diff --git a/processed/amass/unitree_g1/assets/robots/unitree_g1/LICENSE b/processed/amass/unitree_g1/assets/robots/unitree_g1/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..6dfdadaa90baa4f7bea7400d3c4e8b9c784ae37f
--- /dev/null
+++ b/processed/amass/unitree_g1/assets/robots/unitree_g1/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+ contributors may be used to endorse or promote products derived from
+ this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
diff --git a/processed/amass/unitree_g1/assets/robots/unitree_g1/README.md b/processed/amass/unitree_g1/assets/robots/unitree_g1/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..3bf2d267f390df06cce99b984e48e6bdb4f574ef
--- /dev/null
+++ b/processed/amass/unitree_g1/assets/robots/unitree_g1/README.md
@@ -0,0 +1,32 @@
+File comes from GMR/assets/unitree_g1
+
+# Unitree G1 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
+
+MJCF/URDF for the G1 robot:
+
+| MJCF/URDF file name | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
+| ----------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
+| `g1_23dof` | 1 | 14.5 | Beta | 6*2 | 1 | 5*2 | 0 |
+| `g1_29dof` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 0 |
+| `g1_29dof_with_hand` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 7*2 |
+| `g1_29dof_lock_waist` | 3 | 14.5 | Beta | 6*2 | 1 | 7*2 | 0 |
+| `g1_23dof_rev_1_0` | 4 | 22.5 | Up-to-date | 6*2 | 1 | 5*2 | 0 |
+| `g1_29dof_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 0 |
+| `g1_29dof_with_hand_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 7*2 |
+| `g1_29dof_lock_waist_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 0 |
+| `g1_dual_arm` | 9 | null | Up-to-date | 0 | 0 | 7*2 | 0 |
+
+## 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/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
diff --git a/processed/amass/unitree_g1/assets/robots/unitree_g1/g1_custom_collision_29dof.urdf b/processed/amass/unitree_g1/assets/robots/unitree_g1/g1_custom_collision_29dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89ad14234f5a73e5a38cc532dd149cb8e74fded7
--- /dev/null
+++ b/processed/amass/unitree_g1/assets/robots/unitree_g1/g1_custom_collision_29dof.urdf
@@ -0,0 +1,1116 @@
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\ No newline at end of file
diff --git a/processed/amass/unitree_g1/assets/robots/unitree_g1/g1_mocap_29dof.xml b/processed/amass/unitree_g1/assets/robots/unitree_g1/g1_mocap_29dof.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e383b22421d764843b616f9d8a8378e44cf7a561
--- /dev/null
+++ b/processed/amass/unitree_g1/assets/robots/unitree_g1/g1_mocap_29dof.xml
@@ -0,0 +1,319 @@
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\ No newline at end of file
diff --git a/processed/amass/unitree_g1/assets/robots/unitree_g1/g1_mocap_29dof_with_hands.xml b/processed/amass/unitree_g1/assets/robots/unitree_g1/g1_mocap_29dof_with_hands.xml
new file mode 100644
index 0000000000000000000000000000000000000000..75ef5db86cc7d2abf34d9b3b23bafdb3c13e2d21
--- /dev/null
+++ b/processed/amass/unitree_g1/assets/robots/unitree_g1/g1_mocap_29dof_with_hands.xml
@@ -0,0 +1,560 @@
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diff --git a/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/head_link.STL b/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/head_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..401f822751c33dab53c6cee77eb62890aca5cd8f
--- /dev/null
+++ b/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/head_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:005fb67fbd3eff94aa8bf4a6e83238174e9f91b6721f7111594322f223724411
+size 932784
diff --git a/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/left_ankle_pitch_link.STL b/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/left_ankle_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7cd705218062fc63478e2ad98418eaaf021f25c7
--- /dev/null
+++ b/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/left_ankle_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d49e3abc6f5b12e532062cd575b87b5ef40cd2a3fc18f54a1ca5bba4f773d51d
+size 71184
diff --git a/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/left_ankle_roll_link.STL b/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/left_ankle_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..cb69f65c6a8059fc6720cb393540f579b4d0c26e
--- /dev/null
+++ b/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/left_ankle_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4092af943141d4d9f74232f3cfa345afc6565f46a077793b8ae0e68b39dc33f
+size 653384
diff --git a/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/left_elbow_link.STL b/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/left_elbow_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7fa05272ef8e4c48ba57532175c7388784414369
--- /dev/null
