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@@ -33,3 +33,56 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+assets/meshes/head_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_elbow_link_merge.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_hand_index_0_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_hand_index_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_hand_middle_0_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_hand_middle_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_hand_palm_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_hand_thumb_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_hand_thumb_2_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_wrist_roll_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/left_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/logo_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/pelvis.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/pelvis_contour_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_elbow_link_merge.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_hand_index_0_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_hand_index_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_hand_middle_0_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_hand_middle_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_hand_palm_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_hand_thumb_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_hand_thumb_2_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_wrist_roll_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/right_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/torso_constraint_L_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/torso_constraint_R_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/torso_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/torso_link_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/waist_constraint_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/waist_constraint_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/waist_support_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/waist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/meshes/waist_yaw_link_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text

CAMERA_README.md

@@ -0,0 +1,256 @@
+# Camera System for MuJoCo G1 Simulator
+
+## Overview
+
+The simulator has two cameras defined:
+
+### 1. **`head_camera`** - Robot Ego-View
+- **Location**: Attached to `torso_link` body
+- **Position**: `[0.06, 0.0, 0.45]` relative to torso (6cm forward, 45cm up)
+- **Orientation**: `euler="0 -0.8 -1.57"` (facing forward, slightly tilted down)
+- **FOV**: 90 degrees
+- **Purpose**: First-person view from the robot's perspective (like a head-mounted camera)
+
+### 2. **`global_view`** - Third-Person View  
+- **Location**: Fixed in world coordinates
+- **Position**: `[2.910, -5.040, 3.860]` (behind and above the robot)
+- **Purpose**: External observer view for visualization
+
+## How Camera Publishing Works
+
+The camera system uses a **zero-copy architecture** with three components:
+
+```
+┌─────────────────────┐
+│   MuJoCo Simulator  │
+│  (Main Process)     │
+│                     │
+│  1. Render cameras  │
+│  2. Copy to shmem   │──┐
+└─────────────────────┘  │
+                         │ Shared Memory
+                         │ (fast IPC)
+                    ┌────▼────────────────┐
+                    │  Image Publisher    │
+                    │  (Subprocess)       │
+                    │                     │
+                    │  3. Encode images   │
+                    │  4. ZMQ publish     │
+                    └─────────┬───────────┘
+                              │
+                              │ TCP (ZMQ)
+                              │ port 5555
+                              ▼
+                    ┌─────────────────────┐
+                    │  Your Policy/Client │
+                    │  (Subscribe)        │
+                    └─────────────────────┘
+```
+
+### Key Technologies:
+- **MuJoCo Renderer**: Captures RGB images from virtual cameras
+- **Shared Memory (`multiprocessing.shared_memory`)**: Zero-copy transfer between processes
+- **ZMQ (ZeroMQ)**: Network socket for publishing images (TCP)
+- **No ROS2 required!** Pure Python multiprocessing
+
+## Usage
+
+### Basic Simulation (No Camera Publishing)
+```bash
+python run_sim.py
+```
+
+### With Camera Publishing
+```bash
+# Publish head camera on default port 5555
+python run_sim.py --publish-images
+
+# Publish multiple cameras
+python run_sim.py --publish-images --cameras head_camera global_view
+
+# Custom port
+python run_sim.py --publish-images --camera-port 6000
+```
+
+### Viewing Camera Streams
+
+In a **separate terminal**, run the camera viewer:
+
+```bash
+# Basic usage (default: localhost:5555)
+python view_cameras.py
+
+# Custom host/port
+python view_cameras.py --host 192.168.1.100 --port 6000
+
+# Save images to directory
+python view_cameras.py --save ./camera_recordings
+
+# Adjust display rate
+python view_cameras.py --fps 60
+```
+
+**Keyboard Controls:**
+- `q`: Quit viewer
+- `s`: Save snapshot of current frame
+
+**Example Workflow:**
+```bash
+# Terminal 1: Start simulator with camera publishing
+python run_sim.py --publish-images
+
+# Terminal 2: View the camera feed
+python view_cameras.py
+```
+
+### Receiving Images in Your Code
+
+```python
+import zmq
+import numpy as np
+from gr00t_wbc.control.sensor.sensor_server import ImageMessageSchema
+
+# Connect to camera publisher
+context = zmq.Context()
+socket = context.socket(zmq.SUB)
+socket.connect("tcp://localhost:5555")
+socket.setsockopt(zmq.SUBSCRIBE, b"")  # Subscribe to all messages
+
+while True:
+    # Receive serialized image data
+    data = socket.recv_pyobj()
+    
+    # Decode images
+    if "head_camera" in data:
+        # Decode image (returns numpy array HxWx3 uint8)
+        img = decode_image(data["head_camera"])
+        
+        # Use image for your policy
+        process_observation(img)
+```
+
+## Camera Configuration
+
+Edit `config.yaml` to change camera settings:
+
+```yaml
+IMAGE_DT: 0.033333  # Publishing rate (30 Hz)
+ENABLE_OFFSCREEN: false  # Enable for camera rendering
+MP_START_METHOD: "spawn"  # Multiprocessing method
+```
+
+Or programmatically in `run_sim.py`:
+
+```python
+camera_configs = {
+    "head_camera": {
+        "height": 480,
+        "width": 640
+    },
+    "custom_camera": {
+        "height": 224,
+        "width": 224
+    }
+}
+```
+
+## Adding Custom Cameras
+
+Edit `assets/g1_29dof_with_hand.xml` or `assets/scene_43dof.xml`:
+
+```xml
+<!-- Camera attached to robot body -->
+<body name="torso_link" pos="0 0 0.019">
+  <camera name="my_camera" pos="0.1 0.0 0.5" euler="0 0 0" fovy="60"/>
+</body>
+
+<!-- Camera in world coordinates -->
+<worldbody>
+  <camera name="side_view" pos="0 -3.0 1.5" xyaxes="1 0 0 0 0.5 0.866"/>
+</worldbody>
+```
+
+Then publish it:
+```bash
+python run_sim.py --publish-images --cameras my_camera
+```
+
+## Performance Notes
+
+- **Rendering overhead**: ~5-10ms per camera per frame @ 640x480
+- **Publishing overhead**: ~2-3ms for encoding + network
+- Image publishing runs in **separate subprocess** to not block simulation
+- Uses **shared memory** for fast inter-process image transfer
+- Target: 30 FPS camera publishing while maintaining 500 Hz simulation
+
+## Troubleshooting
+
+### No images received?
+1. Check if offscreen rendering is enabled (`--publish-images` flag)
+2. Verify ZMQ port is not blocked
+3. Check camera exists in scene XML
+
+### Images are delayed?
+- Reduce `IMAGE_DT` in config
+- Lower camera resolution
+- Use fewer cameras
+
+### "Camera not found" error?
+- Verify camera name in XML matches config
+- Check XML syntax is valid
+- Ensure MuJoCo model loads successfully
+
+## Quick Reference
+
+### File Structure
+```
+mujoco_sim_g1/
+├── run_sim.py              # Simulator launcher
+├── view_cameras.py         # Camera viewer (this file!)
+├── config.yaml             # Simulator config
+├── assets/
+│   ├── scene_43dof.xml     # Scene with global_view camera
+│   └── g1_29dof_with_hand.xml  # Robot model with head_camera
+└── sim/
+    ├── base_sim.py         # MuJoCo environment
+    ├── sensor_utils.py     # ZMQ camera server/client
+    └── image_publish_utils.py  # Multiprocessing image publisher
+```
+
+### Camera Definitions
+
+Edit these files to modify cameras:
+
+**`assets/g1_29dof_with_hand.xml`** - Robot-attached cameras:
+```xml
+<body name="torso_link" pos="0 0 0.019">
+  <camera name="head_camera" pos="0.06 0.0 0.45" euler="0 -0.8 -1.57" fovy="90"/>
+</body>
+```
+
+**`assets/scene_43dof.xml`** - World-frame cameras:
+```xml
+<worldbody>
+  <camera name="global_view" pos="2.910 -5.040 3.860" xyaxes="0.866 0.500 0.000 -0.250 0.433 0.866" fovy="45"/>
+</worldbody>
+```
+
+### Complete Example
+
+```bash
+# Terminal 1: Start simulator with camera publishing
+cd mujoco_sim_g1
+python run_sim.py --publish-images --cameras head_camera global_view
+
+# Terminal 2: View cameras in real-time
+python view_cameras.py
+
+# Terminal 3: Use in your policy (Python code)
+from sim.sensor_utils import SensorClient, ImageUtils
+client = SensorClient()
+client.start_client("localhost", 5555)
+data = client.receive_message()
+img = ImageUtils.decode_image(data["head_camera"])
+# img is now numpy array (H, W, 3) in BGR format
+```
+

README.md

@@ -0,0 +1,167 @@
+# Standalone MuJoCo Simulator for Unitree G1
+
+This is a standalone MuJoCo physics simulator for the Unitree G1 robot, extracted from the GR00T-WholeBodyControl repository.
+
+## Features
+
+- **Physics Simulation**: Runs G1 robot in MuJoCo at 500Hz (2ms timestep)
+- **DDS Communication**: Uses Unitree SDK2 DDS for robot communication
+- **Compatible**: Works with existing `unitree_g1.py` control code via DDS
+- **Visualization**: Real-time 3D visualization of robot motion
+
+## Directory Structure
+
+```
+mujoco_sim_g1/
+├── requirements.txt          # Python dependencies
+├── run_sim.py               # Main launcher script
+├── config.yaml              # Simulation configuration
+├── sim/                     # Simulation modules
+│   ├── base_sim.py
+│   ├── simulator_factory.py
+│   ├── unitree_sdk2py_bridge.py
+│   └── ...
+└── assets/                  # Robot models
+    ├── g1_29dof_with_hand.xml
+    └── meshes/*.STL
+```
+
+## Installation
+
+### 1. Create Virtual Environment (Recommended)
+
+```bash
+cd mujoco_sim_g1
+python3 -m venv venv
+source venv/bin/activate  # On Windows: venv\Scripts\activate
+```
+
+### 2. Install Dependencies
+
+```bash
+pip install -r requirements.txt
+```
+
+**Note**: If you encounter issues with `rclpy`, you can comment out the ROS2 imports in `sim/base_sim.py` (lines 11, 609-617) if you don't need camera publishing.
+
+## Usage
+
+### Basic Usage
+
+```bash
+# Activate environment
+source venv/bin/activate
+
+# Run the simulator
+python run_sim.py
+```
+
+The simulator will:
+1. Load the G1 robot model
+2. Initialize DDS communication on domain 0
+3. Open a MuJoCo visualization window
+4. Start listening for motor commands via DDS
+
+### Running with Your Robot Control Code
+
+Once the simulator is running, you can control it from another terminal:
+
+```bash
+# In another terminal
+cd /home/yope/Documents/lerobot
+conda activate unitree_lerobot
+
+# Run your existing control code
+python test_locomotion_minimal.py
+```
+
+Your `unitree_g1.py` code will automatically connect to the simulator via DDS!
+
+## Configuration
+
+Edit `config.yaml` to customize:
+
+- **SIMULATE_DT**: Simulation timestep (default: 0.002s = 500Hz)
+- **DOMAIN_ID**: DDS domain ID (default: 0)
+- **ENABLE_ONSCREEN**: Show visualization (default: true)
+- **USE_JOYSTICK**: Enable gamepad control (default: false)
+- **ROBOT_SCENE**: Path to MuJoCo XML scene
+
+### PD Gains
+
+The simulator uses the following PD gains (matching NVIDIA GR00T):
+
+**Legs (indices 0-11):**
+- Hip joints: KP=150, KD=2
+- Knee joints: KP=300, KD=4
+- Ankle joints: KP=40, KD=2
+
+**Waist (indices 12-14):**
+- All waist joints: KP=250, KD=5
+
+**Arms (indices 15-28):**
+- Shoulders: KP=100, KD=2-5
+- Elbows/Wrists: KP=20-40, KD=1-2
+
+## Troubleshooting
+
+### ImportError: cannot import name 'ChannelFactoryInitialize'
+
+```bash
+pip install --upgrade unitree-sdk2py
+```
+
+### ROS2/rclpy errors
+
+If you don't need camera publishing, edit `sim/base_sim.py`:
+- Comment out line 11: `import rclpy`
+- Comment out lines 609-617 (ROS2 initialization)
+
+### Meshes not found
+
+Make sure mesh paths in `assets/g1_29dof_with_hand.xml` are relative:
+```xml
+<mesh file="meshes/pelvis.STL"/>  <!-- Not absolute path -->
+```
+
+### Robot falls immediately
+
+Check that:
+1. PD gains match NVIDIA's values (see config.yaml)
+2. Velocity command scaling is correct (ang_vel_scale=0.25, cmd_scale=[2.0, 2.0, 0.25])
+3. Observations for missing joints are zeroed out (indices 12, 14, 20, 21, 27, 28)
+
+## Technical Details
+
+### Communication
+
+The simulator publishes:
+- **`rt/lowstate`**: Robot state (joint positions, velocities, IMU, etc.)
+- **`rt/wirelesscontroller`**: Wireless remote controller state (if joystick enabled)
+
+The simulator subscribes to:
+- **`rt/lowcmd`**: Motor commands (position, velocity, torque, KP, KD)
+
+### Coordinate Frames
+
+- **World frame**: Z-up
+- **Joint ordering**: 29 DOF (12 legs + 3 waist + 14 arms)
+- **IMU**: Quaternion in [w, x, y, z] format
+
+### Performance
+
+- Simulation runs at ~500Hz (2ms timestep)
+- Viewer updates at ~50Hz (20ms)
+- Typical CPU usage: 20-40% on single core
+
+## Files from GR00T-WholeBodyControl
+
+This standalone simulator was extracted from:
+- `gr00t_wbc/control/envs/g1/sim/` (simulation modules)
+- `gr00t_wbc/control/robot_model/model_data/g1/` (robot model files)
+- `gr00t_wbc/control/main/teleop/configs/g1_29dof_gear_wbc.yaml` (configuration)
+
+## License
+
+Follows the license of the original GR00T-WholeBodyControl repository.
+

