diff --git a/processed/amass/assets/robots/unitree_g1/scene.xml b/processed/amass/assets/robots/unitree_g1/scene.xml
index 9824b7362fbe0f16295f2d985e72aafa30ba0524..e7dcb9491226d43c0a81650218b576f5a56b11e5 100644
--- a/processed/amass/assets/robots/unitree_g1/scene.xml
+++ b/processed/amass/assets/robots/unitree_g1/scene.xml
@@ -1,5 +1,5 @@
 <mujoco model="g1 scene">
-  <compiler angle="radian" meshdir="../../../assets/robots/g1/meshes" autolimits="true" />
+  <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
 
   <!-- performance options -->
   <option timestep="0.02" iterations="2" ls_iterations="10">
diff --git a/processed/amass/unitree_g1/humanoid/sprint/0/trajectory_ik.npz b/processed/amass/unitree_g1/humanoid/sprint/0/trajectory_ik.npz
new file mode 100644
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--- /dev/null
+++ b/processed/amass/unitree_g1/humanoid/sprint/0/trajectory_ik.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/amass/unitree_g1/humanoid/sprint/0/trajectory_kinematic.npz b/processed/amass/unitree_g1/humanoid/sprint/0/trajectory_kinematic.npz
index 07e2ef888b36dfabb45ade6baa347996827e423d..1d8394910c16d79bf0bcf7ac9e17a8f9b45e1b92 100644
--- a/processed/amass/unitree_g1/humanoid/sprint/0/trajectory_kinematic.npz
+++ b/processed/amass/unitree_g1/humanoid/sprint/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
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diff --git a/processed/amass/unitree_g1/humanoid/sprint/0/trajectory_mjwp.npz b/processed/amass/unitree_g1/humanoid/sprint/0/trajectory_mjwp.npz
index 9414f5c3335276e0498ac33e541c5c53ff0e960f..d88090dee8eddd21eab51990d9a503c3714c91f5 100644
--- a/processed/amass/unitree_g1/humanoid/sprint/0/trajectory_mjwp.npz
+++ b/processed/amass/unitree_g1/humanoid/sprint/0/trajectory_mjwp.npz
@@ -1,3 +1,3 @@
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diff --git a/processed/amass/unitree_g1/humanoid/sprint/0/visualization_ik.mp4 b/processed/amass/unitree_g1/humanoid/sprint/0/visualization_ik.mp4
index f7dbeeb314f6d8c6d4d935e1c70b6af338a88f18..a75611b2f67000354a6306cfe4e383e969b4e64d 100644
--- a/processed/amass/unitree_g1/humanoid/sprint/0/visualization_ik.mp4
+++ b/processed/amass/unitree_g1/humanoid/sprint/0/visualization_ik.mp4
@@ -1,3 +1,3 @@
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diff --git a/processed/amass/unitree_g1/humanoid/sprint/0/visualization_kinematic.mp4 b/processed/amass/unitree_g1/humanoid/sprint/0/visualization_kinematic.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b8fa970b0157faea0610b1cfc4bd0651745b3b6
--- /dev/null
+++ b/processed/amass/unitree_g1/humanoid/sprint/0/visualization_kinematic.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/amass/unitree_g1/humanoid/sprint/0/visualization_mjwp.mp4 b/processed/amass/unitree_g1/humanoid/sprint/0/visualization_mjwp.mp4
index 61d5106dbe009db835ed717fdef44a6ada099a78..0794510a89456a21c32eae84b6f319d8c6b266b2 100644
--- a/processed/amass/unitree_g1/humanoid/sprint/0/visualization_mjwp.mp4
+++ b/processed/amass/unitree_g1/humanoid/sprint/0/visualization_mjwp.mp4
@@ -1,3 +1,3 @@
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diff --git a/processed/amass/unitree_g1/humanoid/sprint/scene.xml b/processed/amass/unitree_g1/humanoid/sprint/scene.xml
index 9824b7362fbe0f16295f2d985e72aafa30ba0524..e7dcb9491226d43c0a81650218b576f5a56b11e5 100644
--- a/processed/amass/unitree_g1/humanoid/sprint/scene.xml
+++ b/processed/amass/unitree_g1/humanoid/sprint/scene.xml
@@ -1,5 +1,5 @@
 <mujoco model="g1 scene">
-  <compiler angle="radian" meshdir="../../../assets/robots/g1/meshes" autolimits="true" />
+  <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
 
   <!-- performance options -->
   <option timestep="0.02" iterations="2" ls_iterations="10">
diff --git a/processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_gmr.pkl b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_gmr.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e866a2d6db2684a790bea72f8d91f18b37e1697f
--- /dev/null
+++ b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_gmr.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_ik.npz b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_ik.npz
new file mode 100644
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--- /dev/null
+++ b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_ik.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 51942
diff --git a/processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_kinematic.npz b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_kinematic.npz
new file mode 100644
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--- /dev/null
+++ b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_mjwp.npz b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_mjwp.npz
new file mode 100644
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--- /dev/null
+++ b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/amass/unitree_g1/humanoid/sprint_terrain/0/visualization_ik.mp4 b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/visualization_ik.mp4
new file mode 100644
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--- /dev/null
+++ b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/amass/unitree_g1/humanoid/sprint_terrain/0/visualization_kinematic.mp4 b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/visualization_kinematic.mp4
