Update README.md

fix material names

.gitignore

@@ -0,0 +1,162 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
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+# PyBuilder
+.pybuilder/
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+# Jupyter Notebook
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+
+# IPython
+profile_default/
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+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
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+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/latest/usage/project/#working-with-version-control
+.pdm.toml
+.pdm-python
+.pdm-build/
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
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+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
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+.mypy_cache/
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+dmypy.json
+
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+# Cython debug symbols
+cython_debug/
+
+# Editors
+.idea/
+.vscode
+
+# logs
+logs

legged_gym/envs/__init__.py

@@ -1,12 +1,12 @@
-
 from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
 
 from legged_gym.envs.go2.go2_config import GO2RoughCfg, GO2RoughCfgPPO
 from legged_gym.envs.h1.h1_config import H1RoughCfg, H1RoughCfgPPO
+from legged_gym.envs.h1_2.h1_2_config import H1_2RoughCfg, H1_2RoughCfgPPO
 from .base.legged_robot import LeggedRobot
 
 from legged_gym.utils.task_registry import task_registry
-task_registry.register( "go2", LeggedRobot, GO2RoughCfg(), GO2RoughCfgPPO())
-task_registry.register( "h1", LeggedRobot, H1RoughCfg(), H1RoughCfgPPO())
-
 
+task_registry.register("go2", LeggedRobot, GO2RoughCfg(), GO2RoughCfgPPO())
+task_registry.register("h1", LeggedRobot, H1RoughCfg(), H1RoughCfgPPO())
+task_registry.register("h1_2", LeggedRobot, H1_2RoughCfg(), H1_2RoughCfgPPO())

legged_gym/envs/h1_2/README.md

@@ -0,0 +1,25 @@
+# H1_2 RL Example (Preview)
+
+## Simplified URDF
+
+This task utilizes a simplified version of URDF. We fix some joints and ignore most of the collisions.
+
+### Fixed Joints
+
+We fix all the joints in the hands, wrists and the elbow roll joints, since those joints have very limited effect on the whole body dynamics and are commonly controlled by other controllers.
+
+### Collisions
+
+We only keep the collision of foot roll links, knee links and the base. Early termination is majorly checked by the angular position of the base.
+
+## Dynamics
+
+Free "light" end effectors can lead to unstable simulation. Thus please be carefull with the control parameters for the joints that may affect such end effectors.
+
+## Results
+
+https://github.com/user-attachments/assets/a937e9c4-fe91-4240-88ea-d83b0160cad5
+
+## Preview Stage
+
+**The reward functions are not well tuned and cannot produce satisfactory results at the current stage. A feasible version is comming soon.**