assets/g1_29dof_old.xml

@@ -0,0 +1,568 @@
+<mujoco model="g1_29dof">
+  <compiler angle="radian" meshdir="meshes" />
+
+  <default>
+    <default class="torso_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="leg_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="ankle_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="arm_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="wrist_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.1"/>
+    </default>
+    
+  </default>
+
+  <asset>
+    <mesh name="pelvis" file="pelvis.STL" />
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
+    <mesh name="left_knee_link" file="left_knee_link.STL" />
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
+    <mesh name="right_knee_link" file="right_knee_link.STL" />
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
+    <mesh name="waist_yaw_link" file="waist_yaw_link.STL" />
+    <mesh name="waist_roll_link" file="waist_roll_link.STL" />
+    <mesh name="torso_link" file="torso_link.STL" />
+    <mesh name="logo_link" file="logo_link.STL" />
+    <mesh name="head_link" file="head_link.STL" />
+    <mesh name="waist_support_link" file="waist_support_link.STL" />
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
+    <mesh name="left_elbow_link" file="left_elbow_link.STL" />
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
+    <mesh name="left_rubber_hand" file="left_rubber_hand.STL" />
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
+    <mesh name="right_elbow_link" file="right_elbow_link.STL" />
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
+    <mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
+  </asset>
+
+  <worldbody>
+    <body name="pelvis" pos="0 0 0.793" quat="1 0 0 0">
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
+        diaginertia="0.010549 0.0093089 0.0079184" />
+      <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
+        mesh="pelvis" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+        mesh="pelvis_contour_link" />
+      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link" />
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
+          mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
+          actuatorfrcrange="-88 88" class="leg_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
+          mesh="left_hip_pitch_link" />
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link" />
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934"
+            quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671"
+            actuatorfrcrange="-88 88" class="leg_motor" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+            mesh="left_hip_roll_link" />
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link" />
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
+              mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
+              actuatorfrcrange="-88 88" class="leg_motor" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+              mesh="left_hip_yaw_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link" />
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074"
+                quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
+                diaginertia="0.0113804 0.0112778 0.00146458" />
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
+                actuatorfrcrange="-139 139" class="leg_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
+                  range="-0.87267 0.5236" actuatorfrcrange="-50 50"  class="ankle_motor"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
+                    range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link" />
+                  <body name="dummy_lf_1" >
+                      <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
+                      <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                      <site name="left_foot_contact_1" pos="-0.05 0.025 -0.03" size="0.005" />
+                  </body>
+                  <body name="dummy_lf_2" >
+                      <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
+                      <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                      <site name="left_foot_contact_2" pos="-0.05 -0.025 -0.03" size="0.005" />
+                  </body>
+                  <body name="dummy_lf_3" >
+                      <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
+                      <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                      <site name="left_foot_contact_3" pos="0.12 0.03 -0.03" size="0.005" />
+                  </body>
+                  <body name="dummy_lf_4" >
+                      <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
+                      <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                      <site name="left_foot_contact_4" pos="0.12 -0.03 -0.03" size="0.005" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
+          mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
+          actuatorfrcrange="-88 88" class="leg_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
+          mesh="right_hip_pitch_link" />
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link" />
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
+            mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236"
+            actuatorfrcrange="-88 88" class="leg_motor" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+            mesh="right_hip_roll_link" />
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link" />
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
+              mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
+              actuatorfrcrange="-88 88" class="leg_motor" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+              mesh="right_hip_yaw_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link" />
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074"
+                quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
+                diaginertia="0.011374 0.0112843 0.00146452" />
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
+                actuatorfrcrange="-139 139" class="leg_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
+                  range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
+                    range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link" />
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <body name="dummy_rf_1" >
+                      <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
+                      <site name="right_foot_contact_1" pos="-0.05 0.025 -0.03" size="0.005" />
+                  </body>
+                  <body name="dummy_rf_2" >
+                      <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
+                      <site name="right_foot_contact_2" pos="-0.05 -0.025 -0.03" size="0.005" />
+                  </body>
+                  <body name="dummy_rf_3" >
+                      <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
+                      <site name="right_foot_contact_3" pos="0.12 0.03 -0.03" size="0.005" />
+                  </body>
+                  <body name="dummy_rf_4" >
+                      <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
+                      <site name="right_foot_contact_4" pos="0.12 -0.03 -0.03" size="0.005" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121"
+          mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05" />
+        <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
+          actuatorfrcrange="-88 88" class="torso_motor"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+          mesh="waist_yaw_link" />
+        <body name="waist_roll_link" pos="-0.0039635 0 0.035">
+          <inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047"
+            diaginertia="7.515e-06 6.40206e-06 3.98394e-06" />
+          <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52"
+            actuatorfrcrange="-50 50" class="torso_motor"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+            mesh="waist_roll_link" />
+          <body name="torso_link" pos="0 0 0.019">
+            <camera name="head_camera" pos="0.06 0.0 0.45" euler="0 -0.8 -1.57"/>
+            <inertial pos="0.00331658 0.000261533 0.179856"
+              quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598"
+              diaginertia="0.12407 0.111951 0.0325382" />
+            <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52"
+              actuatorfrcrange="-50 50" class="torso_motor"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+              mesh="torso_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
+              group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1"
+              mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1"
+              density="0" rgba="0.2 0.2 0.2 1" mesh="head_link" />
+            <geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
+              group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1"
+              mesh="waist_support_link" />
+            <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792" />
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778"
+              quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
+                mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
+                range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0"
+                type="cylinder" rgba="0.7 0.7 0.7 1" />
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
+                quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243"
+                  quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
+                  range="-1.5882 2.2515" actuatorfrcrange="-25 25" class="arm_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder"
+                  rgba="0.7 0.7 0.7 1" />
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009"
+                    quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734"
+                    diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
+                    range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062"
+                      quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
+                      actuatorfrcrange="-25 25" class="arm_motor" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                      rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07"
+                        quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445"
+                        diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
+                        range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                        rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658"
+                          quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405"
+                          diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
+                          range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                          rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742"
+                            quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576"
+                            diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
+                            range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                            rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
+                          <body name="left_rubber_hand" >
+                            <inertial pos="0.0001 0.0001 0.0001" mass="0.0001" diaginertia="0 0 0" />
+                            <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh"  density="0" rgba="0.7 0.7 0.7 1"
+                              mesh="left_rubber_hand" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778"
+              quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
+                mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
+                range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0"
+                type="cylinder" rgba="0.7 0.7 0.7 1" />
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
+                quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243"
+                  quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
+                  range="-2.2515 1.5882" actuatorfrcrange="-25 25" class="arm_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder"
+                  rgba="0.7 0.7 0.7 1" />
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009"
+                    quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734"
+                    diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
+                    range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062"
+                      quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
+                      actuatorfrcrange="-25 25" class="arm_motor" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                      rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07"
+                        quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445"
+                        diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
+                        range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                        rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658"
+                          quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405"
+                          diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
+                          range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                          rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742"
+                            quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576"
+                            diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
+                            range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                            rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
+                          <body name="right_rubber_hand" >
+                            <inertial pos="0.0001 0.0001 0.0001" mass="0.0001" diaginertia="0 0 0" />
+                            <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh"  density="0" rgba="0.7 0.7 0.7 1"
+                              mesh="right_rubber_hand" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="left_hip_pitch" joint="left_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="left_hip_roll" joint="left_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="left_hip_yaw" joint="left_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="left_knee" joint="left_knee_joint" ctrlrange="-139 139" />
+    <motor name="left_ankle_pitch" joint="left_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="left_ankle_roll" joint="left_ankle_roll_joint" ctrlrange="-50 50" />
+
+    <motor name="right_hip_pitch" joint="right_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="right_hip_roll" joint="right_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="right_hip_yaw" joint="right_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="right_knee" joint="right_knee_joint" ctrlrange="-139 139" />
+    <motor name="right_ankle_pitch" joint="right_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="right_ankle_roll" joint="right_ankle_roll_joint" ctrlrange="-50 50" />
+
+    <motor name="waist_yaw" joint="waist_yaw_joint" ctrlrange="-88 88" />
+    <motor name="waist_roll" joint="waist_roll_joint" ctrlrange="-50 50" />
+    <motor name="waist_pitch" joint="waist_pitch_joint" ctrlrange="-50 50" />
+
+    <motor name="left_shoulder_pitch" joint="left_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="left_shoulder_roll" joint="left_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="left_shoulder_yaw" joint="left_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="left_elbow" joint="left_elbow_joint" ctrlrange="-25 25" />
+    <motor name="left_wrist_roll" joint="left_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="left_wrist_pitch" joint="left_wrist_pitch_joint" ctrlrange="-5 5" />
+    <motor name="left_wrist_yaw" joint="left_wrist_yaw_joint" ctrlrange="-5 5" />
+
+    <motor name="right_shoulder_pitch" joint="right_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="right_shoulder_roll" joint="right_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="right_shoulder_yaw" joint="right_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="right_elbow" joint="right_elbow_joint" ctrlrange="-25 25" />
+    <motor name="right_wrist_roll" joint="right_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="right_wrist_pitch" joint="right_wrist_pitch_joint" ctrlrange="-5 5" />
+    <motor name="right_wrist_yaw" joint="right_wrist_yaw_joint" ctrlrange="-5 5" />
+  </actuator>
+
+  <sensor>
+    <jointpos name="left_hip_pitch_pos" joint="left_hip_pitch_joint" />
+    <jointpos name="left_hip_roll_pos" joint="left_hip_roll_joint" />
+    <jointpos name="left_hip_yaw_pos" joint="left_hip_yaw_joint" />
+    <jointpos name="left_knee_pos" joint="left_knee_joint" />
+    <jointpos name="left_ankle_pitch_pos" joint="left_ankle_pitch_joint" />
+    <jointpos name="left_ankle_roll_pos" joint="left_ankle_roll_joint" />
+    <jointpos name="right_hip_pitch_pos" joint="right_hip_pitch_joint" />
+    <jointpos name="right_hip_roll_pos" joint="right_hip_roll_joint" />
+    <jointpos name="right_hip_yaw_pos" joint="right_hip_yaw_joint" />
+    <jointpos name="right_knee_pos" joint="right_knee_joint" />
+    <jointpos name="right_ankle_pitch_pos" joint="right_ankle_pitch_joint" />
+    <jointpos name="right_ankle_roll_pos" joint="right_ankle_roll_joint" />
+    <jointpos name="waist_yaw_pos" joint="waist_yaw_joint" />
+    <jointpos name="waist_roll_pos" joint="waist_roll_joint" />
+    <jointpos name="waist_pitch_pos" joint="waist_pitch_joint" />
+    <jointpos name="left_shoulder_pitch_pos" joint="left_shoulder_pitch_joint" />
+    <jointpos name="left_shoulder_roll_pos" joint="left_shoulder_roll_joint" />
+    <jointpos name="left_shoulder_yaw_pos" joint="left_shoulder_yaw_joint" />
+    <jointpos name="left_elbow_pos" joint="left_elbow_joint" />
+    <jointpos name="left_wrist_roll_pos" joint="left_wrist_roll_joint" />
+    <jointpos name="left_wrist_pitch_pos" joint="left_wrist_pitch_joint" />
+    <jointpos name="left_wrist_yaw_pos" joint="left_wrist_yaw_joint" />
+    <jointpos name="right_shoulder_pitch_pos" joint="right_shoulder_pitch_joint" />
+    <jointpos name="right_shoulder_roll_pos" joint="right_shoulder_roll_joint" />
+    <jointpos name="right_shoulder_yaw_pos" joint="right_shoulder_yaw_joint" />
+    <jointpos name="right_elbow_pos" joint="right_elbow_joint" />
+    <jointpos name="right_wrist_roll_pos" joint="right_wrist_roll_joint" />
+    <jointpos name="right_wrist_pitch_pos" joint="right_wrist_pitch_joint" />
+    <jointpos name="right_wrist_yaw_pos" joint="right_wrist_yaw_joint" />
+
+    <jointvel name="left_hip_pitch_vel" joint="left_hip_pitch_joint" />
+    <jointvel name="left_hip_roll_vel" joint="left_hip_roll_joint" />
+    <jointvel name="left_hip_yaw_vel" joint="left_hip_yaw_joint" />
+    <jointvel name="left_knee_vel" joint="left_knee_joint" />
+    <jointvel name="left_ankle_pitch_vel" joint="left_ankle_pitch_joint" />
+    <jointvel name="left_ankle_roll_vel" joint="left_ankle_roll_joint" />
+    <jointvel name="right_hip_pitch_vel" joint="right_hip_pitch_joint" />
+    <jointvel name="right_hip_roll_vel" joint="right_hip_roll_joint" />
+    <jointvel name="right_hip_yaw_vel" joint="right_hip_yaw_joint" />
+    <jointvel name="right_knee_vel" joint="right_knee_joint" />
+    <jointvel name="right_ankle_pitch_vel" joint="right_ankle_pitch_joint" />
+    <jointvel name="right_ankle_roll_vel" joint="right_ankle_roll_joint" />
+    <jointvel name="waist_yaw_vel" joint="waist_yaw_joint" />
+    <jointvel name="waist_roll_vel" joint="waist_roll_joint" />
+    <jointvel name="waist_pitch_vel" joint="waist_pitch_joint" />
+    <jointvel name="left_shoulder_pitch_vel" joint="left_shoulder_pitch_joint" />
+    <jointvel name="left_shoulder_roll_vel" joint="left_shoulder_roll_joint" />
+    <jointvel name="left_shoulder_yaw_vel" joint="left_shoulder_yaw_joint" />
+    <jointvel name="left_elbow_vel" joint="left_elbow_joint" />
+    <jointvel name="left_wrist_roll_vel" joint="left_wrist_roll_joint" />
+    <jointvel name="left_wrist_pitch_vel" joint="left_wrist_pitch_joint" />
+    <jointvel name="left_wrist_yaw_vel" joint="left_wrist_yaw_joint" />
+    <jointvel name="right_shoulder_pitch_vel" joint="right_shoulder_pitch_joint" />
+    <jointvel name="right_shoulder_roll_vel" joint="right_shoulder_roll_joint" />
+    <jointvel name="right_shoulder_yaw_vel" joint="right_shoulder_yaw_joint" />
+    <jointvel name="right_elbow_vel" joint="right_elbow_joint" />
+    <jointvel name="right_wrist_roll_vel" joint="right_wrist_roll_joint" />
+    <jointvel name="right_wrist_pitch_vel" joint="right_wrist_pitch_joint" />
+    <jointvel name="right_wrist_yaw_vel" joint="right_wrist_yaw_joint" />
+
+    <jointactuatorfrc name="left_hip_pitch_torque" joint="left_hip_pitch_joint" />
+    <jointactuatorfrc name="left_hip_roll_torque" joint="left_hip_roll_joint" />
+    <jointactuatorfrc name="left_hip_yaw_torque" joint="left_hip_yaw_joint" />
+    <jointactuatorfrc name="left_knee_torque" joint="left_knee_joint" />
+    <jointactuatorfrc name="left_ankle_pitch_torque" joint="left_ankle_pitch_joint" />
+    <jointactuatorfrc name="left_ankle_roll_torque" joint="left_ankle_roll_joint" />
+    <jointactuatorfrc name="right_hip_pitch_torque" joint="right_hip_pitch_joint" />
+    <jointactuatorfrc name="right_hip_roll_torque" joint="right_hip_roll_joint" />
+    <jointactuatorfrc name="right_hip_yaw_torque" joint="right_hip_yaw_joint" />
+    <jointactuatorfrc name="right_knee_torque" joint="right_knee_joint" />
+    <jointactuatorfrc name="right_ankle_pitch_torque" joint="right_ankle_pitch_joint" />
+    <jointactuatorfrc name="right_ankle_roll_torque" joint="right_ankle_roll_joint" />
+    <jointactuatorfrc name="waist_yaw_torque" joint="waist_yaw_joint" />
+    <jointactuatorfrc name="waist_roll_torque" joint="waist_roll_joint" />
+    <jointactuatorfrc name="waist_pitch_torque" joint="waist_pitch_joint" />
+    <jointactuatorfrc name="left_shoulder_pitch_torque" joint="left_shoulder_pitch_joint" />
+    <jointactuatorfrc name="left_shoulder_roll_torque" joint="left_shoulder_roll_joint" />
+    <jointactuatorfrc name="left_shoulder_yaw_torque" joint="left_shoulder_yaw_joint" />
+    <jointactuatorfrc name="left_elbow_torque" joint="left_elbow_joint" />
+    <jointactuatorfrc name="left_wrist_roll_torque" joint="left_wrist_roll_joint" />
+    <jointactuatorfrc name="left_wrist_pitch_torque" joint="left_wrist_pitch_joint" />
+    <jointactuatorfrc name="left_wrist_yaw_torque" joint="left_wrist_yaw_joint" />
+    <jointactuatorfrc name="right_shoulder_pitch_torque" joint="right_shoulder_pitch_joint" />
+    <jointactuatorfrc name="right_shoulder_roll_torque" joint="right_shoulder_roll_joint" />
+    <jointactuatorfrc name="right_shoulder_yaw_torque" joint="right_shoulder_yaw_joint" />
+    <jointactuatorfrc name="right_elbow_torque" joint="right_elbow_joint" />
+    <jointactuatorfrc name="right_wrist_roll_torque" joint="right_wrist_roll_joint" />
+    <jointactuatorfrc name="right_wrist_pitch_torque" joint="right_wrist_pitch_joint" />
+    <jointactuatorfrc name="right_wrist_yaw_torque" joint="right_wrist_yaw_joint" />
+
+    <framequat name="imu_quat" objtype="site" objname="imu" />
+    <gyro name="imu_gyro" site="imu" />
+    <accelerometer name="imu_acc" site="imu" />
+
+    <framepos name="frame_pos" objtype="site" objname="imu" />
+    <framelinvel name="frame_vel" objtype="site" objname="imu" />
+  </sensor>
+  <sensor>
+      <force site="left_foot_contact_1" />
+      <force site="left_foot_contact_2" />
+      <force site="left_foot_contact_3" />
+      <force site="left_foot_contact_4" />
+      <force site="right_foot_contact_1" />
+      <force site="right_foot_contact_2" />
+      <force site="right_foot_contact_3" />
+      <force site="right_foot_contact_4" />
+  </sensor>
+
+</mujoco>