new file mode 100644
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--- /dev/null
+++ b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/visualization_kinematic.mp4
@@ -0,0 +1,3 @@
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diff --git a/processed/amass/unitree_g1/humanoid/sprint_terrain/0/visualization_mjwp.mp4 b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/visualization_mjwp.mp4
new file mode 100644
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--- /dev/null
+++ b/processed/amass/unitree_g1/humanoid/sprint_terrain/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
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diff --git a/processed/amass/unitree_g1/humanoid/sprint_terrain/scene.xml b/processed/amass/unitree_g1/humanoid/sprint_terrain/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f80c97aa3caa4f3888a30cc4d8c36a7b2e49d8ff
--- /dev/null
+++ b/processed/amass/unitree_g1/humanoid/sprint_terrain/scene.xml
@@ -0,0 +1,641 @@
+<mujoco model="g1 scene">
+  <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
+
+  <!-- performance options -->
+  <option timestep="0.02" iterations="5" ls_iterations="20">
+    <flag eulerdamp="disable" />
+  </option>
+
+  <visual>
+    <global azimuth="135" elevation="-25" offwidth="1920" offheight="1080" />
+    <quality shadowsize="8192" />
+    <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0" />
+    <scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5"
+      framewidth="0.3" />
+    <rgba haze="0.15 0.25 0.35 1" force="1 0 0 1" />
+  </visual>
+
+  <custom>
+    <numeric data="15" name="max_contact_points" />
+    <numeric data="15" name="max_geom_pairs" />
+  </custom>
+
+  <default>
+    <default class="g1">
+      <default class="visual">
+        <geom group="2" type="mesh" density="0" material="silver" />
+      </default>
+      <default class="collision">
+        <geom group="3" rgba="0 1 0 1" type="sphere" />
+        <default class="hand_collision">
+          <geom type="sphere" pos="0.1 0.0 0.0" size="0.05" />
+        </default>
+        <default class="foot_collision">
+          <geom type="sphere" size="0.005" priority="1" friction="2.0" condim="3" />
+        </default>
+
+      </default>
+      <site group="5" rgba="1 0 0 1" />
+      <!-- Disable all contacts and use explicit contact pairs. -->
+      <geom condim="1" contype="0" conaffinity="0" />
+      <position kp="500" dampratio="1" inheritrange="1" />
+      <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+
+      <default class="hip">
+        <default class="hip_pitch">
+          <joint axis="0 1 0" range="-2.5307 2.8798" />
+        </default>
+        <default class="hip_roll">
+          <joint axis="1 0 0" range="-0.5236 2.9671" />
+        </default>
+        <default class="hip_yaw">
+          <joint axis="0 0 1" range="-2.7576 2.7576" />
+        </default>
+      </default>
+      <default class="knee">
+        <joint axis="0 1 0" range="-0.087267 2.8798" />
+      </default>
+      <default class="ankle">
+        <position kp="500" dampratio="1" inheritrange="1" />
+        <default class="ankle_pitch">
+          <joint axis="0 1 0" range="-0.87267 0.5236" />
+        </default>
+        <default class="ankle_roll">
+          <joint axis="1 0 0" range="-0.2618 0.2618" />
+        </default>
+      </default>
+
+      <default class="waist_yaw">
+        <joint axis="0 0 1" range="-2.618 2.618" />
+      </default>
+      <default class="waist_pitch">
+        <joint axis="0 1 0" range="-0.52 0.52" />
+      </default>
+      <default class="waist_roll">
+        <joint axis="1 0 0" range="-0.52 0.52" />
+      </default>
+
+      <default class="shoulder">
+        <default class="shoulder_pitch">
+          <joint axis="0 1 0" range="-3.0892 2.6704" />
+        </default>
+        <default class="shoulder_roll">
+          <joint axis="1 0 0" />
+        </default>
+        <default class="shoulder_yaw">
+          <joint axis="0 0 1" range="-2.618 2.618" />
+        </default>
+      </default>
+
+      <default class="elbow">
+        <joint axis="0 1 0" range="-1.0472 2.0944" />
+      </default>
+
+      <default class="wrist">
+        <position kp="500" dampratio="1" inheritrange="1" />
+        <default class="wrist_roll">
+          <joint axis="1 0 0" range="-1.97222 1.97222" />
+        </default>
+        <default class="wrist_pitch">
+          <joint axis="0 1 0" range="-1.61443 1.61443" />
+        </default>
+        <default class="wrist_yaw">
+          <joint axis="0 0 1" range="-1.61443 1.61443" />
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <texture type="skybox" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="3072" height="3072" />
+    <texture type="2d" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
+      rgb1="1 1 1" rgb2="1.0 1.0 1.0" markrgb="1.0 1.0 1.0" width="300" height="300" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="4 4" />
+
+    <material name="silver" rgba="0.7 0.7 0.7 1" />
+    <material name="black" rgba="0.2 0.2 0.2 1" />
+
+    <mesh name="pelvis" file="pelvis.STL" />
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
