.134"
+      rpy="0 0 0" />
+    <parent
+      link="Hip_Yaw_Left" />
+    <child
+      link="Shank_Left" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="2.34"
+      effort="60"
+      velocity="11.7" />
+  </joint>
+  <link
+    name="Ankle_Cross_Left">
+    <inertial>
+      <origin
+        xyz="-0.003722 0.000000 -0.007981"
+        rpy="0 0 0" />
+      <mass
+        value="0.073" />
+      <inertia
+        ixx="0.000012"
+        ixy="0.000000"
+        ixz="0.000003"
+        iyy="0.000029"
+        iyz="0.000000"
+        izz="0.000025" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Ankle_Cross_Left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Left_Ankle_Pitch"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.28"
+      rpy="0 0 0" />
+    <parent
+      link="Shank_Left" />
+    <child
+      link="Ankle_Cross_Left" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.87"
+      upper="0.35"
+      effort="20"
+      velocity="18.8" />
+  </joint>
+  <link
+    name="left_foot_link">
+    <inertial>
+      <origin
+        xyz="-0.000249 0.000000 -0.009140"
+        rpy="0 0 0" />
+      <mass
+        value="0.685" />
+      <inertia
+        ixx="0.002214"
+        ixy="0"
+        ixz="-0.000114"
+        iyy="0.002385"
+        iyz="0"
+        izz="0.002671" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/left_foot_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.01 0 -0.015"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.223 0.1 0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Left_Ankle_Roll"
+    type="revolute">
+    <origin
+      xyz="0 0.00025 -0.012"
+      rpy="0 0 0" />
+    <parent
+      link="Ankle_Cross_Left" />
+    <child
+      link="left_foot_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.44"
+      upper="0.44"
+      effort="15"
+      velocity="12.4" />
+  </joint>
+  <link
+    name="Hip_Pitch_Right">
+    <inertial>
+      <origin
+        xyz="0.000534 0.007514 -0.018082"
+        rpy="0 0 0" />
+      <mass
+        value="1.021" />
+      <inertia
+        ixx="0.001805"
+        ixy="-0.000008"
+        ixz="-0.000015"
+        iyy="0.001421"
+        iyz="-0.000085"
+        izz="0.001292" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Hip_Pitch_Right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.76 0.76 0.76 0.2" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Right_Hip_Pitch"
+    type="revolute">
+    <origin
+      xyz="0 -0.106 0"
+      rpy="0 0 0" />
+    <parent
+      link="Waist" />
+    <child
+      link="Hip_Pitch_Right" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.8"
+      upper="1.57"
+      effort="45"
+      velocity="12.5" />
+  </joint>
+  <link
+    name="Hip_Roll_Right">
+    <inertial>
+      <origin
+        xyz="0.001099 0.000024 -0.053748"
+        rpy="0 0 0" />
+      <mass
+        value="0.385" />
+      <inertia
+        ixx="0.001517"
+        ixy="0.000000"
+        ixz="0.000017"
+        iyy="0.001743"
+        iyz="0.000000"
+        izz="0.000515" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Hip_Roll_Right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Right_Hip_Roll"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.02"
+      rpy="0 0 0" />
+    <parent
+      link="Hip_Pitch_Right" />
+    <child
+      link="Hip_Roll_Right" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.57"
+      upper="0.2"
+      effort="30"
+      velocity="10.9" />
+  </joint>
+  <link
+    name="Hip_Yaw_Right">
+    <inertial>
+      <origin
+        xyz="-0.007191 -0.000149 -0.089220"
+        rpy="0 0 0" />
+      <mass
+        value="2.17" />
+      <inertia
+        ixx="0.025137"
+        ixy="0.000006"
+        ixz="0.002086"
+        iyy="0.025762"
+        iyz="0.000044"
+        izz="0.002787" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Hip_Yaw_Right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.16" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Right_Hip_Yaw"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.081854"
+      rpy="0 0 0" />
+    <parent
+      link="Hip_Roll_Right" />
+    <child
+      link="Hip_Yaw_Right" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1"
+      upper="1"
+      effort="30"
+      velocity="10.9" />
+  </joint>
+  <link
+    name="Shank_Right">
+    <inertial>
+      <origin
+        xyz="-0.005741 -0.000541 -0.122602"
+        rpy="0 0 0" />
+      <mass
+        value="1.79" />
+      <inertia
+        ixx="0.035098"
+        ixy="-0.000009"
+        ixz="0.001554"
+        iyy="0.034958"
+        iyz="-0.000086"