legged_gym/envs/h1_2/h1_2_config.py

@@ -0,0 +1,121 @@
+from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO
+
+
+class H1_2RoughCfg(LeggedRobotCfg):
+
+    class init_state(LeggedRobotCfg.init_state):
+        pos = [0.0, 0.0, 1.0]  # x,y,z [m]
+        default_joint_angles = { # = target angles [rad] when action = 0.0
+            'left_hip_yaw_joint': 0,
+            'left_hip_roll_joint': 0,
+            'left_hip_pitch_joint': -0.6,
+            'left_knee_joint': 1.2,
+            'left_ankle_pitch_joint': -0.6,
+            'left_ankle_roll_joint': 0.0,
+
+            'right_hip_yaw_joint': 0,
+            'right_hip_roll_joint': 0,
+            'right_hip_pitch_joint': -0.6,
+            'right_knee_joint': 1.2,
+            'right_ankle_pitch_joint': -0.6,
+            'right_ankle_roll_joint': 0.0,
+
+            'torso_joint': 0,
+
+            'left_shoulder_pitch_joint': 0.4,
+            'left_shoulder_roll_joint': 0,
+            'left_shoulder_yaw_joint': 0,
+            'left_elbow_pitch_joint': 0.3,
+
+            'right_shoulder_pitch_joint': 0.4,
+            'right_shoulder_roll_joint': 0,
+            'right_shoulder_yaw_joint': 0,
+            'right_elbow_pitch_joint': 0.3,
+        }
+
+    class env(LeggedRobotCfg.env):
+        num_actions = 21
+        num_observations = 12 + num_actions * 3
+        num_envs = 8192
+
+    class control(LeggedRobotCfg.control):
+        # PD Drive parameters:
+        control_type = 'P'
+        # PD Drive parameters:
+        stiffness = {
+            'hip_yaw_joint': 200.,
+            'hip_roll_joint': 200.,
+            'hip_pitch_joint': 200.,
+            'knee_joint': 300.,
+            'ankle_pitch_joint': 60.,
+            'ankle_roll_joint': 40.,
+            'torso_joint': 600.,
+            'shoulder_pitch_joint': 80.,
+            'shoulder_roll_joint': 80.,
+            'shoulder_yaw_joint': 40.,
+            'elbow_pitch_joint': 60.,
+        }  # [N*m/rad]
+        damping = {
+            'hip_yaw_joint': 5.0,
+            'hip_roll_joint': 5.0,
+            'hip_pitch_joint': 5.0,
+            'knee_joint': 7.5,
+            'ankle_pitch_joint': 1.0,
+            'ankle_roll_joint': 0.3,
+            'torso_joint': 15.0,
+            'shoulder_pitch_joint': 2.0,
+            'shoulder_roll_joint': 2.0,
+            'shoulder_yaw_joint': 1.0,
+            'elbow_pitch_joint': 1.0,
+        }  # [N*m/rad]  # [N*m*s/rad]
+        # action scale: target angle = actionScale * action + defaultAngle
+        action_scale = 0.25
+        # decimation: Number of control action updates @ sim DT per policy DT
+        decimation = 10
+
+    class asset(LeggedRobotCfg.asset):
+        file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/h1_2/h1_2_simplified.urdf'
+        name = "h1_2"
+        foot_name = "ankle_roll"
+        penalize_contacts_on = []
+        terminate_after_contacts_on = []
+        self_collisions = 1  # 1 to disable, 0 to enable...bitwise filter
+        flip_visual_attachments = False
+        armature = 6e-4  # stablize semi-euler integration for end effectors
+
+    class sim(LeggedRobotCfg.sim):
+        dt = 0.002  # stablize semi-euler integration for end effectors
+
+    class rewards(LeggedRobotCfg.rewards):
+        soft_dof_pos_limit = 0.9
+        base_height_target = 0.98
+
+        class scales(LeggedRobotCfg.rewards.scales):
+            tracking_lin_vel = 1.0
+            tracking_ang_vel = 0.5
+            lin_vel_z = -0.2
+            ang_vel_xy = -0.1
+            orientation = -0.1
+            base_height = -10.0
+            dof_acc = -3.5e-9
+            feet_air_time = 1.0
+            collision = 0.0
+            action_rate = -0.001
+            torques = 0.0
+            dof_pos_limits = -1.0
+        
+        only_positive_rewards = False # if true negative total rewards are clipped at zero (avoids early termination problems)
+    
+    class normalization(LeggedRobotCfg.normalization):
+        clip_actions = 10.0
+
+
+class H1_2RoughCfgPPO(LeggedRobotCfgPPO):
+
+    class policy(LeggedRobotCfgPPO.policy):
+        init_noise_std = 0.3
+        activation = 'tanh'
+
+    class runner(LeggedRobotCfgPPO.runner):
+        run_name = ''
+        experiment_name = 'h1_2'

legged_gym/scripts/play.py

@@ -1,5 +1,4 @@
 import sys
-sys.path.append("/home/unitree/unitree_rl_gym")
 from legged_gym import LEGGED_GYM_ROOT_DIR
 import os
 

legged_gym/scripts/train.py

@@ -2,7 +2,6 @@ import numpy as np
 import os
 from datetime import datetime
 import sys
-sys.path.append("/home/unitree/unitree_rl_gym/")
 
 import isaacgym
 from legged_gym.envs import *

legged_gym/utils/task_registry.py

@@ -4,7 +4,6 @@ from typing import Tuple
 import torch
 import numpy as np
 import sys
-sys.path.append("/home/unitree/unitree_rl_gym/rsl_rl")
 