+    <mesh name="left_knee_link" file="left_knee_link.STL" />
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
+    <mesh name="right_knee_link" file="right_knee_link.STL" />
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
+    <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL" />
+    <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL" />
+    <mesh name="torso_link" file="torso_link_rev_1_0.STL" />
+    <mesh name="logo_link" file="logo_link.STL" />
+    <mesh name="head_link" file="head_link.STL" />
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
+    <mesh name="left_elbow_link" file="left_elbow_link.STL" />
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
+    <mesh name="left_rubber_hand" file="left_rubber_hand.STL" />
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
+    <mesh name="right_elbow_link" file="right_elbow_link.STL" />
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
+    <mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 5" dir="0 0 -1" type="directional" />
+    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" />
+    <!-- add terrain -->
+    <!-- Interpolate 5 boxes from start to end position -->
+    <!-- <geom name="box0" pos="-1.80725026 -1.29974377 0" size="0.6 0.6 0.001" type="box"
+      material="groundplane" quat="0.92 0 0 0.38" /> -->
+    <!-- <geom name="box1" pos="-0.646250515 -0.655115173 0" size="0.6 1.0 0.1" type="box"
+      rgba="0.5 0.5 0.5 1" quat="0.92 0 0 0.38" /> -->
+    <geom name="box1" pos="0.51474923 -0.010486573 0" size="0.6 1.0 0.1" type="box"
+      rgba="0.5 0.5 0.5 1" quat="0.92 0 0 0.38" />
+    <geom name="box3" pos="0.9 0.433142022 0" size="0.6 1.0 0.2" type="box"
+      rgba="0.5 0.5 0.5 1" quat="0.92 0 0 0.38" />
+    <!-- <geom name="box4" pos="1.84675038 1.27666962 0" size="0.6 0.3 0.20" type="box"
+      material="groundplane" quat="0.92 0 0 0.38" /> -->
+
+    <body name="pelvis" pos="0 0 0.793" childclass="g1">
+      <camera name="track" pos="1.734 -1.135 .35" xyaxes="0.552 0.834 -0.000 -0.170 0.112 0.979"
+        mode="trackcom" />
+      <camera name="track2" pos="1.489 1.189 1.174" xyaxes="-0.609 0.793 -0.000 -0.221 -0.169 0.961"
+        mode="trackcom" />
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
+        diaginertia="0.010549 0.0093089 0.0079184" />
+      <freejoint name="floating_base_joint" />
+      <geom class="visual" material="black" mesh="pelvis" />
+      <geom class="visual" mesh="pelvis_contour_link" />
+      <!-- <geom name="pelvis_collision" class="collision" type="sphere" size="0.07" pos="0 0 -0.08"
+      /> -->
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
+      <site name="trace_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
+          mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="left_hip_pitch_joint" class="hip_pitch" />
+        <geom class="visual" material="black" mesh="left_hip_pitch_link" />
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934"
+            quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="left_hip_roll_joint" class="hip_roll" />
+          <geom class="visual" mesh="left_hip_roll_link" />
+          <!-- <geom name="left_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" /> -->
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
+              mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="left_hip_yaw_joint" class="hip_yaw" />
+            <geom class="visual" mesh="left_hip_yaw_link" />
+            <!-- <geom name="left_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074"
+                quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
+                diaginertia="0.0113804 0.0112778 0.00146458" />
+              <joint name="left_knee_joint" class="knee" />
+              <geom class="visual" mesh="left_knee_link" />
+              <!-- <geom name="left_shin_collision" class="collision" size="0.045"
+                fromto="0.01 0 0 0.01 0 -0.15" />
+              <geom name="left_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="left_ankle_pitch_joint" class="ankle_pitch" />
+                <geom class="visual" mesh="left_ankle_pitch_link" />
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="left_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="left_ankle_roll_joint" class="ankle_roll" />
+                  <geom class="visual" material="black" mesh="left_ankle_roll_link" />
+                  <geom name="lf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
+                  <geom name="lf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
+                  <geom name="lf2" class="foot_collision" pos="0.12 0.03 -0.03" />
+                  <geom name="lf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
+                  <site name="trace_left_foot" size="0.01" pos="0.04 0 -0.037" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
+          mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="right_hip_pitch_joint" class="hip_pitch" />
+        <geom class="visual" material="black" mesh="right_hip_pitch_link" />
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
+            mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="right_hip_roll_joint" class="hip_roll" />
+          <geom class="visual" mesh="right_hip_roll_link" />