assets/g1_29dof_with_hand.xml

@@ -0,0 +1,749 @@
+<mujoco model="g1_29dof_with_hand">
+  <compiler angle="radian" meshdir="meshes" />
+
+  <default>
+    <default class="torso_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="leg_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="ankle_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="arm_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="wrist_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.1"/>
+    </default>
+    <default class="finger_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.1"/>
+    </default>
+  </default>
+  <asset>
+    <mesh name="pelvis" file="pelvis.STL" />
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
+    <mesh name="left_knee_link" file="left_knee_link.STL" />
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
+    <mesh name="right_knee_link" file="right_knee_link.STL" />
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
+    <mesh name="waist_yaw_link" file="waist_yaw_link.STL" />
+    <mesh name="waist_roll_link" file="waist_roll_link.STL" />
+    <mesh name="torso_link" file="torso_link.STL" />
+    <mesh name="logo_link" file="logo_link.STL" />
+    <mesh name="head_link" file="head_link.STL" />
+    <mesh name="waist_support_link" file="waist_support_link.STL" />
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
+    <mesh name="left_elbow_link" file="left_elbow_link.STL" />
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
+    <mesh name="left_hand_palm_link" file="left_hand_palm_link.STL" />
+    <mesh name="left_hand_thumb_0_link" file="left_hand_thumb_0_link.STL" />
+    <mesh name="left_hand_thumb_1_link" file="left_hand_thumb_1_link.STL" />
+    <mesh name="left_hand_thumb_2_link" file="left_hand_thumb_2_link.STL" />
+    <mesh name="left_hand_middle_0_link" file="left_hand_middle_0_link.STL" />
+    <mesh name="left_hand_middle_1_link" file="left_hand_middle_1_link.STL" />
+    <mesh name="left_hand_index_0_link" file="left_hand_index_0_link.STL" />
+    <mesh name="left_hand_index_1_link" file="left_hand_index_1_link.STL" />
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
+    <mesh name="right_elbow_link" file="right_elbow_link.STL" />
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
+    <mesh name="right_hand_palm_link" file="right_hand_palm_link.STL" />
+    <mesh name="right_hand_thumb_0_link" file="right_hand_thumb_0_link.STL" />
+    <mesh name="right_hand_thumb_1_link" file="right_hand_thumb_1_link.STL" />
+    <mesh name="right_hand_thumb_2_link" file="right_hand_thumb_2_link.STL" />
+    <mesh name="right_hand_middle_0_link" file="right_hand_middle_0_link.STL" />
+    <mesh name="right_hand_middle_1_link" file="right_hand_middle_1_link.STL" />
+    <mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL" />
+    <mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL" />
+  </asset>
+
+  <worldbody>
+    <body name="pelvis" pos="0 0 0.793">
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
+        diaginertia="0.010549 0.0093089 0.0079184" />
+      <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
+        mesh="pelvis" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+        mesh="pelvis_contour_link" />
+      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link" />
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
+          mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
+          actuatorfrcrange="-88 88" class="leg_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
+          mesh="left_hip_pitch_link" />
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link" />
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934"
+            quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671"
+            actuatorfrcrange="-88 88" class="leg_motor" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+            mesh="left_hip_roll_link" />
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link" />
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
+              mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
+              actuatorfrcrange="-88 88" class="leg_motor" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+              mesh="left_hip_yaw_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link" />
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074"
+                quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
+                diaginertia="0.0113804 0.0112778 0.00146458" />
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
+                actuatorfrcrange="-139 139" class="leg_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
+                  range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
+                    range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link" />
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
+          mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
+          actuatorfrcrange="-88 88" class="leg_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
+          mesh="right_hip_pitch_link" />
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link" />
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
+            mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236"
+            actuatorfrcrange="-88 88" class="leg_motor" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+            mesh="right_hip_roll_link" />
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link" />
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
+              mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
+              actuatorfrcrange="-88 88" class="leg_motor" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+              mesh="right_hip_yaw_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link" />
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074"
+                quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
+                diaginertia="0.011374 0.0112843 0.00146452" />
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
+                actuatorfrcrange="-139 139" class="leg_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
+                  range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
+                    range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link" />
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121"
+          mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05" />
+        <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
+          actuatorfrcrange="-88 88" class="torso_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+          mesh="waist_yaw_link" />
+        <body name="waist_roll_link" pos="-0.0039635 0 0.035">
+          <inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047"
+            diaginertia="7.515e-06 6.40206e-06 3.98394e-06" />
+          <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52"
+            actuatorfrcrange="-50 50" class="torso_motor"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+            mesh="waist_roll_link" />
+          <body name="torso_link" pos="0 0 0.019">
+            <camera name="head_camera" pos="0.06 0.0 0.45" euler="0 -0.8 -1.57" fovy="90"/>
+            <inertial pos="0.00331658 0.000261533 0.179856"
+              quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598"
+              diaginertia="0.12407 0.111951 0.0325382" />
+            <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52"
+              actuatorfrcrange="-50 50" class="torso_motor"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+              mesh="torso_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
+              group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1"
+              mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1"
+              density="0" rgba="0.2 0.2 0.2 1" mesh="head_link" />
+            <geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
+              group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1"
+              mesh="waist_support_link" />
+            <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792" />
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778"
+              quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
+                mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
+                range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0"
+                type="cylinder" rgba="0.7 0.7 0.7 1" />
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
+                quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243"
+                  quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
+                  range="-1.5882 2.2515" actuatorfrcrange="-25 25" class="arm_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder"
+                  rgba="0.7 0.7 0.7 1" />
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009"
+                    quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734"
+                    diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
+                    range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062"
+                      quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
+                      actuatorfrcrange="-25 25" class="arm_motor" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                      rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07"
+                        quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445"
+                        diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
+                        range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                        rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658"
+                          quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405"
+                          diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
+                          range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                          rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0885506 0.00212216 -0.000374562"
+                            quat="0.487149 0.493844 0.513241 0.505358" mass="0.457415"
+                            diaginertia="0.00105989 0.000895419 0.000323842" />
+                          <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
+                            range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                            rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0"
+                            conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+                            mesh="left_hand_palm_link" />
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1"
+                            mesh="left_hand_palm_link" />
+                          <body name="left_hand_thumb_0_link" pos="0.067 0.003 0">
+                            <inertial pos="-0.000884246 -0.00863407 0.000944293"
+                              quat="0.462991 0.643965 -0.460173 0.398986" mass="0.0862366"
+                              diaginertia="1.6546e-05 1.60058e-05 1.43741e-05" />
+                            <joint name="left_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0"
+                              range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"
+                              class="finger_motor" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                              rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link" />
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link" />
+                            <body name="left_hand_thumb_1_link" pos="-0.0025 -0.0193 0">
+                              <inertial pos="-0.000827888 -0.0354744 -0.0003809"
+                                quat="0.685598 0.705471 -0.15207 0.0956069" mass="0.0588507"
+                                diaginertia="1.28514e-05 1.22902e-05 5.9666e-06" />
+                              <joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1"
+                                range="-0.724312 1.0472" actuatorfrcrange="-1.4 1.4"
+                                class="finger_motor" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_1_link" />
+                              <geom size="0.01 0.015 0.01" pos="-0.001 -0.032 0" type="box"
+                                rgba="0.7 0.7 0.7 1" />
+                              <body name="left_hand_thumb_2_link" pos="0 -0.0458 0">
+                                <inertial pos="-0.00171735 -0.0262819 0.000107789"
+                                  quat="0.703174 0.710977 -0.00017564 -0.00766553" mass="0.0203063"