 from rsl_rl.env import VecEnv
 from rsl_rl.runners import OnPolicyRunner

resources/robots/h1_2/README.md

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+# Unitree H1 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a streamlined robot description (URDF & MJCF) for the [Unitree H1](https://www.unitree.com/h1/), developed by [Unitree Robotics](https://www.unitree.com/).
+
+<p align="center">
+  <img src="h1_5.png" width="500"/>
+</p>
+
+Unitree H1 have 51 DOFs:
+
+```text
+root [⚓] => /pelvis/
+    left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
+        left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
+            left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
+                left_knee_joint [⚙+Y] => /left_knee_link/
+                    left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
+                        left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
+    right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
+        right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
+            right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
+                right_knee_joint [⚙+Y] => /right_knee_link/
+                    right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
+                        right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
+    torso_joint [⚙+Z] => /torso_link/
+        left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
+            left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
+                left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
+                    left_elbow_pitch_joint [⚙+Y] => /left_elbow_pitch_link/
+                        left_elbow_roll_joint [⚙+X] => /left_elbow_roll_link/
+                            left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/
+                                left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/
+                                    L_base_link_joint [⚓] => /L_hand_base_link/
+                                        L_thumb_proximal_yaw_joint [⚙+Z] => /L_thumb_proximal_base/
+                                            L_thumb_proximal_pitch_joint [⚙-Z] => /L_thumb_proximal/
+                                                L_thumb_intermediate_joint [⚙-Z] => /L_thumb_intermediate/
+                                                    L_thumb_distal_joint [⚙-Z] => /L_thumb_distal/
+                                        L_index_proximal_joint [⚙-Z] => /L_index_proximal/
+                                            L_index_intermediate_joint [⚙-Z] => /L_index_intermediate/
+                                        L_middle_proximal_joint [⚙-Z] => /L_middle_proximal/
+                                            L_middle_intermediate_joint [⚙-Z] => /L_middle_intermediate/
+                                        L_ring_proximal_joint [⚙-Z] => /L_ring_proximal/
+                                            L_ring_intermediate_joint [⚙-Z] => /L_ring_intermediate/
+                                        L_pinky_proximal_joint [⚙-Z] => /L_pinky_proximal/
+                                            L_pinky_intermediate_joint [⚙-Z] => /L_pinky_intermediate/
+        right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
+            right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
+                right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
+                    right_elbow_pitch_joint [⚙+Y] => /right_elbow_pitch_link/
+                        right_elbow_roll_joint [⚙+X] => /right_elbow_roll_link/
+                            right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/
+                                right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/
+                                    R_base_link_joint [⚓] => /R_hand_base_link/
+                                        R_thumb_proximal_yaw_joint [⚙-Z] => /R_thumb_proximal_base/
+                                            R_thumb_proximal_pitch_joint [⚙+Z] => /R_thumb_proximal/
+                                                R_thumb_intermediate_joint [⚙+Z] => /R_thumb_intermediate/
+                                                    R_thumb_distal_joint [⚙+Z] => /R_thumb_distal/
+                                        R_index_proximal_joint [⚙+Z] => /R_index_proximal/
+                                            R_index_intermediate_joint [⚙+Z] => /R_index_intermediate/
+                                        R_middle_proximal_joint [⚙+Z] => /R_middle_proximal/
+                                            R_middle_intermediate_joint [⚙+Z] => /R_middle_intermediate/
+                                        R_ring_proximal_joint [⚙+Z] => /R_ring_proximal/
+                                            R_ring_intermediate_joint [⚙+Z] => /R_ring_intermediate/
+                                        R_pinky_proximal_joint [⚙+Z] => /R_pinky_proximal/
+                                            R_pinky_intermediate_joint [⚙+Z] => /R_pinky_intermediate/
+```
+
+## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
+
+1. Open MuJoCo Viewer
+
+   ```bash
+   pip install mujoco
+   python -m mujoco.viewer
+   ```
+
+2. Drag and drop the MJCF model file (`scene.xml`) to the MuJoCo Viewer.