+          <!-- <geom name="right_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" /> -->
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
+              mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="right_hip_yaw_joint" class="hip_yaw" />
+            <geom class="visual" mesh="right_hip_yaw_link" />
+            <!-- <geom name="right_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074"
+                quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
+                diaginertia="0.011374 0.0112843 0.00146452" />
+              <joint name="right_knee_joint" class="knee" />
+              <geom class="visual" mesh="right_knee_link" />
+              <!-- <geom name="right_shin_collision" class="collision" size="0.045"
+                fromto="0.01 0 0 0.01 0 -0.15" />
+              <geom name="right_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="right_ankle_pitch_joint" class="ankle_pitch" />
+                <geom class="visual" mesh="right_ankle_pitch_link" />
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="right_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="right_ankle_roll_joint" class="ankle_roll" />
+                  <geom class="visual" material="black" mesh="right_ankle_roll_link" />
+                  <geom name="rf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
+                  <geom name="rf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
+                  <geom name="rf2" class="foot_collision" pos="0.12 0.03 -0.03" />
+                  <geom name="rf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
+                  <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821"
+          mass="0.214"
+          diaginertia="0.000163531 0.000107714 0.000102205" />
+        <joint name="waist_yaw_joint" class="waist_yaw" />
+        <geom class="visual" mesh="waist_yaw_link" />
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086"
+            diaginertia="8.245e-06 7.079e-06 6.339e-06" />
+          <joint name="waist_roll_joint" class="waist_roll" />
+          <geom class="visual" mesh="waist_roll_link" />
+          <body name="torso_link">
+            <inertial pos="0.00203158 0.000339683 0.184568"
+              quat="0.999803 -6.03319e-05 0.0198256 0.00131986"
+              mass="7.818" diaginertia="0.121847 0.109825 0.0273735" />
+            <joint name="waist_pitch_joint" class="waist_pitch" />
+            <geom class="visual" mesh="torso_link" />
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" class="visual" material="black"
+              mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.044" class="visual" material="black" mesh="head_link" />
+            <!-- <geom name="torso_collision" class="collision" size="0.09"
+              fromto="0.01 0 0.08 0.01 0 0.2" />
+            <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0 0 .43" /> -->
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792" />
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
+              quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
+                mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="left_shoulder_pitch_joint" class="shoulder_pitch" />
+              <geom class="visual" mesh="left_shoulder_pitch_link" />
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
+                quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243"
+                  quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="left_shoulder_roll_joint" range="-1.5882 2.2515" class="shoulder_roll" />
+                <geom class="visual" mesh="left_shoulder_roll_link" />
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009"
+                    quat="0.716879 -0.0964829 -0.0679942 0.687134"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="left_shoulder_yaw_joint" class="shoulder_yaw" />
+                  <geom class="visual" mesh="left_shoulder_yaw_link" />
+                  <!-- <geom name="left_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" /> -->
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062"
+                      quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="left_elbow_joint" class="elbow" />
+                    <geom class="visual" mesh="left_elbow_link" />
+                    <!-- <geom name="left_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07"
+                        quat="0.575338 0.411667 -0.574906 0.411094"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="left_wrist_roll_joint" class="wrist_roll" />
+                      <geom class="visual" mesh="left_wrist_roll_link" />
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658"
+                          quat="0.249998 0.661363 0.293036 0.643608"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="left_wrist_pitch_joint" class="wrist_pitch" />
+                        <geom class="visual" mesh="left_wrist_pitch_link" />
+                        <!-- <geom name="left_wrist_collision" class="collision" size="0.035"
+                          fromto="-0.01 0 0 0.06 0 0" /> -->
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742"
+                            quat="0.510571 0.526295 0.468078 0.493188"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="left_wrist_yaw_joint" class="wrist_yaw" />