+                                  diaginertia="4.61314e-06 3.86645e-06 1.53495e-06" />
+                                <joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1"
+                                  range="0 1.74533" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                  rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link" />
+                                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link" />
+                              </body>
+                            </body>
+                          </body>
+                          <body name="left_hand_middle_0_link" pos="0.1192 0.0046 -0.0285">
+                            <inertial pos="0.0354744 0.000827888 0.0003809"
+                              quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507"
+                              diaginertia="1.28514e-05 1.22902e-05 5.9666e-06" />
+                            <joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1"
+                              range="-1.5708 0" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                              rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link" />
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link" />
+                            <body name="left_hand_middle_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 0.00171735 -0.000107789"
+                                quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063"
+                                diaginertia="4.61314e-06 3.86645e-06 1.53495e-06" />
+                              <joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1"
+                                range="-1.74533 0" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link" />
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link" />
+                            </body>
+                          </body>
+                          <body name="left_hand_index_0_link" pos="0.1192 0.0046 0.0285">
+                            <inertial pos="0.0354744 0.000827888 0.0003809"
+                              quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507"
+                              diaginertia="1.28514e-05 1.22902e-05 5.9666e-06" />
+                            <joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1"
+                              range="-1.5708 0" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                              rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link" />
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link" />
+                            <body name="left_hand_index_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 0.00171735 -0.000107789"
+                                quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063"
+                                diaginertia="4.61314e-06 3.86645e-06 1.53495e-06" />
+                              <joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1"
+                                range="-1.74533 0" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link" />
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link" />
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778"
+              quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
+                mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
+                range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0"
+                type="cylinder" rgba="0.7 0.7 0.7 1" />
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
+                quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243"
+                  quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
+                  range="-2.2515 1.5882" actuatorfrcrange="-25 25" class="arm_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder"
+                  rgba="0.7 0.7 0.7 1" />
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009"
+                    quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734"
+                    diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
+                    range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062"
+                      quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
+                      actuatorfrcrange="-25 25" class="arm_motor" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                      rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07"
+                        quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445"
+                        diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
+                        range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                        rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658"
+                          quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405"
+                          diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
+                          range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                          rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0885506 -0.00212216 0.000573742"
+                            quat="0.507224 0.511377 0.494292 0.486717" mass="0.457415"
+                            diaginertia="0.0010598 0.000895373 0.0003238" />
+                          <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
+                            range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                            rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0"
+                            conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+                            mesh="right_hand_palm_link" />
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh"
+                            rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link" />
+                          <body name="right_hand_thumb_0_link" pos="0.067 -0.003 0">
+                              <inertial pos="-0.000884246 0.00863407 0.000944293"
+                                quat="0.643965 0.462991 -0.398986 0.460173" mass="0.0862366"
+                                diaginertia="1.6546e-05 1.60058e-05 1.43741e-05" />
+                              <joint name="right_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0"
+                                range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"
+                                class="finger_motor" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link" />
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link" />
+                              <body name="right_hand_thumb_1_link" pos="-0.0025 0.0193 0">
+                                <inertial pos="-0.000827888 0.0354744 -0.0003809"
+                                  quat="0.705471 0.685598 -0.0956069 0.15207" mass="0.0588507"
+                                  diaginertia="1.28514e-05 1.22902e-05 5.9666e-06" />
+                                <joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1"
+                                  range="-1.0472 0.724312" actuatorfrcrange="-1.4 1.4"
+                                  class="finger_motor" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                  rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_1_link" />
+                                <geom size="0.01 0.015 0.01" pos="-0.001 0.032 0" type="box"
+                                  rgba="0.7 0.7 0.7 1" />
+                                <body name="right_hand_thumb_2_link" pos="0 0.0458 0">
+                                  <inertial pos="-0.00171735 0.0262819 0.000107789"
+                                    quat="0.710977 0.703174 0.00766553 0.00017564" mass="0.0203063"
+                                    diaginertia="4.61314e-06 3.86645e-06 1.53495e-06" />
+                                  <joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1"
+                                    range="-1.74533 0" actuatorfrcrange="-1.4 1.4"
+                                    class="finger_motor" />
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                    rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link" />
+                                  <geom type="mesh" rgba="0.7 0.7 0.7 1"
+                                    mesh="right_hand_thumb_2_link" />
+                                </body>
+                              </body>
+                          </body>
+                          <body name="right_hand_middle_0_link" pos="0.1192 -0.0046 -0.0285">
+                            <inertial pos="0.0354744 -0.000827888 0.0003809"
+                              quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507"
+                              diaginertia="1.28514e-05 1.22902e-05 5.9666e-06" />
+                            <joint name="right_hand_middle_0_joint" pos="0 0 0" axis="0 0 1"
+                              range="0 1.5708" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                              rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link" />
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link" />
+                            <body name="right_hand_middle_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 -0.00171735 -0.000107789"
+                                quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063"
+                                diaginertia="4.61314e-06 3.86645e-06 1.53495e-06" />
+                              <joint name="right_hand_middle_1_joint" pos="0 0 0" axis="0 0 1"
+                                range="0 1.74533" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link" />
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link" />
+                            </body>
+                          </body>
+                          <body name="right_hand_index_0_link" pos="0.1192 -0.0046 0.0285">
+                            <inertial pos="0.0354744 -0.000827888 0.0003809"
+                              quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507"
+                              diaginertia="1.28514e-05 1.22902e-05 5.9666e-06" />
+                            <joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1"
+                              range="0 1.5708" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                              rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link" />
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link" />
+                            <body name="right_hand_index_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 -0.00171735 -0.000107789"
+                                quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063"
+                                diaginertia="4.61314e-06 3.86645e-06 1.53495e-06" />
+                              <joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1"
+                                range="0 1.74533" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link" />
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link" />
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="left_hip_pitch" joint="left_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="left_hip_roll" joint="left_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="left_hip_yaw" joint="left_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="left_knee" joint="left_knee_joint" ctrlrange="-139 139" />
+    <motor name="left_ankle_pitch" joint="left_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="left_ankle_roll" joint="left_ankle_roll_joint" ctrlrange="-50 50" />
+
+    <motor name="right_hip_pitch" joint="right_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="right_hip_roll" joint="right_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="right_hip_yaw" joint="right_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="right_knee" joint="right_knee_joint" ctrlrange="-139 139" />
+    <motor name="right_ankle_pitch" joint="right_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="right_ankle_roll" joint="right_ankle_roll_joint" ctrlrange="-50 50" />
+
+    <motor name="waist_yaw" joint="waist_yaw_joint" ctrlrange="-88 88" />
+    <motor name="waist_roll" joint="waist_roll_joint" ctrlrange="-50 50" />
+    <motor name="waist_pitch" joint="waist_pitch_joint" ctrlrange="-50 50" />
+
+    <motor name="left_shoulder_pitch" joint="left_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="left_shoulder_roll" joint="left_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="left_shoulder_yaw" joint="left_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="left_elbow" joint="left_elbow_joint" ctrlrange="-25 25" />