resources/robots/h1_2/h1_2.xml

@@ -0,0 +1,438 @@
+<mujoco model="h1_5">
+  <compiler angle="radian" meshdir="meshes/" autolimits="true"/>
+  <statistic meansize="0.112107" extent="1.95557" center="0.0256948 1.86841e-05 -0.178443"/>
+  <asset>
+    <mesh name="pelvis" file="pelvis.STL"/>
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_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_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_yaw_link" file="right_hip_yaw_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_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="torso_link" file="torso_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_pitch_link" file="left_elbow_pitch_link.STL"/>
+    <mesh name="left_elbow_roll_link" file="left_elbow_roll_link.STL"/>
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
+    <mesh name="wrist_yaw_link" file="wrist_yaw_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_pitch_link" file="right_elbow_pitch_link.STL"/>
+    <mesh name="right_elbow_roll_link" file="right_elbow_roll_link.STL"/>
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
+    <mesh name="logo_link" file="logo_link.STL"/>
+    <mesh name="L_hand_base_link" file="L_hand_base_link.STL"/>
+    <mesh name="link11_L" file="link11_L.STL"/>
+    <mesh name="link12_L" file="link12_L.STL"/>
+    <mesh name="link13_L" file="link13_L.STL"/>
+    <mesh name="link14_L" file="link14_L.STL"/>
+    <mesh name="link15_L" file="link15_L.STL"/>
+    <mesh name="link16_L" file="link16_L.STL"/>
+    <mesh name="link17_L" file="link17_L.STL"/>
+    <mesh name="link18_L" file="link18_L.STL"/>
+    <mesh name="link19_L" file="link19_L.STL"/>
+    <mesh name="link20_L" file="link20_L.STL"/>
+    <mesh name="link21_L" file="link21_L.STL"/>
+    <mesh name="link22_L" file="link22_L.STL"/>
+    <mesh name="R_hand_base_link" file="R_hand_base_link.STL"/>
+    <mesh name="link11_R" file="link11_R.STL"/>
+    <mesh name="link12_R" file="link12_R.STL"/>
+    <mesh name="link13_R" file="link13_R.STL"/>
+    <mesh name="link14_R" file="link14_R.STL"/>
+    <mesh name="link15_R" file="link15_R.STL"/>
+    <mesh name="link16_R" file="link16_R.STL"/>
+    <mesh name="link17_R" file="link17_R.STL"/>
+    <mesh name="link18_R" file="link18_R.STL"/>
+    <mesh name="link19_R" file="link19_R.STL"/>
+    <mesh name="link20_R" file="link20_R.STL"/>
+    <mesh name="link21_R" file="link21_R.STL"/>
+    <mesh name="link22_R" file="link22_R.STL"/>
+  </asset>
+  <worldbody>
+    <body name="pelvis" pos="0 0 1.03">
+      <inertial pos="-0.0004 3.7e-05 -0.046864" quat="0.497097 0.496809 -0.503132 0.502925" mass="5.983" diaginertia="0.0531565 0.0491678 0.00902583"/>
+      <joint name="floating_base_joint" type="free"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="pelvis"/>
+      <geom size="0.05" rgba="0.1 0.1 0.1 1"/>
+      <body name="left_hip_yaw_link" pos="0 0.0875 -0.1632">
+        <inertial pos="0 -0.026197 0.006647" quat="0.704899 -0.0553755 0.0548434 0.705013" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
+        <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_yaw_link"/>
+        <geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+        <body name="left_hip_pitch_link" pos="0 0.0755 0">
+          <inertial pos="-0.00781 -0.004724 -6.3e-05" quat="0.701575 0.711394 0.0330266 0.0249149" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
+          <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_pitch_link"/>
+          <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+          <body name="left_hip_roll_link">
+            <inertial pos="0.004171 -0.008576 -0.194509" quat="0.634842 0.0146079 0.0074063 0.772469" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
+            <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.43 3.14"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_roll_link"/>
+            <geom size="0.02 0.005" pos="0 0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+            <body name="left_knee_link" pos="0 0 -0.4">
+              <inertial pos="0.000179 0.000121 -0.168936" quat="0.416585 0.0104983 0.00514003 0.909021" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_knee_link"/>
+              <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+              <body name="left_ankle_pitch_link" pos="0 0 -0.4">
+                <inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
+                <body name="left_ankle_roll_link" pos="0 0 -0.02">
+                  <inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
+                  <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_yaw_link" pos="0 -0.0875 -0.1632">
+        <inertial pos="0 0.026197 0.006647" quat="0.705013 0.0548434 -0.0553755 0.704899" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
+        <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_yaw_link"/>
+        <geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+        <body name="right_hip_pitch_link" pos="0 -0.0755 0">
+          <inertial pos="-0.00781 0.004724 -6.3e-05" quat="0.711394 0.701575 -0.0249149 -0.0330266" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
+          <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_pitch_link"/>
+          <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+          <body name="right_hip_roll_link">