+                          <geom class="visual" mesh="left_wrist_yaw_link" />
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" class="visual"
+                            mesh="left_rubber_hand" />
+                          <site name="left_palm" pos="0.08 0 0" size="0.01" />
+                          <!-- <geom name="left_hand_collision" class="collision" size="0.035"
+                            rgba=".2 .6 .2 .2"
+                            fromto="0.07 0 0 0.15 -0.02 0" /> -->
+                          <geom name="lh" class="hand_collision" />
+                          <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778"
+              quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
+                mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="right_shoulder_pitch_joint" class="shoulder_pitch" />
+              <geom class="visual" mesh="right_shoulder_pitch_link" />
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
+                quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243"
+                  quat="0.712604 -0.00710317 -0.0196223 0.701256"
+                  mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="right_shoulder_roll_joint" range="-2.2515 1.5882" class="shoulder_roll" />
+                <geom class="visual" mesh="right_shoulder_roll_link" />
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009"
+                    quat="0.687134 -0.0679942 -0.0964829 0.716879"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="right_shoulder_yaw_joint" class="shoulder_yaw" />
+                  <geom class="visual" mesh="right_shoulder_yaw_link" />
+                  <!-- <geom name="right_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" /> -->
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062"
+                      quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="right_elbow_joint" class="elbow" />
+                    <geom class="visual" mesh="right_elbow_link" />
+                    <!-- <geom name="right_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07"
+                        quat="0.411667 0.575338 -0.411094 0.574906"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="right_wrist_roll_joint" class="wrist_roll" />
+                      <geom class="visual" mesh="right_wrist_roll_link" />
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658"
+                          quat="0.643608 0.293036 0.661363 0.249998"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="right_wrist_pitch_joint" class="wrist_pitch" />
+                        <geom class="visual" mesh="right_wrist_pitch_link" />
+                        <!-- <geom name="right_wrist_collision" class="collision" size="0.035"
+                          fromto="-0.01 0 0 0.06 0 0" /> -->
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742"
+                            quat="0.493188 0.468078 0.526295 0.510571"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="right_wrist_yaw_joint" class="wrist_yaw" />
+                          <geom class="visual" mesh="right_wrist_yaw_link" />
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" class="visual"
+                            mesh="right_rubber_hand" />
+                          <site name="right_palm" pos="0.08 0 0" size="0.01" />
+                          <!-- <geom name="right_hand_collision" class="collision" size="0.035"
+                            rgba=".2 .6 .2 .2"
+                            fromto="0.07 0 0 0.15 0.02 0" /> -->
+                          <geom name="rh" class="hand_collision" />
+                          <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position class="hip_pitch" name="left_hip_pitch_joint" joint="left_hip_pitch_joint" />
+    <position class="hip_roll" name="left_hip_roll_joint" joint="left_hip_roll_joint" />
+    <position class="hip_yaw" name="left_hip_yaw_joint" joint="left_hip_yaw_joint" />
+    <position class="knee" name="left_knee_joint" joint="left_knee_joint" />
+    <position class="ankle_pitch" name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" />
+    <position class="ankle_roll" name="left_ankle_roll_joint" joint="left_ankle_roll_joint" />
+
+    <position class="hip_pitch" name="right_hip_pitch_joint" joint="right_hip_pitch_joint" />
+    <position class="hip_roll" name="right_hip_roll_joint" joint="right_hip_roll_joint" />
+    <position class="hip_yaw" name="right_hip_yaw_joint" joint="right_hip_yaw_joint" />
+    <position class="knee" name="right_knee_joint" joint="right_knee_joint" />
+    <position class="ankle_pitch" name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" />
+    <position class="ankle_roll" name="right_ankle_roll_joint" joint="right_ankle_roll_joint" />
+
+    <position class="waist_yaw" name="waist_yaw_joint" joint="waist_yaw_joint" />
+    <position class="waist_roll" name="waist_roll_joint" joint="waist_roll_joint" />
+    <position class="waist_pitch" name="waist_pitch_joint" joint="waist_pitch_joint" />
+
+    <position class="shoulder_pitch" name="left_shoulder_pitch_joint"
+      joint="left_shoulder_pitch_joint" />
+    <position class="shoulder_roll" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" />