+    <motor name="left_wrist_roll" joint="left_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="left_wrist_pitch" joint="left_wrist_pitch_joint" ctrlrange="-5 5" />
+    <motor name="left_wrist_yaw" joint="left_wrist_yaw_joint" ctrlrange="-5 5" />
+
+    <motor name="left_hand_thumb_0" joint="left_hand_thumb_0_joint" ctrlrange="-2.45 2.45" />
+    <motor name="left_hand_thumb_1" joint="left_hand_thumb_1_joint" ctrlrange="-1.4 1.4" />
+    <motor name="left_hand_thumb_2" joint="left_hand_thumb_2_joint" ctrlrange="-1.4 1.4" />
+    <motor name="left_hand_middle_0" joint="left_hand_middle_0_joint" ctrlrange="-1.4 1.4" />
+    <motor name="left_hand_middle_1" joint="left_hand_middle_1_joint" ctrlrange="-1.4 1.4" />
+    <motor name="left_hand_index_0" joint="left_hand_index_0_joint" ctrlrange="-1.4 1.4" />
+    <motor name="left_hand_index_1" joint="left_hand_index_1_joint" ctrlrange="-1.4 1.4" />
+
+    <motor name="right_shoulder_pitch" joint="right_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="right_shoulder_roll" joint="right_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="right_shoulder_yaw" joint="right_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="right_elbow" joint="right_elbow_joint" ctrlrange="-25 25" />
+    <motor name="right_wrist_roll" joint="right_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="right_wrist_pitch" joint="right_wrist_pitch_joint" ctrlrange="-5 5" />
+    <motor name="right_wrist_yaw" joint="right_wrist_yaw_joint" ctrlrange="-5 5" />
+
+    <motor name="right_hand_thumb_0" joint="right_hand_thumb_0_joint" ctrlrange="-2.45 2.45" />
+    <motor name="right_hand_thumb_1" joint="right_hand_thumb_1_joint" ctrlrange="-1.4 1.4" />
+    <motor name="right_hand_thumb_2" joint="right_hand_thumb_2_joint" ctrlrange="-1.4 1.4" />
+    <motor name="right_hand_middle_0" joint="right_hand_middle_0_joint" ctrlrange="-1.4 1.4" />
+    <motor name="right_hand_middle_1" joint="right_hand_middle_1_joint" ctrlrange="-1.4 1.4" />
+    <motor name="right_hand_index_0" joint="right_hand_index_0_joint" ctrlrange="-1.4 1.4" />
+    <motor name="right_hand_index_1" joint="right_hand_index_1_joint" ctrlrange="-1.4 1.4" />
+  </actuator>
+
+  <sensor>
+    <jointpos name="left_hip_pitch_pos" joint="left_hip_pitch_joint" />
+    <jointpos name="left_hip_roll_pos" joint="left_hip_roll_joint" />
+    <jointpos name="left_hip_yaw_pos" joint="left_hip_yaw_joint" />
+    <jointpos name="left_knee_pos" joint="left_knee_joint" />
+    <jointpos name="left_ankle_pitch_pos" joint="left_ankle_pitch_joint" />
+    <jointpos name="left_ankle_roll_pos" joint="left_ankle_roll_joint" />
+    <jointpos name="right_hip_pitch_pos" joint="right_hip_pitch_joint" />
+    <jointpos name="right_hip_roll_pos" joint="right_hip_roll_joint" />
+    <jointpos name="right_hip_yaw_pos" joint="right_hip_yaw_joint" />
+    <jointpos name="right_knee_pos" joint="right_knee_joint" />
+    <jointpos name="right_ankle_pitch_pos" joint="right_ankle_pitch_joint" />
+    <jointpos name="right_ankle_roll_pos" joint="right_ankle_roll_joint" />
+    <jointpos name="waist_yaw_pos" joint="waist_yaw_joint" />
+    <jointpos name="waist_roll_pos" joint="waist_roll_joint" />
+    <jointpos name="waist_pitch_pos" joint="waist_pitch_joint" />
+    <jointpos name="left_shoulder_pitch_pos" joint="left_shoulder_pitch_joint" />
+    <jointpos name="left_shoulder_roll_pos" joint="left_shoulder_roll_joint" />
+    <jointpos name="left_shoulder_yaw_pos" joint="left_shoulder_yaw_joint" />
+    <jointpos name="left_elbow_pos" joint="left_elbow_joint" />
+    <jointpos name="left_wrist_roll_pos" joint="left_wrist_roll_joint" />
+    <jointpos name="left_wrist_pitch_pos" joint="left_wrist_pitch_joint" />
+    <jointpos name="left_wrist_yaw_pos" joint="left_wrist_yaw_joint" />
+    <jointpos name="right_shoulder_pitch_pos" joint="right_shoulder_pitch_joint" />
+    <jointpos name="right_shoulder_roll_pos" joint="right_shoulder_roll_joint" />
+    <jointpos name="right_shoulder_yaw_pos" joint="right_shoulder_yaw_joint" />
+    <jointpos name="right_elbow_pos" joint="right_elbow_joint" />
+    <jointpos name="right_wrist_roll_pos" joint="right_wrist_roll_joint" />
+    <jointpos name="right_wrist_pitch_pos" joint="right_wrist_pitch_joint" />
+    <jointpos name="right_wrist_yaw_pos" joint="right_wrist_yaw_joint" />
+
+    <jointpos name="left_hand_thumb_0_pos" joint="left_hand_thumb_0_joint" />
+    <jointpos name="left_hand_thumb_1_pos" joint="left_hand_thumb_1_joint" />
+    <jointpos name="left_hand_thumb_2_pos" joint="left_hand_thumb_2_joint" />
+    <jointpos name="left_hand_middle_0_pos" joint="left_hand_middle_0_joint" />
+    <jointpos name="left_hand_middle_1_pos" joint="left_hand_middle_1_joint" />
+    <jointpos name="left_hand_index_0_pos" joint="left_hand_index_0_joint" />
+    <jointpos name="left_hand_index_1_pos" joint="left_hand_index_1_joint" />
+    <jointpos name="right_hand_thumb_0_pos" joint="right_hand_thumb_0_joint" />
+    <jointpos name="right_hand_thumb_1_pos" joint="right_hand_thumb_1_joint" />
+    <jointpos name="right_hand_thumb_2_pos" joint="right_hand_thumb_2_joint" />
+    <jointpos name="right_hand_middle_0_pos" joint="right_hand_middle_0_joint" />
+    <jointpos name="right_hand_middle_1_pos" joint="right_hand_middle_1_joint" />
+    <jointpos name="right_hand_index_0_pos" joint="right_hand_index_0_joint" />
+    <jointpos name="right_hand_index_1_pos" joint="right_hand_index_1_joint" />
+
+    <jointvel name="left_hip_pitch_vel" joint="left_hip_pitch_joint" />
+    <jointvel name="left_hip_roll_vel" joint="left_hip_roll_joint" />
+    <jointvel name="left_hip_yaw_vel" joint="left_hip_yaw_joint" />
+    <jointvel name="left_knee_vel" joint="left_knee_joint" />
+    <jointvel name="left_ankle_pitch_vel" joint="left_ankle_pitch_joint" />
+    <jointvel name="left_ankle_roll_vel" joint="left_ankle_roll_joint" />
+    <jointvel name="right_hip_pitch_vel" joint="right_hip_pitch_joint" />
+    <jointvel name="right_hip_roll_vel" joint="right_hip_roll_joint" />
+    <jointvel name="right_hip_yaw_vel" joint="right_hip_yaw_joint" />
+    <jointvel name="right_knee_vel" joint="right_knee_joint" />
+    <jointvel name="right_ankle_pitch_vel" joint="right_ankle_pitch_joint" />
+    <jointvel name="right_ankle_roll_vel" joint="right_ankle_roll_joint" />
+    <jointvel name="waist_yaw_vel" joint="waist_yaw_joint" />
+    <jointvel name="waist_roll_vel" joint="waist_roll_joint" />
+    <jointvel name="waist_pitch_vel" joint="waist_pitch_joint" />
+    <jointvel name="left_shoulder_pitch_vel" joint="left_shoulder_pitch_joint" />
+    <jointvel name="left_shoulder_roll_vel" joint="left_shoulder_roll_joint" />
+    <jointvel name="left_shoulder_yaw_vel" joint="left_shoulder_yaw_joint" />
+    <jointvel name="left_elbow_vel" joint="left_elbow_joint" />
+    <jointvel name="left_wrist_roll_vel" joint="left_wrist_roll_joint" />
+    <jointvel name="left_wrist_pitch_vel" joint="left_wrist_pitch_joint" />
+    <jointvel name="left_wrist_yaw_vel" joint="left_wrist_yaw_joint" />
+    <jointvel name="right_shoulder_pitch_vel" joint="right_shoulder_pitch_joint" />
+    <jointvel name="right_shoulder_roll_vel" joint="right_shoulder_roll_joint" />
+    <jointvel name="right_shoulder_yaw_vel" joint="right_shoulder_yaw_joint" />
+    <jointvel name="right_elbow_vel" joint="right_elbow_joint" />
+    <jointvel name="right_wrist_roll_vel" joint="right_wrist_roll_joint" />
+    <jointvel name="right_wrist_pitch_vel" joint="right_wrist_pitch_joint" />
+    <jointvel name="right_wrist_yaw_vel" joint="right_wrist_yaw_joint" />
+
+    <jointvel name="left_hand_thumb_0_vel" joint="left_hand_thumb_0_joint" />
+    <jointvel name="left_hand_thumb_1_vel" joint="left_hand_thumb_1_joint" />
+    <jointvel name="left_hand_thumb_2_vel" joint="left_hand_thumb_2_joint" />
+    <jointvel name="left_hand_middle_0_vel" joint="left_hand_middle_0_joint" />
+    <jointvel name="left_hand_middle_1_vel" joint="left_hand_middle_1_joint" />
+    <jointvel name="left_hand_index_0_vel" joint="left_hand_index_0_joint" />
+    <jointvel name="left_hand_index_1_vel" joint="left_hand_index_1_joint" />
+    <jointvel name="right_hand_thumb_0_vel" joint="right_hand_thumb_0_joint" />
+    <jointvel name="right_hand_thumb_1_vel" joint="right_hand_thumb_1_joint" />
+    <jointvel name="right_hand_thumb_2_vel" joint="right_hand_thumb_2_joint" />
+    <jointvel name="right_hand_middle_0_vel" joint="right_hand_middle_0_joint" />
+    <jointvel name="right_hand_middle_1_vel" joint="right_hand_middle_1_joint" />
+    <jointvel name="right_hand_index_0_vel" joint="right_hand_index_0_joint" />
+    <jointvel name="right_hand_index_1_vel" joint="right_hand_index_1_joint" />
+
+    <jointactuatorfrc name="left_hip_pitch_torque" joint="left_hip_pitch_joint" />
+    <jointactuatorfrc name="left_hip_roll_torque" joint="left_hip_roll_joint" />
+    <jointactuatorfrc name="left_hip_yaw_torque" joint="left_hip_yaw_joint" />
+    <jointactuatorfrc name="left_knee_torque" joint="left_knee_joint" />
+    <jointactuatorfrc name="left_ankle_pitch_torque" joint="left_ankle_pitch_joint" />
+    <jointactuatorfrc name="left_ankle_roll_torque" joint="left_ankle_roll_joint" />
+    <jointactuatorfrc name="right_hip_pitch_torque" joint="right_hip_pitch_joint" />
+    <jointactuatorfrc name="right_hip_roll_torque" joint="right_hip_roll_joint" />
+    <jointactuatorfrc name="right_hip_yaw_torque" joint="right_hip_yaw_joint" />
+    <jointactuatorfrc name="right_knee_torque" joint="right_knee_joint" />
+    <jointactuatorfrc name="right_ankle_pitch_torque" joint="right_ankle_pitch_joint" />
+    <jointactuatorfrc name="right_ankle_roll_torque" joint="right_ankle_roll_joint" />
+    <jointactuatorfrc name="waist_yaw_torque" joint="waist_yaw_joint" />
+    <jointactuatorfrc name="waist_roll_torque" joint="waist_roll_joint" />
+    <jointactuatorfrc name="waist_pitch_torque" joint="waist_pitch_joint" />
+    <jointactuatorfrc name="left_shoulder_pitch_torque" joint="left_shoulder_pitch_joint" />
+    <jointactuatorfrc name="left_shoulder_roll_torque" joint="left_shoulder_roll_joint" />
+    <jointactuatorfrc name="left_shoulder_yaw_torque" joint="left_shoulder_yaw_joint" />
+    <jointactuatorfrc name="left_elbow_torque" joint="left_elbow_joint" />
+    <jointactuatorfrc name="left_wrist_roll_torque" joint="left_wrist_roll_joint" />
+    <jointactuatorfrc name="left_wrist_pitch_torque" joint="left_wrist_pitch_joint" />
+    <jointactuatorfrc name="left_wrist_yaw_torque" joint="left_wrist_yaw_joint" />
+    <jointactuatorfrc name="right_shoulder_pitch_torque" joint="right_shoulder_pitch_joint" />
+    <jointactuatorfrc name="right_shoulder_roll_torque" joint="right_shoulder_roll_joint" />
+    <jointactuatorfrc name="right_shoulder_yaw_torque" joint="right_shoulder_yaw_joint" />
+    <jointactuatorfrc name="right_elbow_torque" joint="right_elbow_joint" />
+    <jointactuatorfrc name="right_wrist_roll_torque" joint="right_wrist_roll_joint" />
+    <jointactuatorfrc name="right_wrist_pitch_torque" joint="right_wrist_pitch_joint" />
+    <jointactuatorfrc name="right_wrist_yaw_torque" joint="right_wrist_yaw_joint" />
+
+    <jointactuatorfrc name="left_hand_thumb_0_torque" joint="left_hand_thumb_0_joint" />
+    <jointactuatorfrc name="left_hand_thumb_1_torque" joint="left_hand_thumb_1_joint" />
+    <jointactuatorfrc name="left_hand_thumb_2_torque" joint="left_hand_thumb_2_joint" />
+    <jointactuatorfrc name="left_hand_middle_0_torque" joint="left_hand_middle_0_joint" />
+    <jointactuatorfrc name="left_hand_middle_1_torque" joint="left_hand_middle_1_joint" />
+    <jointactuatorfrc name="left_hand_index_0_torque" joint="left_hand_index_0_joint" />
+    <jointactuatorfrc name="left_hand_index_1_torque" joint="left_hand_index_1_joint" />
+    <jointactuatorfrc name="right_hand_thumb_0_torque" joint="right_hand_thumb_0_joint" />
+    <jointactuatorfrc name="right_hand_thumb_1_torque" joint="right_hand_thumb_1_joint" />
+    <jointactuatorfrc name="right_hand_thumb_2_torque" joint="right_hand_thumb_2_joint" />
+    <jointactuatorfrc name="right_hand_middle_0_torque" joint="right_hand_middle_0_joint" />
+    <jointactuatorfrc name="right_hand_middle_1_torque" joint="right_hand_middle_1_joint" />
+    <jointactuatorfrc name="right_hand_index_0_torque" joint="right_hand_index_0_joint" />
+    <jointactuatorfrc name="right_hand_index_1_torque" joint="right_hand_index_1_joint" />
+
+    <framequat name="imu_quat" objtype="site" objname="imu" />
+    <gyro name="imu_gyro" site="imu" />
+    <accelerometer name="imu_acc" site="imu" />
+
+    <framepos name="frame_pos" objtype="site" objname="imu" />
+    <framelinvel name="frame_vel" objtype="site" objname="imu" />
+  </sensor>
+</mujoco>