+        izz="0.002039" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Shank_Right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.12"
+        rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.15" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Right_Knee_Pitch"
+    type="revolute">
+    <origin
+      xyz="-0.014 0 -0.134"
+      rpy="0 0 0" />
+    <parent
+      link="Hip_Yaw_Right" />
+    <child
+      link="Shank_Right" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="2.34"
+      effort="60"
+      velocity="11.7" />
+  </joint>
+  <link
+    name="Ankle_Cross_Right">
+    <inertial>
+      <origin
+        xyz="-0.003722 0.000000 -0.007981"
+        rpy="0 0 0" />
+      <mass
+        value="0.073" />
+      <inertia
+        ixx="0.000012"
+        ixy="0.000000"
+        ixz="0.000003"
+        iyy="0.000029"
+        iyz="0.000000"
+        izz="0.000025" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Ankle_Cross_Right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="Right_Ankle_Pitch"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.28"
+      rpy="0 0 0" />
+    <parent
+      link="Shank_Right" />
+    <child
+      link="Ankle_Cross_Right" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.87"
+      upper="0.35"
+      effort="20"
+      velocity="18.8" />
+  </joint>
+  <link
+    name="right_foot_link">
+    <inertial>
+      <origin
+        xyz="-0.000248 0.000000 -0.009140"
+        rpy="0 0 0" />
+      <mass
+        value="0.685" />
+      <inertia
+        ixx="0.002214"
+        ixy="0"
+        ixz="-0.000114"
+        iyy="0.002385"
+        iyz="0"
+        izz="0.002671" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_foot_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.01 0 -0.015"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.223 0.1 0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Right_Ankle_Roll"
+    type="revolute">
+    <origin
+      xyz="0 -0.00025 -0.012"
+      rpy="0 0 0" />
+    <parent
+      link="Ankle_Cross_Right" />
+    <child
+      link="right_foot_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.44"
+      upper="0.44"
+      effort="15"
+      velocity="12.4" />
+  </joint>
+</robot>

processed/amass/assets/robots/booster_t1/T1_serial.xml

@@ -0,0 +1,240 @@
+<mujoco model="T1">
+  <compiler angle="radian" meshdir="meshes/"/>
+
+  <default>
+    <joint limited="true" damping="0.01" armature="0.01" frictionloss="0.0" />
+    <equality solref="0.001 2" />
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2" density="0"/>
+    </default>
+      <default class="collision">
+        <geom group="3" material="transparent" priority="1" friction="1. 0.01 0.005"/>
+    </default>
+  </default>
+
+  <asset>
+    <material name="metal" rgba=".9 .95 .95 1"/>
+    <material name="black" rgba="0 0 0 1"/>
+    <material name="white" rgba="1 1 1 1"/>
+    <material name="gray" rgba="0.4 0.4 0.4 1"/>
+    <material name="transparent" rgba="0.5 0.5 0.5 1"/>
+    <mesh name="Trunk" file="Trunk.STL"/>
+    <mesh name="H1" file="H1.STL"/>
+    <mesh name="H2" file="H2.STL"/>
+    <mesh name="AL1" file="AL1.STL"/>
+    <mesh name="AL2" file="AL2.STL"/>
+    <mesh name="AL3" file="AL3.STL"/>
+    <mesh name="left_hand_link" file="left_hand_link.STL"/>
+    <mesh name="AR1" file="AR1.STL"/>
+    <mesh name="AR2" file="AR2.STL"/>
+    <mesh name="AR3" file="AR3.STL"/>
+    <mesh name="right_hand_link" file="right_hand_link.STL"/>
+    <mesh name="Waist" file="Waist.STL"/>
+    <mesh name="Hip_Pitch_Left" file="Hip_Pitch_Left.STL"/>
+    <mesh name="Hip_Roll_Left" file="Hip_Roll_Left.STL"/>
+    <mesh name="Hip_Yaw_Left" file="Hip_Yaw_Left.STL"/>
+    <mesh name="Shank_Left" file="Shank_Left.STL"/>
+    <mesh name="Ankle_Cross_Left" file="Ankle_Cross_Left.STL"/>
+    <mesh name="left_foot_link" file="left_foot_link.STL"/>
+    <mesh name="Hip_Pitch_Right" file="Hip_Pitch_Right.STL"/>
+    <mesh name="Hip_Roll_Right" file="Hip_Roll_Right.STL"/>
+    <mesh name="Hip_Yaw_Right" file="Hip_Yaw_Right.STL"/>
+    <mesh name="Shank_Right" file="Shank_Right.STL"/>
+    <mesh name="Ankle_Cross_Right" file="Ankle_Cross_Right.STL"/>
+    <mesh name="right_foot_link" file="right_foot_link.STL"/>
+  </asset>
+
+  <worldbody>
+    <body name="Trunk" pos="0 0 1.68">
+    <geom class="visual" material="gray" mesh="Trunk"/>
+    <geom size="0.09 0.09" pos="0.055 0.022 0.1" type="capsule" quat="0.997189 -0.074930 0 0" class="collision" name="torso_left"/>
+    <geom size="0.09 0.09" pos="0.055 -0.022 0.1" type="capsule" quat="0.997189 0.074930 0 0" class="collision" name="torso_right"/>
+    <freejoint/>
+    <body name="H1" pos="0.0625 0 0.243">