+            <inertial pos="0.004171 0.008576 -0.194509" quat="0.772469 0.0074063 0.0146079 0.634842" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
+            <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.14 0.43"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_roll_link"/>
+            <geom size="0.02 0.005" pos="0 -0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+            <body name="right_knee_link" pos="0 0 -0.4">
+              <inertial pos="0.000179 -0.000121 -0.168936" quat="0.909021 0.00514003 0.0104983 0.416585" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_knee_link"/>
+              <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+              <body name="right_ankle_pitch_link" pos="0 0 -0.4">
+                <inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
+                <body name="right_ankle_roll_link" pos="0 0 -0.02">
+                  <inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
+                  <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="torso_link">
+        <inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789" diaginertia="0.487315 0.409628 0.127837"/>
+        <joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-2.35 2.35"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="torso_link"/>
+        <geom size="0.04 0.08 0.05" pos="0 0 0.15" type="box" rgba="0.1 0.1 0.1 1"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="logo_link"/>
+        <site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
+        <body name="left_shoulder_pitch_link" pos="0 0.14806 0.42333" quat="0.991445 0.130526 0 0">
+          <inertial pos="0.003053 0.06042 -0.0059" quat="0.761799 0.645681 -0.0378496 -0.0363943" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
+          <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
+          <body name="left_shoulder_roll_link" pos="0.0342 0.061999 -0.0060011" quat="0.991445 -0.130526 0 0">
+            <inertial pos="-0.030932 -1e-06 -0.10609" quat="0.986055 0.000456937 0.166408 0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
+            <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.38 3.4"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
+            <body name="left_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
+              <inertial pos="0.004583 0.001128 -0.001128" quat="0.663644 -0.0108866 -0.0267235 0.747492" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
+              <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.01 2.66"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
+              <body name="left_elbow_pitch_link" pos="0.006 0.0329 -0.182">
+                <inertial pos="0.077092 -0.028751 -0.009714" quat="0.544921 0.610781 0.423352 0.388305" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
+                <joint name="left_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.53 1.6"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_pitch_link"/>
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_pitch_link"/>
+                <body name="left_elbow_roll_link" pos="0.121 -0.0329 -0.011">
+                  <inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
+                  <joint name="left_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.967 2.967"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_roll_link"/>
+                  <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_roll_link"/>
+                  <body name="left_wrist_pitch_link" pos="0.085 0 0">
+                    <inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
+                    <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.471 0.349"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
+                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
+                    <body name="left_wrist_yaw_link" pos="0.02 0 0">
+                      <inertial pos="0.0770303 -0.00131441 -0.00068617" quat="0.499919 0.510625 0.506813 0.482165" mass="0.26543" diaginertia="0.000854397 0.000723298 0.00022115"/>
+                      <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.012 1.012"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
+                      <geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+                      <geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+                      <body name="L_thumb_proximal_base" pos="0.1231 -0.01696 0.02045" quat="-2.59735e-06 0.707107 0 0.707107">
+                        <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08"/>
+                        <joint name="L_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_L"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_L"/>
+                        <body name="L_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
+                          <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07"/>
+                          <joint name="L_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 0.6"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_L"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_L"/>
+                          <body name="L_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+                            <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07"/>
+                            <joint name="L_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_L"/>
+                            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_L"/>
