diff --git a/processed/amass/assets/robots/booster_t1/MUJOCO_LOG.TXT b/processed/amass/assets/robots/booster_t1/MUJOCO_LOG.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..1bfb8a9dcf93dcbc7be1445f85bf13add521bcff
--- /dev/null
+++ b/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.
+
diff --git a/processed/amass/assets/robots/booster_t1/T1_locomotion.urdf b/processed/amass/assets/robots/booster_t1/T1_locomotion.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..00ade21d9fda66d48ecd34da9012b7888abefd3a
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/T1_locomotion.urdf
@@ -0,0 +1,1221 @@
+
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diff --git a/processed/amass/assets/robots/booster_t1/T1_locomotion.xml b/processed/amass/assets/robots/booster_t1/T1_locomotion.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9b6c7c75926d5e95c117867b8eefe8b4647fb22b
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/T1_locomotion.xml
@@ -0,0 +1,140 @@
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diff --git a/processed/amass/assets/robots/booster_t1/T1_serial.urdf b/processed/amass/assets/robots/booster_t1/T1_serial.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..874d3dccf19e6ba5453b7c4ea5a1fae991875287
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/T1_serial.urdf
@@ -0,0 +1,1261 @@
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\ No newline at end of file
diff --git a/processed/amass/assets/robots/booster_t1/T1_serial.xml b/processed/amass/assets/robots/booster_t1/T1_serial.xml
new file mode 100644
index 0000000000000000000000000000000000000000..58409508e272de0bf72af603001b14ed16a98fd5
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/T1_serial.xml
@@ -0,0 +1,240 @@
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diff --git a/processed/amass/assets/robots/booster_t1/meshes/AL1.STL b/processed/amass/assets/robots/booster_t1/meshes/AL1.STL
new file mode 100755
index 0000000000000000000000000000000000000000..73434df877460155481461df54eb3fe3d69c5bc8
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/meshes/AL1.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43f5d268152b3c169d34731545ddfa2a510a7e16f209a2a80f8ba9ae0e1a40aa
+size 373884
diff --git a/processed/amass/assets/robots/booster_t1/meshes/AL2.STL b/processed/amass/assets/robots/booster_t1/meshes/AL2.STL
new file mode 100755
index 0000000000000000000000000000000000000000..c01b75f9466f4ddda48b5a67b3fc4c024d30ef44
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/meshes/AL2.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bca60adb29c73f701350abd23e8a8d660dc61e87c5163a80157650dd3ad88c3
+size 317584
diff --git a/processed/amass/assets/robots/booster_t1/meshes/AL3.STL b/processed/amass/assets/robots/booster_t1/meshes/AL3.STL
new file mode 100755
index 0000000000000000000000000000000000000000..2bb393294c899f68b386481c40015019d422f849
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/meshes/AL3.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfdf5611dfe90f8e02b07b037c36a244f4ce7184b45113371ef46e624fb30854
+size 751184
diff --git a/processed/amass/assets/robots/booster_t1/meshes/AR1.STL b/processed/amass/assets/robots/booster_t1/meshes/AR1.STL
new file mode 100755
index 0000000000000000000000000000000000000000..ca5872cc925e08244f962284a12356477bf8d3ae
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/meshes/AR1.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dbbd3dab4486600747be9d0e7f8523d67bf00d24d0dc9c23db1766c4d808fcf
+size 374984
diff --git a/processed/amass/assets/robots/booster_t1/meshes/AR2.STL b/processed/amass/assets/robots/booster_t1/meshes/AR2.STL
new file mode 100755
index 0000000000000000000000000000000000000000..303aa9c719c49c1a0f4529aac3177cc17c3c5be8
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/meshes/AR2.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0499136785fe1bc0289d9e503e1e0ea48f5a63420a2e45b0fcd9e6b3bcf8f999
+size 317584
diff --git a/processed/amass/assets/robots/booster_t1/meshes/AR3.STL b/processed/amass/assets/robots/booster_t1/meshes/AR3.STL
new file mode 100755
index 0000000000000000000000000000000000000000..b47cc55844d8caf433eb8dbaf9ef37785bd09de5
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/meshes/AR3.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92330bd8286fe420fb76949ee4c5d5bdec2e6bb30426acdc4d6fae9257464631
+size 751184
diff --git a/processed/amass/assets/robots/booster_t1/meshes/Ankle_Cross_Left.STL b/processed/amass/assets/robots/booster_t1/meshes/Ankle_Cross_Left.STL
new file mode 100755
index 0000000000000000000000000000000000000000..f96fe85d9ec3fa0488e7886b4a1897f6aeb797dc
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/meshes/Ankle_Cross_Left.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6ec38741838475834c147f2ad18196c0254741e602c2b676f888fd12b5d7981
+size 59084
diff --git a/processed/amass/assets/robots/booster_t1/meshes/Ankle_Cross_Right.STL b/processed/amass/assets/robots/booster_t1/meshes/Ankle_Cross_Right.STL
new file mode 100755
index 0000000000000000000000000000000000000000..c84177f56885d35a16ef0e04d5037e85fa819378
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/meshes/Ankle_Cross_Right.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/amass/assets/robots/booster_t1/meshes/Crank_Down_Left.STL b/processed/amass/assets/robots/booster_t1/meshes/Crank_Down_Left.STL
new file mode 100755
index 0000000000000000000000000000000000000000..b2b1ac804e5ce1fddf9a1d5b59828b44ce1128ff
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/meshes/Crank_Down_Left.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/amass/assets/robots/booster_t1/meshes/Crank_Down_Right.STL b/processed/amass/assets/robots/booster_t1/meshes/Crank_Down_Right.STL
new file mode 100755
index 0000000000000000000000000000000000000000..e2c0e474ab10291e18549181ba0819297915c5f9
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/meshes/Crank_Down_Right.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 178684
diff --git a/processed/amass/assets/robots/booster_t1/meshes/Crank_Up_Left.STL b/processed/amass/assets/robots/booster_t1/meshes/Crank_Up_Left.STL
new file mode 100755
index 0000000000000000000000000000000000000000..86b6760cb88e688d46e1c6a74335ba997a1cd5f5
--- /dev/null
+++ b/processed/amass/assets/robots/booster_t1/meshes/Crank_Up_Left.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
index 0000000000000000000000000000000000000000..bc6e3c6c3de73a06cb1f51c87b90cdd9dc90b847
--- /dev/null
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diff --git a/processed/amass/assets/robots/fourier_n1/LICENSE b/processed/amass/assets/robots/fourier_n1/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..11e8067e6c0cdae639117aecc2ca3ad6d888ca87
--- /dev/null
+++ b/processed/amass/assets/robots/fourier_n1/LICENSE
@@ -0,0 +1,165 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc.
