diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/.asset_hash b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/.asset_hash
new file mode 100644
index 0000000000000000000000000000000000000000..51ab05271aa045c267fea45b2f5d69dcd316d6e8
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/.asset_hash
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+0b9edf041114aada8ead99e9dd9d2095
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/README.md b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..ee26dd64836b79717255440d9d2dbf275d98bfe7
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/README.md
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+# Unitree G1 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
+
+
+ 
+ 
+ 
+ 
+
+
+As shown, there are a total of 4 versions of MJCF/URDF for the G1 robot:
+
+* `g1_23dof`
+* `g1_29dof`
+* `g1_29dof_with_hand`
+* `g1_dual_arm`
+
+## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
+
+1. Open MuJoCo Viewer
+
+ ```bash
+ pip install mujoco
+ python -m mujoco.viewer
+ ```
+
+2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_12dof.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_12dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9249a491bb33b149499bc55f14c5bdc3e48cf405
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_12dof.urdf
@@ -0,0 +1,896 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_12dof_sausage.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_12dof_sausage.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..df546f3edf626add287b07d98342f960042b692d
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_12dof_sausage.urdf
@@ -0,0 +1,908 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23_dof_lyt.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23_dof_lyt.xml
new file mode 100644
index 0000000000000000000000000000000000000000..02165ba95bd92066ec38a859987095c7a4bb2cc2
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23_dof_lyt.xml
@@ -0,0 +1,527 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bc03058a35238fd59a5fd095d81bf9a652f90288
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof.urdf
@@ -0,0 +1,896 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof.xml
new file mode 100644
index 0000000000000000000000000000000000000000..44f2668dc5605e1ecd7d3fcd984d68f0715076ec
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof.xml
@@ -0,0 +1,246 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof_new.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof_new.xml
new file mode 100644
index 0000000000000000000000000000000000000000..59d3263a0f3cfa05e8c498b6fc6e284f5f49b9cc
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof_new.xml
@@ -0,0 +1,429 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof_old.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof_old.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bc6324840407df996854ca26f6681910bba28a52
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof_old.xml
@@ -0,0 +1,493 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof_orin.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof_orin.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bc6324840407df996854ca26f6681910bba28a52
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_23dof_orin.xml
@@ -0,0 +1,493 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_eef_pad.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_eef_pad.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6eebb94c292dc459033c3733eb82ce8c29b8aea4
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_eef_pad.urdf
@@ -0,0 +1,1133 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_fakehand.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_fakehand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70a6b6920713b1465c82f14cd8fd213ba14dfe9d
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_fakehand.urdf
@@ -0,0 +1,1133 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_fakehand.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_fakehand.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d53defa7214cda4c9957dbf7254759b7fdae5676
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_fakehand.xml
@@ -0,0 +1,529 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_nohand.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_nohand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..69082d7f11ae151f1d034cc93c988578ba574b6e
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_nohand.urdf
@@ -0,0 +1,1133 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_nohand.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_nohand.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f17b1f8348820fd597971f1b3bd56d7608d69cdd
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_nohand.xml
@@ -0,0 +1,521 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_right_hook.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_right_hook.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..789c7897e427529c09ddc63114cdf040c8ce5833
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_right_hook.urdf
@@ -0,0 +1,1133 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_right_hook.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_right_hook.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a36b20a5f6a8213d88bcd6d7ddc299dff3762dc4
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_27dof_right_hook.xml
@@ -0,0 +1,525 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5f91f34b890af18bca49be4f43013bcd7bf06dc8
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof.urdf
@@ -0,0 +1,1091 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof.xml
new file mode 100644
index 0000000000000000000000000000000000000000..958650e7e0866af70ea9e55a383da6e7c6b2c6ec
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof.xml
@@ -0,0 +1,296 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_anneal_23dof.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_anneal_23dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7940795c56504342bf92a4bc97967830cc7248fa
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_anneal_23dof.urdf
@@ -0,0 +1,1091 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_anneal_23dof.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_anneal_23dof.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7accb1929cefc87e3fd1d64a2583376ddc0a30fb