+                            <body name="L_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+                              <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08"/>
+                              <joint name="L_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_L"/>
+                              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_L"/>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                      <body name="L_index_proximal" pos="0.19053 0.00028533 0.032268" quat="0.706999 -0.0123409 -0.0123409 0.706999">
+                        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+                        <joint name="L_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_L"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_L"/>
+                        <body name="L_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+                          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08"/>
+                          <joint name="L_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_L"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_L"/>
+                        </body>
+                      </body>
+                      <body name="L_middle_proximal" pos="0.1911 0.00028533 0.01295" quat="0.707107 0 0 0.707107">
+                        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+                        <joint name="L_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_L"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_L"/>
+                        <body name="L_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+                          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/>
+                          <joint name="L_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_L"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_L"/>
+                        </body>
+                      </body>
+                      <body name="L_ring_proximal" pos="0.19091 0.00028533 -0.0062872" quat="0.706864 0.0185099 0.0185099 0.706864">
+                        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+                        <joint name="L_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_L"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_L"/>
+                        <body name="L_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+                          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/>
+                          <joint name="L_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_L"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_L"/>
+                        </body>
+                      </body>
+                      <body name="L_pinky_proximal" pos="0.18971 0.00028533 -0.025488" quat="0.706138 0.0370072 0.0370072 0.706138">
+                        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+                        <joint name="L_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_L"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_L"/>
+                        <body name="L_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+                          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/>
+                          <joint name="L_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_L"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_L"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="right_shoulder_pitch_link" pos="0 -0.14806 0.42333" quat="0.991445 -0.130526 0 0">
+          <inertial pos="0.003053 -0.06042 -0.0059" quat="0.645681 0.761799 0.0363943 0.0378496" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
+          <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.57 3.14"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
+          <body name="right_shoulder_roll_link" pos="0.0342 -0.061999 -0.0060011" quat="0.991445 0.130526 0 0">
+            <inertial pos="-0.030932 1e-06 -0.10609" quat="0.986055 -0.000456937 0.166408 -0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
+            <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.4 0.38"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
+            <body name="right_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
+              <inertial pos="0.004583 -0.001128 -0.001128" quat="0.747492 -0.0267235 -0.0108866 0.663644" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
+              <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.66 3.01"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
+              <body name="right_elbow_pitch_link" pos="0.006 -0.0329 -0.182">
+                <inertial pos="0.077092 0.028751 -0.009714" quat="0.388305 0.423352 0.610781 0.544921" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
+                <joint name="right_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.6 2.53"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_pitch_link"/>
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_pitch_link"/>
+                <body name="right_elbow_roll_link" pos="0.121 0.0329 -0.011">
+                  <inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
+                  <joint name="right_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.967 2.967"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_roll_link"/>
+                  <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_roll_link"/>