+      <inertial pos="-0.000508 -0.001403 0.057432" quat="0.763881 -0.0132172 0.00173419 0.645219" mass="0.44391" diaginertia="0.000241549 0.00022351 0.000149941"/>
+      <joint name="AAHead_yaw" pos="0 0 0" axis="0 0 1" range="-1.57 1.57" actuatorfrcrange="-7 7"/>
+      <geom class="visual" material="gray" mesh="H1"/>
+      <body name="H2" pos="0 0 0.06185">
+        <inertial pos="0.007802 0.001262 0.098631" quat="0.988453 0.106172 -0.0745686 -0.0782786" mass="0.631019" diaginertia="0.00203553 0.00192467 0.00172381"/>
+        <joint name="Head_pitch" pos="0 0 0" axis="0 1 0" range="-0.35 1.22" actuatorfrcrange="-7 7"/>
+        <geom class="visual" material="gray" mesh="H2"/>
+        <geom size="0.08" pos="0.01 0 0.11" class="collision" name="head"/>
+      </body>
+    </body>
+    <body name="AL1" pos="0.0575 0.1063 0.219" quat="1 0 0.000440565 0">
+      <inertial pos="-0.000677 0.044974 0" quat="0.50423 0.495734 -0.50423 0.495734" mass="0.53" diaginertia="0.001367 0.00129329 0.000292711"/>
+      <joint name="Left_Shoulder_Pitch" pos="0 0 0" axis="0 1 0" range="-3.31 1.22" actuatorfrcrange="-18 18"/>
+      <geom class="visual" material="gray" mesh="AL1"/>
+      <body name="AL2" pos="0 0.047 0">
+        <inertial pos="0.003862 0.037976 0" quat="0.487991 0.511727 -0.487991 0.511727" mass="0.16" diaginertia="0.000401 0.00034538 0.00017662"/>
+        <joint name="Left_Shoulder_Roll" pos="0 0 0" axis="1 0 0" range="-1.74 1.57" actuatorfrcrange="-18 18"/>
+        <geom class="visual" material="gray" mesh="AL2"/>
+        <body name="AL3" pos="0.00025 0.0605 0">
+          <inertial pos="0 0.085353 -9.9e-05" quat="0.70641 0.707803 0 0" mass="1.02" diaginertia="0.012869 0.012798 0.000620953"/>
+          <joint name="Left_Elbow_Pitch" pos="0 0 0" axis="0 1 0" range="-2.27 2.27" actuatorfrcrange="-18 18"/>
+          <geom class="visual" material="gray" mesh="AL3"/>
+          <geom size="0.03 0.075" pos="0 0.05 0" quat="0.707105 0.707108 0 0" type="capsule" class="collision" name="left_forearm"/>
+          <body name="left_hand_link" pos="0 0.1471 0">
+            <inertial pos="-0.000108 0.109573 0.000591" quat="0.707866 0.706347 -5.22939e-05 -0.000214913" mass="0.327214" diaginertia="0.008159 0.00813104 0.000214962"/>
+            <joint name="Left_Elbow_Yaw" pos="0 0 0" axis="0 0 1" range="-2.44 0" actuatorfrcrange="-18 18"/>
+            <geom class="visual" material="gray" mesh="left_hand_link"/>
+            <geom size="0.03 0.0875" pos="0 0.13 0" quat="0.707105 0.707108 0 0" type="capsule" class="collision" name="left_hand"/>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="AR1" pos="0.0575 -0.1063 0.219" quat="1 0 0.000440565 0">
+      <inertial pos="-0.000677 -0.044974 0" quat="0.50423 0.495734 -0.50423 0.495734" mass="0.53" diaginertia="0.001367 0.00129329 0.000292711"/>
+      <joint name="Right_Shoulder_Pitch" pos="0 0 0" axis="0 1 0" range="-3.31 1.22" actuatorfrcrange="-18 18"/>
+      <geom class="visual" material="gray" mesh="AR1"/>
+      <body name="AR2" pos="0 -0.047 0">
+        <inertial pos="0.003862 -0.037976 0" quat="0.511727 0.487991 -0.511727 0.487991" mass="0.16" diaginertia="0.000401 0.00034538 0.00017662"/>
+        <joint name="Right_Shoulder_Roll" pos="0 0 0" axis="1 0 0" range="-1.57 1.74" actuatorfrcrange="-18 18"/>
+        <geom class="visual" material="gray" mesh="AR2"/>
+        <body name="AR3" pos="0.00025 -0.0605 0">
+          <inertial pos="0 -0.085353 -9.9e-05" quat="0.707803 0.70641 0 0" mass="1.02" diaginertia="0.012869 0.012798 0.000620953"/>
+          <joint name="Right_Elbow_Pitch" pos="0 0 0" axis="0 1 0" range="-2.27 2.27" actuatorfrcrange="-18 18"/>
+          <geom class="visual" material="gray" mesh="AR3"/>
+          <geom size="0.03 0.075" pos="0 -0.05 0" quat="0.707105 0.707108 0 0" type="capsule" class="collision" name="right_forearm"/>
+          <body name="right_hand_link" pos="0 -0.1471 0">
+            <inertial pos="-0.000108 -0.109573 0.000591" quat="0.706347 0.707866 0.000214913 5.22939e-05" mass="0.327214" diaginertia="0.008159 0.00813104 0.000214962"/>
+            <joint name="Right_Elbow_Yaw" pos="0 0 0" axis="0 0 1" range="0 2.44" actuatorfrcrange="-18 18"/>
+            <geom class="visual" material="gray" mesh="right_hand_link"/>
+            <geom size="0.03 0.0875" pos="0 -0.13 0" quat="0.707105 0.707108 0 0" type="capsule" class="collision" name="right_hand"/>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="Waist" pos="0.0625 0 -0.1155">
+      <inertial pos="0.002284 3e-06 0.007301" quat="0.983649 0.000360386 -0.180076 0.00269791" mass="2.581" diaginertia="0.00536742 0.005299 0.00474258"/>