+++ b/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/left_elbow_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa752198accd104d5c4c3a01382e45165b944fbbc5acce085059223324e5bed3
+size 88784
diff --git a/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/left_hand_index_0_link.STL b/processed/amass/unitree_g1/assets/robots/unitree_g1/meshes/left_hand_index_0_link.STL
new file mode 100644
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index 0000000000000000000000000000000000000000..e7dcb9491226d43c0a81650218b576f5a56b11e5
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diff --git a/processed/amass/unitree_g1/assets/robots/unitree_g1/scene_real.xml b/processed/amass/unitree_g1/assets/robots/unitree_g1/scene_real.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5e57f4f9e4e7b977a189bac803607b55ac9ba971
--- /dev/null
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diff --git a/processed/amass/unitree_g1/humanoid/cartwheels/0/trajectory_ik.npz b/processed/amass/unitree_g1/humanoid/cartwheels/0/trajectory_ik.npz
new file mode 100644
index 0000000000000000000000000000000000000000..08117bf7c6a5c40c9e11417e88ed8d89c5ef1755
--- /dev/null
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diff --git a/processed/amass/unitree_g1/humanoid/cartwheels/0/trajectory_kinematic.npz b/processed/amass/unitree_g1/humanoid/cartwheels/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fadf7e790110bbc0e460792ed249f79f98005c4d
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diff --git a/processed/amass/unitree_g1/humanoid/cartwheels/0/trajectory_mjwp.npz b/processed/amass/unitree_g1/humanoid/cartwheels/0/trajectory_mjwp.npz
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/amass/unitree_g1/humanoid/cartwheels/0/visualization_ik.mp4 b/processed/amass/unitree_g1/humanoid/cartwheels/0/visualization_ik.mp4
new file mode 100644
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diff --git a/processed/amass/unitree_g1/humanoid/cartwheels/0/visualization_kinematic.mp4 b/processed/amass/unitree_g1/humanoid/cartwheels/0/visualization_kinematic.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..299c6eac69bbfb06a441d1233e0ee65ab009ba31
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diff --git a/processed/amass/unitree_g1/humanoid/cartwheels/0/visualization_mjwp.mp4 b/processed/amass/unitree_g1/humanoid/cartwheels/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed375bd598596b11437c0646a2dad2ac95fb0279
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new file mode 100644
index 0000000000000000000000000000000000000000..5e57f4f9e4e7b977a189bac803607b55ac9ba971
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diff --git a/processed/amass/unitree_g1/humanoid/cartwheels/task_info.json b/processed/amass/unitree_g1/humanoid/cartwheels/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..40696cd16d0b456108ba2f7f9814b8cdb011b98c
--- /dev/null
+++ b/processed/amass/unitree_g1/humanoid/cartwheels/task_info.json
@@ -0,0 +1,7 @@
+{
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+ "contact_site_ids": [
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+}
\ No newline at end of file
diff --git a/processed/amass/unitree_g1/humanoid/fight_and_sports/0/trajectory_kinematic.npz b/processed/amass/unitree_g1/humanoid/fight_and_sports/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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new file mode 100644
index 0000000000000000000000000000000000000000..9a108d4759dba9f3a16fcce487a4ca5f59ca199c
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diff --git a/processed/amass/unitree_g1/humanoid/fight_and_sports/task_info.json b/processed/amass/unitree_g1/humanoid/fight_and_sports/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..40696cd16d0b456108ba2f7f9814b8cdb011b98c
--- /dev/null
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diff --git a/processed/amass/unitree_g1/humanoid/martial_arts_extended/0/trajectory_mjwp.npz b/processed/amass/unitree_g1/humanoid/martial_arts_extended/0/trajectory_mjwp.npz
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+++ b/processed/amass/unitree_g1/humanoid/martial_arts_extended/0/trajectory_mjwp.npz
@@ -1,3 +1,3 @@
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diff --git a/processed/amass/unitree_g1/humanoid/martial_arts_extended/0/visualization_mjwp.mp4 b/processed/amass/unitree_g1/humanoid/martial_arts_extended/0/visualization_mjwp.mp4
index 75bb098618b1b76bef186091ea52d21f998f4916..9fe32e5dc4b64edbfc8106ba325604b20fb70fe1 100644
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diff --git a/processed/amass/unitree_g1/humanoid/martial_arts_extended/scene.xml b/processed/amass/unitree_g1/humanoid/martial_arts_extended/scene.xml
index 8d71ceeedb2f102565f596c83b8c21f6a0dadf23..3fb9669a970ec409bcbf4b56cfdaee25ed9b0767 100644
--- a/processed/amass/unitree_g1/humanoid/martial_arts_extended/scene.xml
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