+                  <body name="right_wrist_pitch_link" pos="0.085 0 0">
+                    <inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
+                    <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.471 0.349"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
+                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
+                    <body name="right_wrist_yaw_link" pos="0.02 0 0">
+                      <inertial pos="0.0770303 0.0013013 -0.000699011" quat="0.482149 0.506915 0.510629 0.499827" mass="0.26543" diaginertia="0.00085381 0.000722728 0.000221145"/>
+                      <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.012 1.012"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
+                      <geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+                      <geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+                      <body name="R_thumb_proximal_base" pos="0.1231 0.01696 0.02045" quat="-0.707107 -2.59735e-06 -0.707107 0">
+                        <inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596" mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08"/>
+                        <joint name="R_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_R"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_R"/>
+                        <body name="R_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
+                          <inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07"/>
+                          <joint name="R_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.1 0.6"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_R"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_R"/>
+                          <body name="R_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
+                            <inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07"/>
+                            <joint name="R_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_R"/>
+                            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_R"/>
+                            <body name="R_thumb_distal" pos="0.020248 0.010156 -0.0012">
+                              <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08"/>
+                              <joint name="R_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_R"/>
+                              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_R"/>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                      <body name="R_index_proximal" pos="0.19053 -0.00028533 0.032268" quat="0.706999 0.0123358 -0.0123358 -0.706999">
+                        <inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07"/>
+                        <joint name="R_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_R"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_R"/>
+                        <body name="R_index_intermediate" pos="-0.0026138 0.032026 -0.001">
+                          <inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08"/>
+                          <joint name="R_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_R"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_R"/>
+                        </body>
+                      </body>
+                      <body name="R_middle_proximal" pos="0.1911 -0.00028533 0.01295" quat="0.707107 -2.59735e-06 2.59735e-06 -0.707107">
+                        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+                        <joint name="R_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_R"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_R"/>
+                        <body name="R_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
+                          <inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08"/>
+                          <joint name="R_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_R"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_R"/>
+                        </body>
+                      </body>
+                      <body name="R_ring_proximal" pos="0.19091 -0.00028533 -0.0062872" quat="-0.706864 0.0185215 -0.0185215 0.706864">
+                        <inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+                        <joint name="R_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_R"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_R"/>
+                        <body name="R_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
+                          <inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08"/>
+                          <joint name="R_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_R"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_R"/>
+                        </body>
+                      </body>
+                      <body name="R_pinky_proximal" pos="0.18971 -0.00028533 -0.025488" quat="-0.706138 0.0369975 -0.0369975 0.706138">
+                        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+                        <joint name="R_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_R"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_R"/>
+                        <body name="R_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
+                          <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08"/>