+    <position class="shoulder_yaw" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" />
+    <position class="elbow" name="left_elbow_joint" joint="left_elbow_joint" />
+    <position class="wrist_roll" name="left_wrist_roll_joint" joint="left_wrist_roll_joint" />
+    <position class="wrist_pitch" name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint" />
+    <position class="wrist_yaw" name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint" />
+
+    <position class="shoulder_pitch" name="right_shoulder_pitch_joint"
+      joint="right_shoulder_pitch_joint" />
+    <position class="shoulder_roll" name="right_shoulder_roll_joint"
+      joint="right_shoulder_roll_joint" />
+    <position class="shoulder_yaw" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" />
+    <position class="elbow" name="right_elbow_joint" joint="right_elbow_joint" />
+    <position class="wrist_roll" name="right_wrist_roll_joint" joint="right_wrist_roll_joint" />
+    <position class="wrist_pitch" name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint" />
+    <position class="wrist_yaw" name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint" />
+  </actuator>
+
+  <!-- <sensor>
+    <velocimeter site="imu_in_torso" name="local_linvel_torso" />
+    <velocimeter site="imu_in_pelvis" name="local_linvel_pelvis" />
+    <accelerometer site="imu_in_torso" name="accelerometer_torso" />
+    <accelerometer site="imu_in_pelvis" name="accelerometer_pelvis" />
+    <gyro site="imu_in_torso" name="gyro_torso" />
+    <gyro site="imu_in_pelvis" name="gyro_pelvis" />
+    <framezaxis objtype="site" objname="imu_in_torso" name="upvector_torso" />
+    <framezaxis objtype="site" objname="imu_in_pelvis" name="upvector_pelvis" />
+    <framequat objtype="site" objname="imu_in_torso" name="orientation_torso" />
+    <framequat objtype="site" objname="imu_in_pelvis" name="orientation_pelvis" />
+    <framelinvel objtype="site" objname="imu_in_torso" name="global_linvel_torso" />
+    <framelinvel objtype="site" objname="imu_in_pelvis" name="global_linvel_pelvis" />
+    <frameangvel objtype="site" objname="imu_in_torso" name="global_angvel_torso" />
+    <frameangvel objtype="site" objname="imu_in_pelvis" name="global_angvel_pelvis" />
+  </sensor> -->
+
+  <contact>
+    <pair name="left_foot_floor0" geom1="lf0" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor1" geom1="lf1" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor2" geom1="lf2" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor3" geom1="lf3" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor0" geom1="rf0" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor1" geom1="rf1" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor2" geom1="rf2" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor3" geom1="rf3" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_hand_floor" geom1="lh" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_hand_floor" geom1="rh" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+
+    <!-- add collision between foot and box -->
+    <!-- <pair name="lf0_box0" geom1="lf0" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf1_box0" geom1="lf1" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf2_box0" geom1="lf2" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf3_box0" geom1="lf3" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf0_box0" geom1="rf0" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf1_box0" geom1="rf1" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf2_box0" geom1="rf2" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf3_box0" geom1="rf3" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" /> -->
+
+    <pair name="lf0_box1" geom1="lf0" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf1_box1" geom1="lf1" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf2_box1" geom1="lf2" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf3_box1" geom1="lf3" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf0_box1" geom1="rf0" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf1_box1" geom1="rf1" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf2_box1" geom1="rf2" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf3_box1" geom1="rf3" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+
+    <!-- <pair name="lf0_box2" geom1="lf0" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf1_box2" geom1="lf1" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf2_box2" geom1="lf2" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf3_box2" geom1="lf3" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf0_box2" geom1="rf0" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf1_box2" geom1="rf1" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf2_box2" geom1="rf2" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf3_box2" geom1="rf3" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" /> -->
+
+    <pair name="lf0_box3" geom1="lf0" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf1_box3" geom1="lf1" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf2_box3" geom1="lf2" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf3_box3" geom1="lf3" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf0_box3" geom1="rf0" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf1_box3" geom1="rf1" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf2_box3" geom1="rf2" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf3_box3" geom1="rf3" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+