+      <joint name="Waist" pos="0 0 0" axis="0 0 1" range="-1.57 1.57" actuatorfrcrange="-30 30"/>
+      <geom class="visual" material="gray" mesh="Waist"/>
+      <body name="Hip_Pitch_Left" pos="0 0.106 0">
+        <inertial pos="0.000534 -0.007296 -0.018083" quat="0.975141 0.2211 0.0145808 0.0017406" mass="1.021" diaginertia="0.00180547 0.00145926 0.00125327"/>
+        <joint name="Left_Hip_Pitch" pos="0 0 0" axis="0 1 0" range="-1.8 1.57" actuatorfrcrange="-45 45"/>
+        <geom class="visual" material="gray" mesh="Hip_Pitch_Left"/>
+        <body name="Hip_Roll_Left" pos="0 0 -0.02">
+          <inertial pos="0.001101 2.4e-05 -0.05375" quat="0.707081 -0.00599604 -0.00599604 0.707081" mass="0.385" diaginertia="0.001743 0.00151729 0.000514712"/>
+          <joint name="Left_Hip_Roll" pos="0 0 0" axis="1 0 0" range="-0.2 1.57" actuatorfrcrange="-30 30"/>
+          <geom class="visual" material="gray" mesh="Hip_Roll_Left"/>
+          <geom size="0.05 0.08" pos="0 0 -0.08" type="capsule" class="collision" name="left_thigh"/>
+          <body name="Hip_Yaw_Left" pos="0 0 -0.081854">
+            <inertial pos="-0.007233 0.000206 -0.089184" quat="0.696808 -0.033953 -0.0315708 0.715758" mass="2.166" diaginertia="0.0257334 0.0253024 0.00259215"/>
+            <joint name="Left_Hip_Yaw" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-30 30"/>
+            <geom class="visual" material="gray" mesh="Hip_Yaw_Left"/>
+            <body name="Shank_Left" pos="-0.014 0 -0.134">
+              <inertial pos="-0.006012 0.000259 -0.124318" quat="0.997573 0.00144024 -0.023949 0.0653706" mass="1.73" diaginertia="0.0346951 0.0345375 0.00185844"/>
+              <joint name="Left_Knee_Pitch" pos="0 0 0" axis="0 1 0" range="0 2.34" actuatorfrcrange="-60 60"/>
+              <geom class="visual" material="gray" mesh="Shank_Left"/>
+              <geom size="0.05 0.075" pos="0 0 -0.12" type="capsule" class="collision" name="left_calf"/>
+              <body name="Ankle_Cross_Left" pos="0 0 -0.28">
+                <inertial pos="-0.003722 0 -0.007981" quat="0.443136 0.551027 0.551027 0.443136" mass="0.073" diaginertia="2.9e-05 2.56589e-05 1.13411e-05"/>
+                <joint name="Left_Ankle_Pitch" pos="0 0 0" axis="0 1 0" range="-0.87 0.35" actuatorfrcrange="-20 20"/>
+                <geom class="visual" material="gray" mesh="Ankle_Cross_Left"/>
+                <body name="left_foot_link" pos="0 0.00025 -0.012">
+                  <inertial pos="-0.000249 0 -0.00914" quat="0 0.679927 0 0.733279" mass="0.685" diaginertia="0.00268212 0.002385 0.000726885"/>
+                  <joint name="Left_Ankle_Roll" pos="0 0 0" axis="1 0 0" range="-0.44 0.44" actuatorfrcrange="-15 15"/>
+                  <geom class="visual" material="gray" mesh="left_foot_link"/>
+                  <geom size="0.02 0.0915" pos="0.01 0.035 -0.01"  quat="0.707105 0 0.707108 0" type="capsule" class="collision" name="left_foot_1"/>
+                  <geom size="0.02 0.0915" pos="0.01 -0.035 -0.01"  quat="0.707105 0 0.707108 0" type="capsule" class="collision" name="left_foot_2"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="Hip_Pitch_Right" pos="0 -0.106 0">
+        <inertial pos="0.000534 0.007514 -0.018082" quat="0.973446 -0.228403 0.0147148 -0.00419349" mass="1.021" diaginertia="0.00180552 0.0014632 0.00124928"/>
+        <joint name="Right_Hip_Pitch" pos="0 0 0" axis="0 1 0" range="-1.8 1.57" actuatorfrcrange="-45 45"/>
+        <geom class="visual" material="gray" mesh="Hip_Pitch_Right"/>
+        <body name="Hip_Roll_Right" pos="0 0 -0.02">
+          <inertial pos="0.001099 2.4e-05 -0.053748" quat="0.707081 -0.00599604 -0.00599604 0.707081" mass="0.385" diaginertia="0.001743 0.00151729 0.000514712"/>
+          <joint name="Right_Hip_Roll" pos="0 0 0" axis="1 0 0" range="-1.57 0.2" actuatorfrcrange="-30 30"/>
+          <geom class="visual" material="gray" mesh="Hip_Roll_Right"/>
+          <geom size="0.05 0.08" pos="0 0 -0.08" type="capsule" class="collision" name="right_thigh"/>
+          <body name="Hip_Yaw_Right" pos="0 0 -0.081854">
+            <inertial pos="-0.007191 -0.000149 -0.08922" quat="0.714468 -0.0315638 -0.0336391 0.698146" mass="2.17" diaginertia="0.0257623 0.0253298 0.00259389"/>
+            <joint name="Right_Hip_Yaw" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-30 30"/>
+            <geom class="visual" material="gray" mesh="Hip_Yaw_Right"/>
+            <body name="Shank_Right" pos="-0.014 0 -0.134">
+              <inertial pos="-0.005741 -0.000541 -0.122602" quat="0.99926 -0.000580963 -0.023461 -0.0304754" mass="1.79" diaginertia="0.0351717 0.0349574 0.00196589"/>