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_anneal_23dof.xml
@@ -0,0 +1,290 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_anneal_23dof_fitmotionONLY.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_anneal_23dof_fitmotionONLY.xml
new file mode 100644
index 0000000000000000000000000000000000000000..def23f424ff854969d1393131f8adf9adf0c8429
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_anneal_23dof_fitmotionONLY.xml
@@ -0,0 +1,244 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_cylinder/main_nodex.usd b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_cylinder/main_nodex.usd
new file mode 100644
index 0000000000000000000000000000000000000000..de204525f1718f1be4a7d44d5e852361e4180fb5
Binary files /dev/null and b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_cylinder/main_nodex.usd differ
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_fakehand.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_fakehand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..44cfb6290715b564687cb8723eb24296f51542bf
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_fakehand.urdf
@@ -0,0 +1,1091 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_fakehand_freebase.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_fakehand_freebase.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d7bd345c95f99faa34206c3d7d6975b067d5f281
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_fakehand_freebase.urdf
@@ -0,0 +1,1091 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_fakehand_mesh.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_fakehand_mesh.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e8c4a987b93e5f3d7a63bd861a446ebb17d4603b
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_fakehand_mesh.urdf
@@ -0,0 +1,1061 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_fakehand_with_cup.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_fakehand_with_cup.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..496b181b47f615b5b81a949a1c2a415ead43a421
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_fakehand_with_cup.urdf
@@ -0,0 +1,1092 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_freebase.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_freebase.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..03f609b9aa73cbc760a66292cfa819f5fc42a438
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_freebase.urdf
@@ -0,0 +1,1091 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_lock_waist_with_hand_rev_1_0.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_lock_waist_with_hand_rev_1_0.xml
new file mode 100644
index 0000000000000000000000000000000000000000..09aa13c862a9dae47178e43fdfec60fbaf2072aa
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_lock_waist_with_hand_rev_1_0.xml
@@ -0,0 +1,398 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_old.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_old.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c2f5760b5e1734f449763a37d75f2110b33ff57c
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_old.xml
@@ -0,0 +1,521 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_old_freebase.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_old_freebase.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f75d2540a6c8e4f055da09e456f4bb9abfdc9c0a
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_old_freebase.xml
@@ -0,0 +1,577 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_old_freebase_camera.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_old_freebase_camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7ba46a1ab420838f8b01f428cf29d8a5ef572918
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_old_freebase_camera.xml
@@ -0,0 +1,599 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_rev_1_0/g1_29dof_rev_1_0.usd b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_rev_1_0/g1_29dof_rev_1_0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4e5a6caea63909e23ff8629d96ba0cd7dce92756
Binary files /dev/null and b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_rev_1_0/g1_29dof_rev_1_0.usd differ
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_textured.usd b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_textured.usd
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index 0000000000000000000000000000000000000000..d426d0fe1cc83bae7d69d08f43740dc0d0bab2c5
Binary files /dev/null and b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_textured.usd differ
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..62af2540d5054269f9c4c6814f65e16b07930ae5
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand.urdf
@@ -0,0 +1,1497 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand.xml
new file mode 100644
index 0000000000000000000000000000000000000000..375aaed2d6fe070ffd4107bad2d5de2c14a0600c
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand.xml
@@ -0,0 +1,409 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_orin.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_orin.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8e4289d730287f63a28a5e001bf6a0b26240e6a0
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_orin.xml
@@ -0,0 +1,743 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..994463ee4a44962d48bf12f581560796b4944e13
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0.urdf
@@ -0,0 +1,1476 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3b027f636af9aa931a228b95f3b854db229d05d3
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0.xml
@@ -0,0 +1,421 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0_activatedfinger.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0_activatedfinger.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2ea70cebc1781471396c44aec1f1feecdf84e9a2
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0_activatedfinger.xml
@@ -0,0 +1,437 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0_fixedhand.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0_fixedhand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e45a43667368fc5417d6facea8e4e58d1992a23e
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0_fixedhand.urdf
@@ -0,0 +1,1476 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0_homie.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0_homie.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c676e658afba4935b5ad06e7ad817d842e7ff4c7