+    <!-- <pair name="lf0_box4" geom1="lf0" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf1_box4" geom1="lf1" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf2_box4" geom1="lf2" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf3_box4" geom1="lf3" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf0_box4" geom1="rf0" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf1_box4" geom1="rf1" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf2_box4" geom1="rf2" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf3_box4" geom1="rf3" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" /> -->
+  </contact>
+
+  <keyframe>
+    <key name="0"
+      qpos="-1.80725026 -1.29974377  0.75915504  0.99504608  0.01833034  0.06098209
+  0.07634462 -0.4303121   0.32447723  0.4420687   0.50425285 -0.54711205
+ -0.00768063  0.0766391  -0.27889439 -0.23973405  0.19600944 -0.57358289
+  0.20857893  0.11442623 -0.0214551   0.22673425  0.07056087  0.40921709
+ -0.34313068  0.72707731 -0.18060325 -0.04810983 -0.10574004 -0.14595979
+ -0.54579556  0.62368762  0.71289283 -0.02742729 -0.01143918  0.37756011"
+    />
+    <key name="1"
+      qpos="1.84675038  1.27666962  0.73932868  0.9641155   0.10232545  0.00536267
+  0.24491264  0.0825569  -0.0168406   0.20082748  1.20959127 -0.84657723
+  0.24382654 -0.62941849 -0.10099412 -0.06178565  0.7049731  -0.08167538
+  0.17828581 -0.25666562  0.17523277 -0.11962487 -0.10756259  0.44155285
+ -0.15541582  0.56386185 -0.22089808 -0.32738397 -0.11447582 -0.014583
+ -0.60692859 -0.02739919  0.29634833  0.2983312  -0.09138586 -0.13158542" />
+  </keyframe>
+</mujoco>
diff --git a/processed/amass/unitree_g1/humanoid/sprint_terrain/task_info.json b/processed/amass/unitree_g1/humanoid/sprint_terrain/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc0e0b1883dac239177f93da84eb4bbf21c9bfe9
--- /dev/null
+++ b/processed/amass/unitree_g1/humanoid/sprint_terrain/task_info.json
@@ -0,0 +1,3 @@
+{
+  "ref_dt": 0.03345959595959596
+}
\ No newline at end of file
diff --git a/processed/fair_mon/allegro/right/cat/0/trajectory_ikrollout.npz b/processed/fair_mon/allegro/right/cat/0/trajectory_ikrollout.npz
index eb84d7cf1953c205b8c9cf3a60d3e53a0a193b6a..19a08a8ba44b9d5187526b8371dd5e22bc549c47 100644
--- a/processed/fair_mon/allegro/right/cat/0/trajectory_ikrollout.npz
+++ b/processed/fair_mon/allegro/right/cat/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7442f4bb897319e14ce5f296abfdab9b261da2393a55ec3ee7f7d69c46ca0321
-size 279
+oid sha256:4b509c1007dbf222ab9a9e265355864187c5fc153ea776b8bda3ff77b376b6e1
+size 3974
diff --git a/processed/fair_mon/allegro/right/cat/0/trajectory_kinematic.npz b/processed/fair_mon/allegro/right/cat/0/trajectory_kinematic.npz
index e0171bb7bb103cdb968ee850fb66288fc1f13695..d95e2426202730ffa29c56ac772841b0abd40f28 100644
--- a/processed/fair_mon/allegro/right/cat/0/trajectory_kinematic.npz
+++ b/processed/fair_mon/allegro/right/cat/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
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-oid sha256:35833261e8e9bf8260e3f0e631e007c86db2891c679bfe5f13e1e6675aa8d20d
-size 281
+oid sha256:d11f43157460a8f75aa5627e4d58923465b89109f4d396338dc5d24935c6026e
+size 17388
diff --git a/processed/fair_mon/allegro/right/cat/0/trajectory_mjwp.npz b/processed/fair_mon/allegro/right/cat/0/trajectory_mjwp.npz
index 689f79a578902f9d791a935dd6e8a7f033a58d3c..39a01913639e02880d6344dfceb0770f09497382 100644
--- a/processed/fair_mon/allegro/right/cat/0/trajectory_mjwp.npz
+++ b/processed/fair_mon/allegro/right/cat/0/trajectory_mjwp.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 66194
+oid sha256:66e69de765f296a959a2c7091d0fadbf4e1a9f51a70843beda63f44efa39a8a8
+size 71974
diff --git a/processed/fair_mon/allegro/right/cat/0/visualization_mjwp.mp4 b/processed/fair_mon/allegro/right/cat/0/visualization_mjwp.mp4
index 6671a68756fee716f95087c1eb6ab011158f1e17..a29f1ff50343a8aa3cb7aaaa34e2aff387f92919 100644
--- a/processed/fair_mon/allegro/right/cat/0/visualization_mjwp.mp4
+++ b/processed/fair_mon/allegro/right/cat/0/visualization_mjwp.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 109122
+oid sha256:c0a2792bdb55f9d1202339fb1b7f13782c61ee685e65ad0a70f090a0c89a45b6
+size 135863
diff --git a/processed/fair_mon/allegro/right/cat/scene.xml b/processed/fair_mon/allegro/right/cat/scene.xml
index 3ad722ff61bd972780907278b85a82e6732f0910..111bf2d1ce3e96bfe60dcd8bc70739c0533c2e5b 100644
--- a/processed/fair_mon/allegro/right/cat/scene.xml
+++ b/processed/fair_mon/allegro/right/cat/scene.xml
@@ -142,7 +142,6 @@
     <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
     <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
     <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
-<<<<<<< HEAD
     <mesh name="right_0" file="objects/cat/convex/0.obj"/>
     <mesh name="right_1" file="objects/cat/convex/1.obj"/>
     <mesh name="right_2" file="objects/cat/convex/2.obj"/>
@@ -151,16 +150,6 @@
     <mesh name="right_5" file="objects/cat/convex/5.obj"/>
     <mesh name="right_6" file="objects/cat/convex/6.obj"/>