+              <joint name="Right_Knee_Pitch" pos="0 0 0" axis="0 1 0" range="0 2.34" actuatorfrcrange="-60 60"/>
+              <geom class="visual" material="gray" mesh="Shank_Right"/>
+              <geom size="0.05 0.075" pos="0 0 -0.12" type="capsule" class="collision" name="right_calf"/>
+              <body name="Ankle_Cross_Right" pos="0 0 -0.28">
+                <inertial pos="-0.003722 0 -0.007981" quat="0.443136 0.551027 0.551027 0.443136" mass="0.073" diaginertia="2.9e-05 2.56589e-05 1.13411e-05"/>
+                <joint name="Right_Ankle_Pitch" pos="0 0 0" axis="0 1 0" range="-0.87 0.35" actuatorfrcrange="-20 20"/>
+                <geom class="visual" material="gray" mesh="Ankle_Cross_Right"/>
+                <body name="right_foot_link" pos="0 -0.00025 -0.012">
+                  <inertial pos="-0.000248 0 -0.00914" quat="0 0.679927 0 0.733279" mass="0.685" diaginertia="0.00268212 0.002385 0.000726885"/>
+                  <joint name="Right_Ankle_Roll" pos="0 0 0" axis="1 0 0" range="-0.44 0.44" actuatorfrcrange="-15 15"/>
+                  <geom class="visual" material="gray" mesh="right_foot_link"/>
+                  <geom size="0.02 0.0915" pos="0.01 0.035 -0.01"  quat="0.707105 0 0.707108 0" type="capsule" class="collision" name="right_foot_1"/>
+                  <geom size="0.02 0.0915" pos="0.01 -0.035 -0.01"  quat="0.707105 0 0.707108 0" type="capsule" class="collision" name="right_foot_2"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="AAHead_yaw" joint="AAHead_yaw" ctrllimited="true" ctrlrange="-7 7" gear="1" />
+    <motor name="Head_pitch" joint="Head_pitch" ctrllimited="true" ctrlrange="-7 7" gear="1" />
+    <motor name="Left_Shoulder_Pitch" joint="Left_Shoulder_Pitch" ctrllimited="true" ctrlrange="-18 18" gear="1" />
+    <motor name="Left_Shoulder_Roll" joint="Left_Shoulder_Roll" ctrllimited="true" ctrlrange="-18 18" gear="1" />
+    <motor name="Left_Elbow_Pitch" joint="Left_Elbow_Pitch" ctrllimited="true" ctrlrange="-18 18" gear="1" />
+    <motor name="Left_Elbow_Yaw" joint="Left_Elbow_Yaw" ctrllimited="true" ctrlrange="-18 18" gear="1" />
+    <motor name="Right_Shoulder_Pitch" joint="Right_Shoulder_Pitch" ctrllimited="true" ctrlrange="-18 18" gear="1" />
+    <motor name="Right_Shoulder_Roll" joint="Right_Shoulder_Roll" ctrllimited="true" ctrlrange="-18 18" gear="1" />
+    <motor name="Right_Elbow_Pitch" joint="Right_Elbow_Pitch" ctrllimited="true" ctrlrange="-18 18" gear="1" />
+    <motor name="Right_Elbow_Yaw" joint="Right_Elbow_Yaw" ctrllimited="true" ctrlrange="-18 18" gear="1" />
+    <motor name="Waist" joint="Waist" ctrllimited="true" ctrlrange="-30 30" gear="1" />
+    <motor name="Left_Hip_Pitch" joint="Left_Hip_Pitch" ctrllimited="true" ctrlrange="-45 45" gear="1" />
+    <motor name="Left_Hip_Roll" joint="Left_Hip_Roll" ctrllimited="true" ctrlrange="-30 30" gear="1" />
+    <motor name="Left_Hip_Yaw" joint="Left_Hip_Yaw" ctrllimited="true" ctrlrange="-30 30" gear="1" />
+    <motor name="Left_Knee_Pitch" joint="Left_Knee_Pitch" ctrllimited="true" ctrlrange="-60 60" gear="1" />
+    <motor name="Left_Ankle_Pitch" joint="Left_Ankle_Pitch" ctrllimited="true" ctrlrange="-20 20" gear="1" />
+    <motor name="Left_Ankle_Roll" joint="Left_Ankle_Roll" ctrllimited="true" ctrlrange="-15 15" gear="1" />
+    <motor name="Right_Hip_Pitch" joint="Right_Hip_Pitch" ctrllimited="true" ctrlrange="-45 45" gear="1" />
+    <motor name="Right_Hip_Roll" joint="Right_Hip_Roll" ctrllimited="true" ctrlrange="-30 30" gear="1" />
+    <motor name="Right_Hip_Yaw" joint="Right_Hip_Yaw" ctrllimited="true" ctrlrange="-30 30" gear="1" />
+    <motor name="Right_Knee_Pitch" joint="Right_Knee_Pitch" ctrllimited="true" ctrlrange="-60 60" gear="1" />
+    <motor name="Right_Ankle_Pitch" joint="Right_Ankle_Pitch" ctrllimited="true" ctrlrange="-20 20" gear="1" />
+    <motor name="Right_Ankle_Roll" joint="Right_Ankle_Roll" ctrllimited="true" ctrlrange="-15 15" gear="1" />
+  </actuator>
+
+
+
+  <!-- setup scene -->
+  <statistic center="1.0 0.7 1.0" extent="0.8"/>
+  <visual>
+      <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
+      <rgba haze="0.15 0.25 0.35 1"/>
+      <global azimuth="-140" elevation="-20" offwidth="2080" offheight="1170"/>
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+       <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="800" height="800"/>
+  <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="0 0 0"
+    width="300" height="300"/>
+  <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0"/>
+      <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0" width="100" height="100"/>