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+ This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+ 0. Additional Definitions.
+
+ As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+ "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
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rename from processed/amass/assets/robots/g1/meshes/left_hand_thumb_2_link.STL
rename to processed/amass/assets/robots/unitree_g1/meshes/left_hand_thumb_2_link.STL
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diff --git a/processed/amass/assets/robots/g1/robot.xml b/processed/amass/assets/robots/unitree_g1/robot.xml
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rename to processed/amass/assets/robots/unitree_g1/robot.xml
diff --git a/processed/amass/assets/robots/g1/scene.xml b/processed/amass/assets/robots/unitree_g1/scene.xml
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diff --git a/processed/amass/assets/robots/unitree_h1_2/MUJOCO_LOG.TXT b/processed/amass/assets/robots/unitree_h1_2/MUJOCO_LOG.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..8960ca23d3e9cf9eed86fafe59b668239e146535
--- /dev/null
+++ b/processed/amass/assets/robots/unitree_h1_2/MUJOCO_LOG.TXT
@@ -0,0 +1,3 @@
+Sun Nov 2 15:11:14 2025
+ERROR: could not initialize GLFW
+
diff --git a/processed/amass/assets/robots/unitree_h1_2/README.md b/processed/amass/assets/robots/unitree_h1_2/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..d49a600c42c3b0e207514e4e8da5c7fe3fa16a6a
--- /dev/null
+++ b/processed/amass/assets/robots/unitree_h1_2/README.md
@@ -0,0 +1,20 @@
+# Unitree H1_2 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree H1_2](https://www.unitree.com/h1), developed by [Unitree Robotics](https://www.unitree.com/).
+
+
+ 
+
+
+## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
+
+1. Open MuJoCo Viewer
+
+ ```bash
+ pip install mujoco
+ python -m mujoco.viewer
+ ```
+
+2. Drag and drop the MJCF model file (`h1_2.xml` or `h1_2_handless.xml`) to the MuJoCo Viewer.
diff --git a/processed/amass/assets/robots/unitree_h1_2/h1_2.png b/processed/amass/assets/robots/unitree_h1_2/h1_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e36fe55d41f91abda131490b1adc5d7fe78ff7b
--- /dev/null
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diff --git a/processed/amass/assets/robots/unitree_h1_2/h1_2.xml b/processed/amass/assets/robots/unitree_h1_2/h1_2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b510c13f46671ad0387582d4236f3d3fb9bc62eb
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diff --git a/processed/amass/assets/robots/unitree_h1_2/h1_2_handless.urdf b/processed/amass/assets/robots/unitree_h1_2/h1_2_handless.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8c4bdcd0158bab4314c8c2336bad88e570390940
--- /dev/null
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diff --git a/processed/amass/assets/robots/unitree_h1_2/scene.xml b/processed/amass/assets/robots/unitree_h1_2/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bd96edfd079a3b7cf766593013819c61e80bb6fc
--- /dev/null
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diff --git a/processed/amass/assets/robots/unitree_h1_2/scene_hand.xml b/processed/amass/assets/robots/unitree_h1_2/scene_hand.xml
new file mode 100644
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--- /dev/null
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diff --git a/processed/amass/booster_t1/humanoid/skip/0/trajectory_gmr.pkl b/processed/amass/booster_t1/humanoid/skip/0/trajectory_gmr.pkl
new file mode 100644
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diff --git a/processed/amass/booster_t1/humanoid/skip/0/trajectory_kinematic.npz b/processed/amass/booster_t1/humanoid/skip/0/trajectory_kinematic.npz
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/processed/lafan/assets/robots/g1/meshes/logo_link.STL b/processed/lafan/assets/robots/unitree_g1/meshes/logo_link.STL
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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