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_29dof_with_hand_rev_1_0_homie.urdf
@@ -0,0 +1,1262 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_dual_arm.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_dual_arm.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7826938278fefd76c29519647695fad94d502b31
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_dual_arm.urdf
@@ -0,0 +1,643 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_dual_arm.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_dual_arm.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1a4114b381f81674bf53819d76fe8746ce6c53c7
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_dual_arm.xml
@@ -0,0 +1,162 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_loco_manip.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_loco_manip.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cb28cdcd3816aa453ac497bd8840ca853c805d82
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_loco_manip.xml
@@ -0,0 +1,68 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_sonic_usd/g1_43dof_main.usd b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_sonic_usd/g1_43dof_main.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d8001fbc8dc8e73997370342d12a7b02c279bac4
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_unitree_deprecated.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_unitree_deprecated.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ff18e1d9a1e3d90de1015ca5986f456f2ab05b7
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/g1_unitree_deprecated.urdf
@@ -0,0 +1,1295 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/Link11_L.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/Link11_L.STL
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index 0000000000000000000000000000000000000000..9933a6ce1083723badfbf22087776755ae318b93
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/Link11_R.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/Link11_R.STL
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index 0000000000000000000000000000000000000000..30817a810af3469520afab935158d05268a63857
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/README.md b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..ee26dd64836b79717255440d9d2dbf275d98bfe7
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/README.md
@@ -0,0 +1,30 @@
+# Unitree G1 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
+
+
+
+
+
+
+
+
+As shown, there are a total of 4 versions of MJCF/URDF for the G1 robot:
+
+* `g1_23dof`
+* `g1_29dof`
+* `g1_29dof_with_hand`
+* `g1_dual_arm`
+
+## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
+
+1. Open MuJoCo Viewer
+
+ ```bash
+ pip install mujoco
+ python -m mujoco.viewer
+ ```
+
+2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/cup.obj b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/cup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa8d119c10b96cee7d1a244955e4fba7406baee
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/cup.obj
@@ -0,0 +1,129160 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 14.06.2011 14:08:31
+
+mtllib 10907_Plastic_cup_v2_L3.mtl
+
+#
+# object Cylinder
+#
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/left_ankle_pitch_link.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/left_ankle_pitch_link.STL
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/left_elbow_link.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/left_elbow_link.STL
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/left_hand_thumb_0_link.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/left_hand_thumb_0_link.STL
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/left_index_force_sensor_3.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/left_index_force_sensor_3.STL
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/left_little_force_sensor_3.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/left_little_force_sensor_3.STL
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/left_middle_force_sensor_3.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/meshes/left_middle_force_sensor_3.STL
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/old/g1_12dof.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/old/g1_12dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5eaeba7203543090ea4a39d97a59c53ef98ee668
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/old/g1_12dof.urdf
@@ -0,0 +1,1295 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/old/g1_23dof.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/old/g1_23dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..35562b0148ac88a6fcbd8a9f35e514d051b61f73
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/old/g1_23dof.urdf
@@ -0,0 +1,893 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/old/g1_unitree.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/old/g1_unitree.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8648c790da963ec5cb7861749147c76e7de45555
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/old/g1_unitree.urdf
@@ -0,0 +1,1295 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/old/mesh/G1/right_zero_link.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/old/mesh/G1/right_zero_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..4fd999bdbd23e0ca77364bd195430e1f1eb4631a
Binary files /dev/null and b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/old/mesh/G1/right_zero_link.STL differ
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_23dof.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_23dof.xml
new file mode 100644
index 0000000000000000000000000000000000000000..be6e8fd960f4f3dd9cc246dc748e916eeeb2f2be
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_23dof.xml
@@ -0,0 +1,26 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_23dof_mujoco.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_23dof_mujoco.xml
new file mode 100644
index 0000000000000000000000000000000000000000..db07ed7ef93705ab0b47fc3fdf041a682da31032
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_23dof_mujoco.xml
@@ -0,0 +1,25 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_27dof-fakehand-door_no_handle.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_27dof-fakehand-door_no_handle.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c460fe5ef2c54b8f7fce988564e77e382e04a1fb