assets/g1_29dof_with_hand_original.xml

@@ -0,0 +1,748 @@
+<mujoco model="g1_29dof_with_hand">
+  <compiler angle="radian" meshdir="meshes" />
+
+  <default>
+    <default class="torso_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="leg_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="ankle_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="arm_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="wrist_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.1"/>
+    </default>
+    <default class="finger_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.1"/>
+    </default>
+  </default>
+  <asset>
+    <mesh name="pelvis" file="pelvis.STL" />
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
+    <mesh name="left_knee_link" file="left_knee_link.STL" />
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
+    <mesh name="right_knee_link" file="right_knee_link.STL" />
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
+    <mesh name="waist_yaw_link" file="waist_yaw_link.STL" />
+    <mesh name="waist_roll_link" file="waist_roll_link.STL" />
+    <mesh name="torso_link" file="torso_link.STL" />
+    <mesh name="logo_link" file="logo_link.STL" />
+    <mesh name="head_link" file="head_link.STL" />
+    <mesh name="waist_support_link" file="waist_support_link.STL" />
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
+    <mesh name="left_elbow_link" file="left_elbow_link.STL" />
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
+    <mesh name="left_hand_palm_link" file="left_hand_palm_link.STL" />
+    <mesh name="left_hand_thumb_0_link" file="left_hand_thumb_0_link.STL" />
+    <mesh name="left_hand_thumb_1_link" file="left_hand_thumb_1_link.STL" />
+    <mesh name="left_hand_thumb_2_link" file="left_hand_thumb_2_link.STL" />
+    <mesh name="left_hand_middle_0_link" file="left_hand_middle_0_link.STL" />
+    <mesh name="left_hand_middle_1_link" file="left_hand_middle_1_link.STL" />
+    <mesh name="left_hand_index_0_link" file="left_hand_index_0_link.STL" />
+    <mesh name="left_hand_index_1_link" file="left_hand_index_1_link.STL" />
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
+    <mesh name="right_elbow_link" file="right_elbow_link.STL" />
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
+    <mesh name="right_hand_palm_link" file="right_hand_palm_link.STL" />
+    <mesh name="right_hand_thumb_0_link" file="right_hand_thumb_0_link.STL" />
+    <mesh name="right_hand_thumb_1_link" file="right_hand_thumb_1_link.STL" />
+    <mesh name="right_hand_thumb_2_link" file="right_hand_thumb_2_link.STL" />
+    <mesh name="right_hand_middle_0_link" file="right_hand_middle_0_link.STL" />
+    <mesh name="right_hand_middle_1_link" file="right_hand_middle_1_link.STL" />
+    <mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL" />
+    <mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL" />
+  </asset>
+
+  <worldbody>
+    <body name="pelvis" pos="0 0 0.793">
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
+        diaginertia="0.010549 0.0093089 0.0079184" />
+      <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
+        mesh="pelvis" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+        mesh="pelvis_contour_link" />
+      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link" />
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
+          mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
+          actuatorfrcrange="-88 88" class="leg_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
+          mesh="left_hip_pitch_link" />
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link" />
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934"
+            quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671"
+            actuatorfrcrange="-88 88" class="leg_motor" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+            mesh="left_hip_roll_link" />
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link" />
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
+              mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
+              actuatorfrcrange="-88 88" class="leg_motor" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+              mesh="left_hip_yaw_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link" />
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074"
+                quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
+                diaginertia="0.0113804 0.0112778 0.00146458" />
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
+                actuatorfrcrange="-139 139" class="leg_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
+                  range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
+                    range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link" />
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
+          mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
+          actuatorfrcrange="-88 88" class="leg_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
+          mesh="right_hip_pitch_link" />
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link" />
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
+            mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236"
+            actuatorfrcrange="-88 88" class="leg_motor" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+            mesh="right_hip_roll_link" />
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link" />
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
+              mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
+              actuatorfrcrange="-88 88" class="leg_motor" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+              mesh="right_hip_yaw_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link" />
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074"
+                quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
+                diaginertia="0.011374 0.0112843 0.00146452" />
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
+                actuatorfrcrange="-139 139" class="leg_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
+                  range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
+                    range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link" />
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121"
+          mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05" />
+        <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
+          actuatorfrcrange="-88 88" class="torso_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+          mesh="waist_yaw_link" />
+        <body name="waist_roll_link" pos="-0.0039635 0 0.035">
+          <inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047"
+            diaginertia="7.515e-06 6.40206e-06 3.98394e-06" />
+          <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52"
+            actuatorfrcrange="-50 50" class="torso_motor"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+            mesh="waist_roll_link" />
+          <body name="torso_link" pos="0 0 0.019">
+            <inertial pos="0.00331658 0.000261533 0.179856"
+              quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598"
+              diaginertia="0.12407 0.111951 0.0325382" />
+            <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52"
+              actuatorfrcrange="-50 50" class="torso_motor"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+              mesh="torso_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
+              group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1"
+              mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1"
+              density="0" rgba="0.2 0.2 0.2 1" mesh="head_link" />
+            <geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
+              group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1"
+              mesh="waist_support_link" />
+            <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792" />
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778"
+              quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
+                mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
+                range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0"
+                type="cylinder" rgba="0.7 0.7 0.7 1" />
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
+                quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243"
+                  quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
+                  range="-1.5882 2.2515" actuatorfrcrange="-25 25" class="arm_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder"
+                  rgba="0.7 0.7 0.7 1" />
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009"
+                    quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734"
+                    diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
+                    range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062"
+                      quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
+                      actuatorfrcrange="-25 25" class="arm_motor" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                      rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07"
+                        quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445"
+                        diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
+                        range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                        rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658"
+                          quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405"
+                          diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
+                          range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                          rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0885506 0.00212216 -0.000374562"
+                            quat="0.487149 0.493844 0.513241 0.505358" mass="0.457415"
+                            diaginertia="0.00105989 0.000895419 0.000323842" />
+                          <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
+                            range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                            rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0"
+                            conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+                            mesh="left_hand_palm_link" />
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1"
+                            mesh="left_hand_palm_link" />
+                          <body name="left_hand_thumb_0_link" pos="0.067 0.003 0">
+                            <inertial pos="-0.000884246 -0.00863407 0.000944293"
+                              quat="0.462991 0.643965 -0.460173 0.398986" mass="0.0862366"
+                              diaginertia="1.6546e-05 1.60058e-05 1.43741e-05" />
+                            <joint name="left_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0"
+                              range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"
+                              class="finger_motor" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                              rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link" />
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link" />
+                            <body name="left_hand_thumb_1_link" pos="-0.0025 -0.0193 0">
+                              <inertial pos="-0.000827888 -0.0354744 -0.0003809"
+                                quat="0.685598 0.705471 -0.15207 0.0956069" mass="0.0588507"
+                                diaginertia="1.28514e-05 1.22902e-05 5.9666e-06" />
+                              <joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1"
+                                range="-0.724312 1.0472" actuatorfrcrange="-1.4 1.4"
+                                class="finger_motor" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_1_link" />
+                              <geom size="0.01 0.015 0.01" pos="-0.001 -0.032 0" type="box"
+                                rgba="0.7 0.7 0.7 1" />
+                              <body name="left_hand_thumb_2_link" pos="0 -0.0458 0">
+                                <inertial pos="-0.00171735 -0.0262819 0.000107789"
+                                  quat="0.703174 0.710977 -0.00017564 -0.00766553" mass="0.0203063"
+                                  diaginertia="4.61314e-06 3.86645e-06 1.53495e-06" />
+                                <joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1"
+                                  range="0 1.74533" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                  rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link" />