+      <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+      <texture name="texplane" builtin="checker" height="512" width="512" rgb1=".2 .3 .4" rgb2=".1 .15 .2" type="2d" />
+      <material name="MatPlane" reflectance="0.5" shininess="0.01" specular="0.1" texrepeat="1 1" texture="texplane" texuniform="true" />
+      <material name="geom" texture="texgeom" texuniform="true"/>
+  </asset>
+  <worldbody>
+      <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" contype="1" conaffinity="0" priority="1"
+    friction="0.6" condim="3"/>
+    <!-- <light diffuse=".5 .5 .5" pos="0 0 5" dir="0 0 -1" castshadow="true"/> -->
+
+        <light diffuse=".5 .5 .5" pos="-3 -3 5" dir="3 3 -5" castshadow="true"/>
+
+
+  </worldbody>
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+  <compiler angle="radian" meshdir="meshes/" />
+
+  <!-- performance options -->
+  <option timestep="0.02" iterations="2" ls_iterations="10">
+    <flag eulerdamp="disable" />
+  </option>
+
+  <visual>
+    <global azimuth="135" elevation="-25" offwidth="1920" offheight="1080" />
+    <quality shadowsize="8192" />
+    <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0" />
+    <scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5"
+      framewidth="0.3" />
+    <rgba haze="0.15 0.25 0.35 1" force="1 0 0 1" />
+  </visual>
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+  <custom>
+    <numeric data="15" name="max_contact_points" />
+    <numeric data="15" name="max_geom_pairs" />
+  </custom>
+
+  <default>
+    <geom contype="0" conaffinity="0" />
+    <position kp="500" dampratio="1" inheritrange="1" />
+    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+    <equality solref="0.001 2" />
+    <default class="visual">
+      <geom type="mesh" group="2" density="0" />
+    </default>
+    <default class="collision">
+      <geom group="3" material="transparent" priority="1" friction="1. 0.01 0.005" />
+    </default>
+  </default>
+
+  <asset>
+    <material name="metal" rgba=".9 .95 .95 1" />
+    <material name="black" rgba="0 0 0 1" />
+    <material name="white" rgba="1 1 1 1" />
+    <material name="gray" rgba="0.4 0.4 0.4 1" />
+    <material name="transparent" rgba="0.5 0.5 0.5 1" />
+    <mesh name="Trunk" file="Trunk.STL" />
+    <mesh name="H1" file="H1.STL" />
+    <mesh name="H2" file="H2.STL" />
+    <mesh name="AL1" file="AL1.STL" />
+    <mesh name="AL2" file="AL2.STL" />
+    <mesh name="AL3" file="AL3.STL" />
+    <mesh name="left_hand_link" file="left_hand_link.STL" />
+    <mesh name="AR1" file="AR1.STL" />
+    <mesh name="AR2" file="AR2.STL" />
+    <mesh name="AR3" file="AR3.STL" />
+    <mesh name="right_hand_link" file="right_hand_link.STL" />
+    <mesh name="Waist" file="Waist.STL" />
+    <mesh name="Hip_Pitch_Left" file="Hip_Pitch_Left.STL" />
+    <mesh name="Hip_Roll_Left" file="Hip_Roll_Left.STL" />
+    <mesh name="Hip_Yaw_Left" file="Hip_Yaw_Left.STL" />
+    <mesh name="Shank_Left" file="Shank_Left.STL" />
+    <mesh name="Ankle_Cross_Left" file="Ankle_Cross_Left.STL" />
+    <mesh name="left_foot_link" file="left_foot_link.STL" />
+    <mesh name="Hip_Pitch_Right" file="Hip_Pitch_Right.STL" />
+    <mesh name="Hip_Roll_Right" file="Hip_Roll_Right.STL" />
+    <mesh name="Hip_Yaw_Right" file="Hip_Yaw_Right.STL" />
+    <mesh name="Shank_Right" file="Shank_Right.STL" />
+    <mesh name="Ankle_Cross_Right" file="Ankle_Cross_Right.STL" />
+    <mesh name="right_foot_link" file="right_foot_link.STL" />
+  </asset>
+
+  <worldbody>
+    <body name="Trunk" pos="0 0 0.7">
+      <geom class="visual" material="gray" mesh="Trunk" />
+      <geom size="0.09 0.09" pos="0.055 0.022 0.1" type="capsule" quat="0.997189 -0.074930 0 0"
+        class="collision" name="torso_left" />
+      <geom size="0.09 0.09" pos="0.055 -0.022 0.1" type="capsule" quat="0.997189 0.074930 0 0"
+        class="collision" name="torso_right" />
+      <site name="trace_pelvis" size="0.01" pos="0 0 0" />
+      <freejoint />
+      <body name="H1" pos="0.0625 0 0.243">
+        <inertial pos="-0.000508 -0.001403 0.057432" quat="0.763881 -0.0132172 0.00173419 0.645219"
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+        <joint name="AAHead_yaw" pos="0 0 0" axis="0 0 1" range="-1.57 1.57" actuatorfrcrange="-7 7" />
+        <geom class="visual" material="gray" mesh="H1" />
+        <body name="H2" pos="0 0 0.06185">
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+          <joint name="Head_pitch" pos="0 0 0" axis="0 1 0" range="-0.35 1.22"
+            actuatorfrcrange="-7 7" />
+          <geom class="visual" material="gray" mesh="H2" />
+          <geom size="0.08" pos="0.01 0 0.11" class="collision" name="head" />