+                          <joint name="R_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_R"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_R"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+
+  <actuator>
+    <motor name="left_hip_yaw_joint"      joint="left_hip_yaw_joint"      ctrlrange="-200 200"/>
+    <motor name="left_hip_pitch_joint"    joint="left_hip_pitch_joint"    ctrlrange="-200 200"/>
+    <motor name="left_hip_roll_joint"     joint="left_hip_roll_joint"     ctrlrange="-200 200"/>
+    <motor name="left_knee_joint"         joint="left_knee_joint"         ctrlrange="-300 300"/>
+    <motor name="left_ankle_pitch_joint"  joint="left_ankle_pitch_joint"  ctrlrange="-60 60"/>
+    <motor name="left_ankle_roll_joint"   joint="left_ankle_roll_joint"   ctrlrange="-40 40"/>
+    <motor name="right_hip_yaw_joint"     joint="right_hip_yaw_joint"     ctrlrange="-200 200"/>
+    <motor name="right_hip_pitch_joint"   joint="right_hip_pitch_joint"   ctrlrange="-200 200"/>
+    <motor name="right_hip_roll_joint"    joint="right_hip_roll_joint"    ctrlrange="-200 200"/>
+    <motor name="right_knee_joint"        joint="right_knee_joint"        ctrlrange="-300 300"/>
+    <motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" ctrlrange="-60 60"/>
+    <motor name="right_ankle_roll_joint"  joint="right_ankle_roll_joint"  ctrlrange="-40 40"/>
+    <motor name="torso_joint" joint="torso_joint" ctrlrange="-200 200"/>
+    <motor name="left_shoulder_pitch_joint"  joint="left_shoulder_pitch_joint"  ctrlrange="-40 40"/>
+    <motor name="left_shoulder_roll_joint"   joint="left_shoulder_roll_joint"   ctrlrange="-40 40"/>
+    <motor name="left_shoulder_yaw_joint"    joint="left_shoulder_yaw_joint"    ctrlrange="-18 18"/>
+    <motor name="left_elbow_pitch_joint"     joint="left_elbow_pitch_joint"     ctrlrange="-18 18"/>
+    <motor name="left_elbow_roll_joint"      joint="left_elbow_roll_joint"      ctrlrange="-19 19"/>
+    <motor name="left_wrist_pitch_joint"     joint="left_wrist_pitch_joint"     ctrlrange="-19 19"/>
+    <motor name="left_wrist_yaw_joint"       joint="left_wrist_yaw_joint"       ctrlrange="-19 19"/>
+    <motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint" ctrlrange="-40 40"/>
+    <motor name="right_shoulder_roll_joint"  joint="right_shoulder_roll_joint"  ctrlrange="-40 40"/>
+    <motor name="right_shoulder_yaw_joint"   joint="right_shoulder_yaw_joint"   ctrlrange="-18 18"/>
+    <motor name="right_elbow_pitch_joint"    joint="right_elbow_pitch_joint"    ctrlrange="-18 18"/>
+    <motor name="right_elbow_roll_joint"     joint="right_elbow_roll_joint"     ctrlrange="-19 19"/>
+    <motor name="right_wrist_pitch_joint"    joint="right_wrist_pitch_joint"    ctrlrange="-19 19"/>
+    <motor name="right_wrist_yaw_joint"      joint="right_wrist_yaw_joint"      ctrlrange="-19 19"/>
+    <motor name="L_index_proximal_joint"       joint="L_index_proximal_joint"       ctrlrange="-1 1"/>
+    <motor name="L_index_intermediate_joint"   joint="L_index_intermediate_joint"   ctrlrange="-1 1"/>
+    <motor name="L_middle_proximal_joint"      joint="L_middle_proximal_joint"      ctrlrange="-1 1"/>
+    <motor name="L_middle_intermediate_joint"  joint="L_middle_intermediate_joint"  ctrlrange="-1 1"/>
+    <motor name="L_ring_proximal_joint"        joint="L_ring_proximal_joint"        ctrlrange="-1 1"/>
+    <motor name="L_ring_intermediate_joint"    joint="L_ring_intermediate_joint"    ctrlrange="-1 1"/>
+    <motor name="L_pinky_proximal_joint"       joint="L_pinky_proximal_joint"       ctrlrange="-1 1"/>
+    <motor name="L_pinky_intermediate_joint"   joint="L_pinky_intermediate_joint"   ctrlrange="-1 1"/>
+    <motor name="L_thumb_proximal_yaw_joint"   joint="L_thumb_proximal_yaw_joint"   ctrlrange="-1 1"/>
+    <motor name="L_thumb_proximal_pitch_joint" joint="L_thumb_proximal_pitch_joint" ctrlrange="-1 1"/>
+    <motor name="L_thumb_intermediate_joint"   joint="L_thumb_intermediate_joint"   ctrlrange="-1 1"/>
+    <motor name="L_thumb_distal_joint"         joint="L_thumb_distal_joint"         ctrlrange="-1 1"/>
+    <motor name="R_index_proximal_joint"       joint="R_index_proximal_joint"       ctrlrange="-1 1"/>
+    <motor name="R_index_intermediate_joint"   joint="R_index_intermediate_joint"   ctrlrange="-1 1"/>
+    <motor name="R_middle_proximal_joint"      joint="R_middle_proximal_joint"      ctrlrange="-1 1"/>
+    <motor name="R_middle_intermediate_joint"  joint="R_middle_intermediate_joint"  ctrlrange="-1 1"/>
+    <motor name="R_ring_proximal_joint"        joint="R_ring_proximal_joint"        ctrlrange="-1 1"/>
+    <motor name="R_ring_intermediate_joint"    joint="R_ring_intermediate_joint"    ctrlrange="-1 1"/>
+    <motor name="R_pinky_proximal_joint"       joint="R_pinky_proximal_joint"       ctrlrange="-1 1"/>
+    <motor name="R_pinky_intermediate_joint"   joint="R_pinky_intermediate_joint"   ctrlrange="-1 1"/>
+    <motor name="R_thumb_proximal_yaw_joint"   joint="R_thumb_proximal_yaw_joint"   ctrlrange="-1 1"/>
+    <motor name="R_thumb_proximal_pitch_joint" joint="R_thumb_proximal_pitch_joint" ctrlrange="-1 1"/>
+    <motor name="R_thumb_intermediate_joint"   joint="R_thumb_intermediate_joint"   ctrlrange="-1 1"/>
+    <motor name="R_thumb_distal_joint"         joint="R_thumb_distal_joint"         ctrlrange="-1 1"/>
+  </actuator>
+
+  <sensor>
+    <gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
+  </sensor>
+</mujoco>