+                                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link" />
+                              </body>
+                            </body>
+                          </body>
+                          <body name="left_hand_middle_0_link" pos="0.1192 0.0046 -0.0285">
+                            <inertial pos="0.0354744 0.000827888 0.0003809"
+                              quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507"
+                              diaginertia="1.28514e-05 1.22902e-05 5.9666e-06" />
+                            <joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1"
+                              range="-1.5708 0" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                              rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link" />
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link" />
+                            <body name="left_hand_middle_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 0.00171735 -0.000107789"
+                                quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063"
+                                diaginertia="4.61314e-06 3.86645e-06 1.53495e-06" />
+                              <joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1"
+                                range="-1.74533 0" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link" />
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link" />
+                            </body>
+                          </body>
+                          <body name="left_hand_index_0_link" pos="0.1192 0.0046 0.0285">
+                            <inertial pos="0.0354744 0.000827888 0.0003809"
+                              quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507"
+                              diaginertia="1.28514e-05 1.22902e-05 5.9666e-06" />
+                            <joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1"
+                              range="-1.5708 0" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                              rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link" />
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link" />
+                            <body name="left_hand_index_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 0.00171735 -0.000107789"
+                                quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063"
+                                diaginertia="4.61314e-06 3.86645e-06 1.53495e-06" />
+                              <joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1"
+                                range="-1.74533 0" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link" />
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link" />
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778"
+              quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
+                mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
+                range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0"
+                type="cylinder" rgba="0.7 0.7 0.7 1" />
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
+                quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243"
+                  quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
+                  range="-2.2515 1.5882" actuatorfrcrange="-25 25" class="arm_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder"
+                  rgba="0.7 0.7 0.7 1" />
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009"
+                    quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734"
+                    diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
+                    range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062"
+                      quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
+                      actuatorfrcrange="-25 25" class="arm_motor" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                      rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07"
+                        quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445"
+                        diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
+                        range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                        rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658"
+                          quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405"
+                          diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
+                          range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                          rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0885506 -0.00212216 0.000573742"
+                            quat="0.507224 0.511377 0.494292 0.486717" mass="0.457415"
+                            diaginertia="0.0010598 0.000895373 0.0003238" />
+                          <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
+                            range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                            rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0"
+                            conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+                            mesh="right_hand_palm_link" />
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh"
+                            rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link" />
+                          <body name="right_hand_thumb_0_link" pos="0.067 -0.003 0">
+                              <inertial pos="-0.000884246 0.00863407 0.000944293"
+                                quat="0.643965 0.462991 -0.398986 0.460173" mass="0.0862366"
+                                diaginertia="1.6546e-05 1.60058e-05 1.43741e-05" />
+                              <joint name="right_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0"
+                                range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"
+                                class="finger_motor" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link" />
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link" />
+                              <body name="right_hand_thumb_1_link" pos="-0.0025 0.0193 0">
+                                <inertial pos="-0.000827888 0.0354744 -0.0003809"
+                                  quat="0.705471 0.685598 -0.0956069 0.15207" mass="0.0588507"
+                                  diaginertia="1.28514e-05 1.22902e-05 5.9666e-06" />
+                                <joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1"
+                                  range="-1.0472 0.724312" actuatorfrcrange="-1.4 1.4"
+                                  class="finger_motor" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                  rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_1_link" />
+                                <geom size="0.01 0.015 0.01" pos="-0.001 0.032 0" type="box"
+                                  rgba="0.7 0.7 0.7 1" />
+                                <body name="right_hand_thumb_2_link" pos="0 0.0458 0">
+                                  <inertial pos="-0.00171735 0.0262819 0.000107789"
+                                    quat="0.710977 0.703174 0.00766553 0.00017564" mass="0.0203063"
+                                    diaginertia="4.61314e-06 3.86645e-06 1.53495e-06" />
+                                  <joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1"
+                                    range="-1.74533 0" actuatorfrcrange="-1.4 1.4"
+                                    class="finger_motor" />
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                    rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link" />
+                                  <geom type="mesh" rgba="0.7 0.7 0.7 1"
+                                    mesh="right_hand_thumb_2_link" />
+                                </body>
+                              </body>
+                          </body>
+                          <body name="right_hand_middle_0_link" pos="0.1192 -0.0046 -0.0285">
+                            <inertial pos="0.0354744 -0.000827888 0.0003809"
+                              quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507"
+                              diaginertia="1.28514e-05 1.22902e-05 5.9666e-06" />
+                            <joint name="right_hand_middle_0_joint" pos="0 0 0" axis="0 0 1"
+                              range="0 1.5708" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                              rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link" />
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link" />
+                            <body name="right_hand_middle_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 -0.00171735 -0.000107789"
+                                quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063"
+                                diaginertia="4.61314e-06 3.86645e-06 1.53495e-06" />
+                              <joint name="right_hand_middle_1_joint" pos="0 0 0" axis="0 0 1"
+                                range="0 1.74533" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link" />
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link" />
+                            </body>
+                          </body>
+                          <body name="right_hand_index_0_link" pos="0.1192 -0.0046 0.0285">
+                            <inertial pos="0.0354744 -0.000827888 0.0003809"
+                              quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507"
+                              diaginertia="1.28514e-05 1.22902e-05 5.9666e-06" />
+                            <joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1"
+                              range="0 1.5708" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                              rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link" />
+                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link" />
+                            <body name="right_hand_index_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 -0.00171735 -0.000107789"
+                                quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063"
+                                diaginertia="4.61314e-06 3.86645e-06 1.53495e-06" />
+                              <joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1"
+                                range="0 1.74533" actuatorfrcrange="-1.4 1.4" class="finger_motor" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link" />
+                              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link" />
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="left_hip_pitch" joint="left_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="left_hip_roll" joint="left_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="left_hip_yaw" joint="left_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="left_knee" joint="left_knee_joint" ctrlrange="-139 139" />
+    <motor name="left_ankle_pitch" joint="left_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="left_ankle_roll" joint="left_ankle_roll_joint" ctrlrange="-50 50" />
+
+    <motor name="right_hip_pitch" joint="right_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="right_hip_roll" joint="right_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="right_hip_yaw" joint="right_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="right_knee" joint="right_knee_joint" ctrlrange="-139 139" />
+    <motor name="right_ankle_pitch" joint="right_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="right_ankle_roll" joint="right_ankle_roll_joint" ctrlrange="-50 50" />
+
+    <motor name="waist_yaw" joint="waist_yaw_joint" ctrlrange="-88 88" />
+    <motor name="waist_roll" joint="waist_roll_joint" ctrlrange="-50 50" />
+    <motor name="waist_pitch" joint="waist_pitch_joint" ctrlrange="-50 50" />
+
+    <motor name="left_shoulder_pitch" joint="left_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="left_shoulder_roll" joint="left_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="left_shoulder_yaw" joint="left_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="left_elbow" joint="left_elbow_joint" ctrlrange="-25 25" />
+    <motor name="left_wrist_roll" joint="left_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="left_wrist_pitch" joint="left_wrist_pitch_joint" ctrlrange="-5 5" />
+    <motor name="left_wrist_yaw" joint="left_wrist_yaw_joint" ctrlrange="-5 5" />
+
+    <motor name="left_hand_thumb_0" joint="left_hand_thumb_0_joint" ctrlrange="-2.45 2.45" />
+    <motor name="left_hand_thumb_1" joint="left_hand_thumb_1_joint" ctrlrange="-1.4 1.4" />
+    <motor name="left_hand_thumb_2" joint="left_hand_thumb_2_joint" ctrlrange="-1.4 1.4" />
+    <motor name="left_hand_middle_0" joint="left_hand_middle_0_joint" ctrlrange="-1.4 1.4" />