+        </body>
+      </body>
+      <body name="AL1" pos="0.0575 0.1063 0.219" quat="1 0 0.000440565 0">
+        <inertial pos="-0.000677 0.044974 0" quat="0.50423 0.495734 -0.50423 0.495734" mass="0.53"
+          diaginertia="0.001367 0.00129329 0.000292711" />
+        <joint name="Left_Shoulder_Pitch" pos="0 0 0" axis="0 1 0" range="-3.31 1.22"
+          actuatorfrcrange="-18 18" />
+        <geom class="visual" material="gray" mesh="AL1" />
+        <body name="AL2" pos="0 0.047 0">
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+            mass="0.16" diaginertia="0.000401 0.00034538 0.00017662" />
+          <joint name="Left_Shoulder_Roll" pos="0 0 0" axis="1 0 0" range="-1.74 1.57"
+            actuatorfrcrange="-18 18" />
+          <geom class="visual" material="gray" mesh="AL2" />
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+              diaginertia="0.012869 0.012798 0.000620953" />
+            <joint name="Left_Elbow_Pitch" pos="0 0 0" axis="0 1 0" range="-2.27 2.27"
+              actuatorfrcrange="-18 18" />
+            <geom class="visual" material="gray" mesh="AL3" />
+            <geom size="0.03 0.075" pos="0 0.05 0" quat="0.707105 0.707108 0 0" type="capsule"
+              class="collision" name="left_forearm" />
+            <body name="left_hand_link" pos="0 0.1471 0">
+              <inertial pos="-0.000108 0.109573 0.000591"
+                quat="0.707866 0.706347 -5.22939e-05 -0.000214913" mass="0.327214"
+                diaginertia="0.008159 0.00813104 0.000214962" />
+              <joint name="Left_Elbow_Yaw" pos="0 0 0" axis="0 0 1" range="-2.44 0"
+                actuatorfrcrange="-18 18" />
+              <geom class="visual" material="gray" mesh="left_hand_link" />
+              <geom size="0.03 0.0875" pos="0 0.13 0" quat="0.707105 0.707108 0 0" type="capsule"
+                class="collision" name="left_hand" />
+              <geom name="lh" type="sphere" size="0.05" pos="0.0 0.18 0.0" />
+              <site name="trace_left_hand" size="0.01" pos="0 0.18 0.0" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="AR1" pos="0.0575 -0.1063 0.219" quat="1 0 0.000440565 0">
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+          diaginertia="0.001367 0.00129329 0.000292711" />
+        <joint name="Right_Shoulder_Pitch" pos="0 0 0" axis="0 1 0" range="-3.31 1.22"
+          actuatorfrcrange="-18 18" />
+        <geom class="visual" material="gray" mesh="AR1" />
+        <body name="AR2" pos="0 -0.047 0">
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+          <joint name="Right_Shoulder_Roll" pos="0 0 0" axis="1 0 0" range="-1.57 1.74"
+            actuatorfrcrange="-18 18" />
+          <geom class="visual" material="gray" mesh="AR2" />
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+              diaginertia="0.012869 0.012798 0.000620953" />
+            <joint name="Right_Elbow_Pitch" pos="0 0 0" axis="0 1 0" range="-2.27 2.27"
+              actuatorfrcrange="-18 18" />
+            <geom class="visual" material="gray" mesh="AR3" />
+            <geom size="0.03 0.075" pos="0 -0.05 0" quat="0.707105 0.707108 0 0" type="capsule"
+              class="collision" name="right_forearm" />
+            <body name="right_hand_link" pos="0 -0.1471 0">
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+                quat="0.706347 0.707866 0.000214913 5.22939e-05" mass="0.327214"
+                diaginertia="0.008159 0.00813104 0.000214962" />
+              <joint name="Right_Elbow_Yaw" pos="0 0 0" axis="0 0 1" range="0 2.44"
+                actuatorfrcrange="-18 18" />
+              <geom class="visual" material="gray" mesh="right_hand_link" />
+              <geom size="0.03 0.0875" pos="0 -0.13 0" quat="0.707105 0.707108 0 0" type="capsule"
+                class="collision" name="right_hand" />
+              <geom name="rh" type="sphere" size="0.05" pos="0.0 -0.18 0.0" />
+              <site name="trace_right_hand" size="0.01" pos="0 -0.18 0.0" />
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+        <geom class="visual" material="gray" mesh="Waist" />
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+                  <geom class="visual" material="gray" mesh="Ankle_Cross_Right" />
+                  <body name="right_foot_link" pos="0 -0.00025 -0.012">
+                    <inertial pos="-0.000248 0 -0.00914" quat="0 0.679927 0 0.733279" mass="0.685"
+                      diaginertia="0.00268212 0.002385 0.000726885" />
+                    <joint name="Right_Ankle_Roll" pos="0 0 0" axis="1 0 0" range="-0.44 0.44"
+                      actuatorfrcrange="-15 15" />