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_27dof-fakehand-door_no_handle.xml
@@ -0,0 +1,42 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_27dof-nohand-door_no_handle-stair.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_27dof-nohand-door_no_handle-stair.xml
new file mode 100644
index 0000000000000000000000000000000000000000..01e3bc281c5d3d895ee030eaa6649e58d957925e
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_27dof-nohand-door_no_handle-stair.xml
@@ -0,0 +1,42 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_27dof-nohand-door_no_handle.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_27dof-nohand-door_no_handle.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fc08961450c1f7bfd10d8651b5fcbc9613e31ca5
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_27dof-nohand-door_no_handle.xml
@@ -0,0 +1,42 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_27dof-nohand.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_27dof-nohand.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c2e93589841d8c295597a93d95795a0ea8141e63
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_27dof-nohand.xml
@@ -0,0 +1,29 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9aa74d44bdeb06f1fb1b2f4e8d0a7541a8d81c31
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof.xml
@@ -0,0 +1,29 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_anneal_23dof.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_anneal_23dof.xml
new file mode 100644
index 0000000000000000000000000000000000000000..37932e8492352205b970ae0a4ee13b2e47f19bca
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_anneal_23dof.xml
@@ -0,0 +1,21 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_dual_mujoco.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_dual_mujoco.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c76e17eaaf8cbd1a8140cbe5fd412ea713632740
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_dual_mujoco.xml
@@ -0,0 +1,349 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_freebase.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_freebase.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5970fc3445340bb689fe2618da38a621b98e4eaa
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_freebase.xml
@@ -0,0 +1,32 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_freebase_3dex.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_freebase_3dex.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dbfdd92fab640d5e3372527dce5400af95df803e
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_freebase_3dex.xml
@@ -0,0 +1,32 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_freebase_camera.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_freebase_camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..93684578b1d50bf177d394e88128fe69c2f2e44f
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_freebase_camera.xml
@@ -0,0 +1,53 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_freebase_fixed3dex.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_freebase_fixed3dex.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c0e3687ed20a7c5797f6c91de74eadcd1d48a1df
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_freebase_fixed3dex.xml
@@ -0,0 +1,32 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_mujoco.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_mujoco.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a68e94bf80fa936c8ca2fca4b2e2b70684bffaf3
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_29dof_mujoco.xml
@@ -0,0 +1,25 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_g1_29dof_anneal_23dof.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_g1_29dof_anneal_23dof.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d8a7777d1afe4154ffcc98b658a569dd5ac1befe
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1/scene_g1_29dof_anneal_23dof.xml
@@ -0,0 +1,29 @@
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\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/.asset_hash b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/.asset_hash
new file mode 100644
index 0000000000000000000000000000000000000000..cc01431dbb3ced62453e91c30f452ae64bda32d9
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/.asset_hash
@@ -0,0 +1 @@
+b3de36f52e27b977487af75b6c3a10bf
\ No newline at end of file
diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/g1_29dof_anneal_23dof.urdf b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/g1_29dof_anneal_23dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7940795c56504342bf92a4bc97967830cc7248fa
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/g1_29dof_anneal_23dof.urdf
@@ -0,0 +1,1091 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/g1_29dof_anneal_23dof.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/g1_29dof_anneal_23dof.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9f573206b1fc236283b91dc71e78b88b738201cc
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/g1_29dof_anneal_23dof.xml
@@ -0,0 +1,521 @@
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/g1_29dof_anneal_23dof_fitmotionONLY.xml b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/g1_29dof_anneal_23dof_fitmotionONLY.xml
new file mode 100644
index 0000000000000000000000000000000000000000..def23f424ff854969d1393131f8adf9adf0c8429
--- /dev/null
+++ b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/g1_29dof_anneal_23dof_fitmotionONLY.xml
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/meshes/left_ankle_pitch_link.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/meshes/left_ankle_pitch_link.STL
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/meshes/left_hand_thumb_0_link.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/meshes/left_hand_thumb_0_link.STL
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/meshes/left_wrist_pitch_link.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/meshes/left_wrist_pitch_link.STL
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/meshes/right_ankle_pitch_link.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/meshes/right_ankle_pitch_link.STL
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diff --git a/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/meshes/right_elbow_link.STL b/GR00T-WholeBodyControl/gear_sonic/data/robots/g1_old/meshes/right_elbow_link.STL
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