+    <motor name="left_hand_middle_1" joint="left_hand_middle_1_joint" ctrlrange="-1.4 1.4" />
+    <motor name="left_hand_index_0" joint="left_hand_index_0_joint" ctrlrange="-1.4 1.4" />
+    <motor name="left_hand_index_1" joint="left_hand_index_1_joint" ctrlrange="-1.4 1.4" />
+
+    <motor name="right_shoulder_pitch" joint="right_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="right_shoulder_roll" joint="right_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="right_shoulder_yaw" joint="right_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="right_elbow" joint="right_elbow_joint" ctrlrange="-25 25" />
+    <motor name="right_wrist_roll" joint="right_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="right_wrist_pitch" joint="right_wrist_pitch_joint" ctrlrange="-5 5" />
+    <motor name="right_wrist_yaw" joint="right_wrist_yaw_joint" ctrlrange="-5 5" />
+
+    <motor name="right_hand_thumb_0" joint="right_hand_thumb_0_joint" ctrlrange="-2.45 2.45" />
+    <motor name="right_hand_thumb_1" joint="right_hand_thumb_1_joint" ctrlrange="-1.4 1.4" />
+    <motor name="right_hand_thumb_2" joint="right_hand_thumb_2_joint" ctrlrange="-1.4 1.4" />
+    <motor name="right_hand_middle_0" joint="right_hand_middle_0_joint" ctrlrange="-1.4 1.4" />
+    <motor name="right_hand_middle_1" joint="right_hand_middle_1_joint" ctrlrange="-1.4 1.4" />
+    <motor name="right_hand_index_0" joint="right_hand_index_0_joint" ctrlrange="-1.4 1.4" />
+    <motor name="right_hand_index_1" joint="right_hand_index_1_joint" ctrlrange="-1.4 1.4" />
+  </actuator>
+
+  <sensor>
+    <jointpos name="left_hip_pitch_pos" joint="left_hip_pitch_joint" />
+    <jointpos name="left_hip_roll_pos" joint="left_hip_roll_joint" />
+    <jointpos name="left_hip_yaw_pos" joint="left_hip_yaw_joint" />
+    <jointpos name="left_knee_pos" joint="left_knee_joint" />
+    <jointpos name="left_ankle_pitch_pos" joint="left_ankle_pitch_joint" />
+    <jointpos name="left_ankle_roll_pos" joint="left_ankle_roll_joint" />
+    <jointpos name="right_hip_pitch_pos" joint="right_hip_pitch_joint" />
+    <jointpos name="right_hip_roll_pos" joint="right_hip_roll_joint" />
+    <jointpos name="right_hip_yaw_pos" joint="right_hip_yaw_joint" />
+    <jointpos name="right_knee_pos" joint="right_knee_joint" />
+    <jointpos name="right_ankle_pitch_pos" joint="right_ankle_pitch_joint" />
+    <jointpos name="right_ankle_roll_pos" joint="right_ankle_roll_joint" />
+    <jointpos name="waist_yaw_pos" joint="waist_yaw_joint" />
+    <jointpos name="waist_roll_pos" joint="waist_roll_joint" />
+    <jointpos name="waist_pitch_pos" joint="waist_pitch_joint" />
+    <jointpos name="left_shoulder_pitch_pos" joint="left_shoulder_pitch_joint" />
+    <jointpos name="left_shoulder_roll_pos" joint="left_shoulder_roll_joint" />
+    <jointpos name="left_shoulder_yaw_pos" joint="left_shoulder_yaw_joint" />
+    <jointpos name="left_elbow_pos" joint="left_elbow_joint" />
+    <jointpos name="left_wrist_roll_pos" joint="left_wrist_roll_joint" />
+    <jointpos name="left_wrist_pitch_pos" joint="left_wrist_pitch_joint" />
+    <jointpos name="left_wrist_yaw_pos" joint="left_wrist_yaw_joint" />
+    <jointpos name="right_shoulder_pitch_pos" joint="right_shoulder_pitch_joint" />
+    <jointpos name="right_shoulder_roll_pos" joint="right_shoulder_roll_joint" />
+    <jointpos name="right_shoulder_yaw_pos" joint="right_shoulder_yaw_joint" />
+    <jointpos name="right_elbow_pos" joint="right_elbow_joint" />
+    <jointpos name="right_wrist_roll_pos" joint="right_wrist_roll_joint" />
+    <jointpos name="right_wrist_pitch_pos" joint="right_wrist_pitch_joint" />
+    <jointpos name="right_wrist_yaw_pos" joint="right_wrist_yaw_joint" />
+
+    <jointpos name="left_hand_thumb_0_pos" joint="left_hand_thumb_0_joint" />
+    <jointpos name="left_hand_thumb_1_pos" joint="left_hand_thumb_1_joint" />
+    <jointpos name="left_hand_thumb_2_pos" joint="left_hand_thumb_2_joint" />
+    <jointpos name="left_hand_middle_0_pos" joint="left_hand_middle_0_joint" />
+    <jointpos name="left_hand_middle_1_pos" joint="left_hand_middle_1_joint" />
+    <jointpos name="left_hand_index_0_pos" joint="left_hand_index_0_joint" />
+    <jointpos name="left_hand_index_1_pos" joint="left_hand_index_1_joint" />
+    <jointpos name="right_hand_thumb_0_pos" joint="right_hand_thumb_0_joint" />
+    <jointpos name="right_hand_thumb_1_pos" joint="right_hand_thumb_1_joint" />
+    <jointpos name="right_hand_thumb_2_pos" joint="right_hand_thumb_2_joint" />
+    <jointpos name="right_hand_middle_0_pos" joint="right_hand_middle_0_joint" />
+    <jointpos name="right_hand_middle_1_pos" joint="right_hand_middle_1_joint" />
+    <jointpos name="right_hand_index_0_pos" joint="right_hand_index_0_joint" />
+    <jointpos name="right_hand_index_1_pos" joint="right_hand_index_1_joint" />
+
+    <jointvel name="left_hip_pitch_vel" joint="left_hip_pitch_joint" />
+    <jointvel name="left_hip_roll_vel" joint="left_hip_roll_joint" />
+    <jointvel name="left_hip_yaw_vel" joint="left_hip_yaw_joint" />
+    <jointvel name="left_knee_vel" joint="left_knee_joint" />
+    <jointvel name="left_ankle_pitch_vel" joint="left_ankle_pitch_joint" />
+    <jointvel name="left_ankle_roll_vel" joint="left_ankle_roll_joint" />
+    <jointvel name="right_hip_pitch_vel" joint="right_hip_pitch_joint" />
+    <jointvel name="right_hip_roll_vel" joint="right_hip_roll_joint" />
+    <jointvel name="right_hip_yaw_vel" joint="right_hip_yaw_joint" />
+    <jointvel name="right_knee_vel" joint="right_knee_joint" />
+    <jointvel name="right_ankle_pitch_vel" joint="right_ankle_pitch_joint" />
+    <jointvel name="right_ankle_roll_vel" joint="right_ankle_roll_joint" />
+    <jointvel name="waist_yaw_vel" joint="waist_yaw_joint" />
+    <jointvel name="waist_roll_vel" joint="waist_roll_joint" />
+    <jointvel name="waist_pitch_vel" joint="waist_pitch_joint" />
+    <jointvel name="left_shoulder_pitch_vel" joint="left_shoulder_pitch_joint" />
+    <jointvel name="left_shoulder_roll_vel" joint="left_shoulder_roll_joint" />
+    <jointvel name="left_shoulder_yaw_vel" joint="left_shoulder_yaw_joint" />
+    <jointvel name="left_elbow_vel" joint="left_elbow_joint" />
+    <jointvel name="left_wrist_roll_vel" joint="left_wrist_roll_joint" />
+    <jointvel name="left_wrist_pitch_vel" joint="left_wrist_pitch_joint" />
+    <jointvel name="left_wrist_yaw_vel" joint="left_wrist_yaw_joint" />
+    <jointvel name="right_shoulder_pitch_vel" joint="right_shoulder_pitch_joint" />
+    <jointvel name="right_shoulder_roll_vel" joint="right_shoulder_roll_joint" />
+    <jointvel name="right_shoulder_yaw_vel" joint="right_shoulder_yaw_joint" />
+    <jointvel name="right_elbow_vel" joint="right_elbow_joint" />
+    <jointvel name="right_wrist_roll_vel" joint="right_wrist_roll_joint" />
+    <jointvel name="right_wrist_pitch_vel" joint="right_wrist_pitch_joint" />
+    <jointvel name="right_wrist_yaw_vel" joint="right_wrist_yaw_joint" />
+
+    <jointvel name="left_hand_thumb_0_vel" joint="left_hand_thumb_0_joint" />
+    <jointvel name="left_hand_thumb_1_vel" joint="left_hand_thumb_1_joint" />
+    <jointvel name="left_hand_thumb_2_vel" joint="left_hand_thumb_2_joint" />
+    <jointvel name="left_hand_middle_0_vel" joint="left_hand_middle_0_joint" />
+    <jointvel name="left_hand_middle_1_vel" joint="left_hand_middle_1_joint" />
+    <jointvel name="left_hand_index_0_vel" joint="left_hand_index_0_joint" />
+    <jointvel name="left_hand_index_1_vel" joint="left_hand_index_1_joint" />
+    <jointvel name="right_hand_thumb_0_vel" joint="right_hand_thumb_0_joint" />
+    <jointvel name="right_hand_thumb_1_vel" joint="right_hand_thumb_1_joint" />
+    <jointvel name="right_hand_thumb_2_vel" joint="right_hand_thumb_2_joint" />
+    <jointvel name="right_hand_middle_0_vel" joint="right_hand_middle_0_joint" />
+    <jointvel name="right_hand_middle_1_vel" joint="right_hand_middle_1_joint" />
+    <jointvel name="right_hand_index_0_vel" joint="right_hand_index_0_joint" />
+    <jointvel name="right_hand_index_1_vel" joint="right_hand_index_1_joint" />
+
+    <jointactuatorfrc name="left_hip_pitch_torque" joint="left_hip_pitch_joint" />
+    <jointactuatorfrc name="left_hip_roll_torque" joint="left_hip_roll_joint" />
+    <jointactuatorfrc name="left_hip_yaw_torque" joint="left_hip_yaw_joint" />
+    <jointactuatorfrc name="left_knee_torque" joint="left_knee_joint" />
+    <jointactuatorfrc name="left_ankle_pitch_torque" joint="left_ankle_pitch_joint" />
+    <jointactuatorfrc name="left_ankle_roll_torque" joint="left_ankle_roll_joint" />
+    <jointactuatorfrc name="right_hip_pitch_torque" joint="right_hip_pitch_joint" />
+    <jointactuatorfrc name="right_hip_roll_torque" joint="right_hip_roll_joint" />
+    <jointactuatorfrc name="right_hip_yaw_torque" joint="right_hip_yaw_joint" />
+    <jointactuatorfrc name="right_knee_torque" joint="right_knee_joint" />
+    <jointactuatorfrc name="right_ankle_pitch_torque" joint="right_ankle_pitch_joint" />
+    <jointactuatorfrc name="right_ankle_roll_torque" joint="right_ankle_roll_joint" />
+    <jointactuatorfrc name="waist_yaw_torque" joint="waist_yaw_joint" />
+    <jointactuatorfrc name="waist_roll_torque" joint="waist_roll_joint" />
+    <jointactuatorfrc name="waist_pitch_torque" joint="waist_pitch_joint" />
+    <jointactuatorfrc name="left_shoulder_pitch_torque" joint="left_shoulder_pitch_joint" />
+    <jointactuatorfrc name="left_shoulder_roll_torque" joint="left_shoulder_roll_joint" />
+    <jointactuatorfrc name="left_shoulder_yaw_torque" joint="left_shoulder_yaw_joint" />
+    <jointactuatorfrc name="left_elbow_torque" joint="left_elbow_joint" />
+    <jointactuatorfrc name="left_wrist_roll_torque" joint="left_wrist_roll_joint" />
+    <jointactuatorfrc name="left_wrist_pitch_torque" joint="left_wrist_pitch_joint" />
+    <jointactuatorfrc name="left_wrist_yaw_torque" joint="left_wrist_yaw_joint" />
+    <jointactuatorfrc name="right_shoulder_pitch_torque" joint="right_shoulder_pitch_joint" />
+    <jointactuatorfrc name="right_shoulder_roll_torque" joint="right_shoulder_roll_joint" />
+    <jointactuatorfrc name="right_shoulder_yaw_torque" joint="right_shoulder_yaw_joint" />
+    <jointactuatorfrc name="right_elbow_torque" joint="right_elbow_joint" />
+    <jointactuatorfrc name="right_wrist_roll_torque" joint="right_wrist_roll_joint" />
+    <jointactuatorfrc name="right_wrist_pitch_torque" joint="right_wrist_pitch_joint" />
+    <jointactuatorfrc name="right_wrist_yaw_torque" joint="right_wrist_yaw_joint" />
+
+    <jointactuatorfrc name="left_hand_thumb_0_torque" joint="left_hand_thumb_0_joint" />
+    <jointactuatorfrc name="left_hand_thumb_1_torque" joint="left_hand_thumb_1_joint" />
+    <jointactuatorfrc name="left_hand_thumb_2_torque" joint="left_hand_thumb_2_joint" />
+    <jointactuatorfrc name="left_hand_middle_0_torque" joint="left_hand_middle_0_joint" />
+    <jointactuatorfrc name="left_hand_middle_1_torque" joint="left_hand_middle_1_joint" />
+    <jointactuatorfrc name="left_hand_index_0_torque" joint="left_hand_index_0_joint" />
+    <jointactuatorfrc name="left_hand_index_1_torque" joint="left_hand_index_1_joint" />
+    <jointactuatorfrc name="right_hand_thumb_0_torque" joint="right_hand_thumb_0_joint" />
+    <jointactuatorfrc name="right_hand_thumb_1_torque" joint="right_hand_thumb_1_joint" />
+    <jointactuatorfrc name="right_hand_thumb_2_torque" joint="right_hand_thumb_2_joint" />
+    <jointactuatorfrc name="right_hand_middle_0_torque" joint="right_hand_middle_0_joint" />
+    <jointactuatorfrc name="right_hand_middle_1_torque" joint="right_hand_middle_1_joint" />
+    <jointactuatorfrc name="right_hand_index_0_torque" joint="right_hand_index_0_joint" />
+    <jointactuatorfrc name="right_hand_index_1_torque" joint="right_hand_index_1_joint" />
+
+    <framequat name="imu_quat" objtype="site" objname="imu" />
+    <gyro name="imu_gyro" site="imu" />
+    <accelerometer name="imu_acc" site="imu" />
+
+    <framepos name="frame_pos" objtype="site" objname="imu" />
+    <framelinvel name="frame_vel" objtype="site" objname="imu" />
+  </sensor>
+</mujoco>

assets/meshes/head_link.STL

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+size 932784

assets/meshes/left_ankle_roll_link.STL

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+version https://git-lfs.github.com/spec/v1
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assets/meshes/left_elbow_link_merge.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:73c8adc6346b900eb6a2ae7159e25dfda1be60cd98affe13536e01ab33a6c1de
+size 3136784

assets/meshes/left_hand_index_0_link.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6b35f2f77211d5a366f0b9a4e47c4ee35e536731266f1a34e9efa12db579b892
+size 475984

assets/meshes/left_hand_index_1_link.STL

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+version https://git-lfs.github.com/spec/v1
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