+                    <geom class="visual" material="gray" mesh="right_foot_link" />
+                    <geom size="0.02 0.0915" pos="0.01 0.035 -0.01" quat="0.707105 0 0.707108 0"
+                      type="capsule" class="collision" name="right_foot_1" />
+                    <geom size="0.02 0.0915" pos="0.01 -0.035 -0.01" quat="0.707105 0 0.707108 0"
+                      type="capsule" class="collision" name="right_foot_2" />
+                    <geom name="rf0" type="sphere" size="0.02" pos="-0.07 0.025 -0.01" priority="1"
+                      friction="2.0" condim="3" />
+                    <geom name="rf1" type="sphere" size="0.02" pos="-0.07 -0.025 -0.03" priority="1"
+                      friction="2.0" condim="3" />
+                    <geom name="rf2" type="sphere" size="0.02" pos="0.10 0.03 -0.01" priority="1"
+                      friction="2.0" condim="3" />
+                    <geom name="rf3" type="sphere" size="0.02" pos="0.10 -0.03 -0.01" priority="1"
+                      friction="2.0" condim="3" />
+                    <site name="trace_right_foot" size="0.01" pos="0 0 0" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <contact>
+    <!-- Left foot contacts -->
+    <pair name="left_foot_floor0" geom1="lf0" geom2="floor" solref="0.008 1" friction="1 1"
+      condim="3" />
+    <pair name="left_foot_floor1" geom1="lf1" geom2="floor" solref="0.008 1" friction="1 1"
+      condim="3" />
+    <pair name="left_foot_floor2" geom1="lf2" geom2="floor" solref="0.008 1" friction="1 1"
+      condim="3" />
+    <pair name="left_foot_floor3" geom1="lf3" geom2="floor" solref="0.008 1" friction="1 1"
+      condim="3" />
+
+    <!-- Right foot contacts -->
+    <pair name="right_foot_floor0" geom1="rf0" geom2="floor" solref="0.008 1" friction="1 1"
+      condim="3" />
+    <pair name="right_foot_floor1" geom1="rf1" geom2="floor" solref="0.008 1" friction="1 1"
+      condim="3" />
+    <pair name="right_foot_floor2" geom1="rf2" geom2="floor" solref="0.008 1" friction="1 1"
+      condim="3" />
+    <pair name="right_foot_floor3" geom1="rf3" geom2="floor" solref="0.008 1" friction="1 1"
+      condim="3" />
+
+    <!-- Hand contacts -->
+    <pair name="left_hand_floor" geom1="lh" geom2="floor" solref="0.008 1" friction="1 1" condim="3" />
+    <pair name="right_hand_floor" geom1="rh" geom2="floor" solref="0.008 1" friction="1 1"
+      condim="3" />
+  </contact>
+
+  <actuator>
+    <position name="AAHead_yaw" joint="AAHead_yaw" />
+    <position name="Head_pitch" joint="Head_pitch" />
+    <position name="Left_Shoulder_Pitch" joint="Left_Shoulder_Pitch" />
+    <position name="Left_Shoulder_Roll" joint="Left_Shoulder_Roll" />
+    <position name="Left_Elbow_Pitch" joint="Left_Elbow_Pitch" />
+    <position name="Left_Elbow_Yaw" joint="Left_Elbow_Yaw" />
+    <position name="Right_Shoulder_Pitch" joint="Right_Shoulder_Pitch" />
+    <position name="Right_Shoulder_Roll" joint="Right_Shoulder_Roll" />
+    <position name="Right_Elbow_Pitch" joint="Right_Elbow_Pitch" />
+    <position name="Right_Elbow_Yaw" joint="Right_Elbow_Yaw" />
+    <position name="Waist" joint="Waist" />
+    <position name="Left_Hip_Pitch" joint="Left_Hip_Pitch" />
+    <position name="Left_Hip_Roll" joint="Left_Hip_Roll" />
+    <position name="Left_Hip_Yaw" joint="Left_Hip_Yaw" />
+    <position name="Left_Knee_Pitch" joint="Left_Knee_Pitch" />
+    <position name="Left_Ankle_Pitch" joint="Left_Ankle_Pitch" />
+    <position name="Left_Ankle_Roll" joint="Left_Ankle_Roll" />
+    <position name="Right_Hip_Pitch" joint="Right_Hip_Pitch" />
+    <position name="Right_Hip_Roll" joint="Right_Hip_Roll" />
+    <position name="Right_Hip_Yaw" joint="Right_Hip_Yaw" />
+    <position name="Right_Knee_Pitch" joint="Right_Knee_Pitch" />
+    <position name="Right_Ankle_Pitch" joint="Right_Ankle_Pitch" />
+    <position name="Right_Ankle_Roll" joint="Right_Ankle_Roll" />
+  </actuator>
+
+
+  <!-- setup scene -->
+  <statistic center="1.0 0.7 1.0" extent="0.8" />
+  <asset>
+    <texture type="skybox" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="800" height="800" />
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1"
+      markrgb="1 1 1" width="300" height="300" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5"
+      reflectance="0" />
+  </asset>
+  <worldbody>
+    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" contype="1"
+      conaffinity="0" priority="1" friction="0.6" condim="3" />
+    <light pos="0 0 5" dir="0 0 -1" type="directional" />
+    <camera name="track" pos="1.734 -1.135 1.0" xyaxes="0.552 0.834 -0.000 -0.170 0.112 0.979"
+      mode="trackcom" />
+  </worldbody>
+
+</mujoco>