     <mesh name="right_7" file="objects/cat/convex/7.obj"/>
-=======
-    <mesh name="right_0" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/0.obj"/>
-    <mesh name="right_1" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/1.obj"/>
-    <mesh name="right_2" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/2.obj"/>
-    <mesh name="right_3" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/3.obj"/>
-    <mesh name="right_4" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/4.obj"/>
-    <mesh name="right_5" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/5.obj"/>
-    <mesh name="right_6" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/6.obj"/>
-    <mesh name="right_7" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/7.obj"/>
->>>>>>> 62480b5 (:zap: add dexmachina set)
     <mesh name="right_visual" file="objects/cat/visual.obj"/>
   </asset>
 
@@ -282,16 +271,6 @@
     </body>
     <body name="right_object">
       <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-<<<<<<< HEAD
-      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
-=======
       <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
       <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
       <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
@@ -300,13 +279,12 @@
       <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
       <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
       <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
->>>>>>> 62480b5 (:zap: add dexmachina set)
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
       <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_thumb_tip" pos="-0.0198564 -0.00972181 0.0182954" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_index_tip" pos="-0.0173119 0.0155818 0.0197544" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0323832" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0379334" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_ring_tip" pos="0.0160556 0.00668297 0.0416153" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_right_thumb_tip" mocap="true">
diff --git a/processed/fair_mon/allegro/right/cat/scene_eq.xml b/processed/fair_mon/allegro/right/cat/scene_eq.xml
index 7f83fcd4d6567de89118f3676dbcd46144d35f91..87fbf8bc0ed23d2f83dc13798d15ed6a2d6fafd7 100644
--- a/processed/fair_mon/allegro/right/cat/scene_eq.xml
+++ b/processed/fair_mon/allegro/right/cat/scene_eq.xml
@@ -142,7 +142,6 @@
     <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
     <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
     <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
-<<<<<<< HEAD
     <mesh name="right_0" file="objects/cat/convex/0.obj"/>
     <mesh name="right_1" file="objects/cat/convex/1.obj"/>
     <mesh name="right_2" file="objects/cat/convex/2.obj"/>
@@ -151,16 +150,6 @@
     <mesh name="right_5" file="objects/cat/convex/5.obj"/>
     <mesh name="right_6" file="objects/cat/convex/6.obj"/>
     <mesh name="right_7" file="objects/cat/convex/7.obj"/>
-=======
-    <mesh name="right_0" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/0.obj"/>
-    <mesh name="right_1" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/1.obj"/>
-    <mesh name="right_2" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/2.obj"/>
-    <mesh name="right_3" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/3.obj"/>
-    <mesh name="right_4" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/4.obj"/>
-    <mesh name="right_5" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/5.obj"/>
-    <mesh name="right_6" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/6.obj"/>
-    <mesh name="right_7" file="../../../../../retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex/7.obj"/>
->>>>>>> 62480b5 (:zap: add dexmachina set)
     <mesh name="right_visual" file="objects/cat/visual.obj"/>
   </asset>
 
@@ -282,16 +271,6 @@
     </body>
     <body name="right_object">
       <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-<<<<<<< HEAD
-      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
-=======
       <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
       <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
       <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
@@ -300,13 +279,12 @@
       <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
       <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
       <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
->>>>>>> 62480b5 (:zap: add dexmachina set)
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
       <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
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       <site name="track_object_right_index_tip" pos="-0.0173119 0.0155818 0.0197544" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0323832" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0379334" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_ring_tip" pos="0.0160556 0.00668297 0.0416153" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_right_thumb_tip" mocap="true">
diff --git a/processed/fair_mon/allegro/right/cat/task_info.json b/processed/fair_mon/allegro/right/cat/task_info.json
index 8bd2e3e541c459693ca725cd465157c0ec12f28f..c76fdd3790379a4477566d2017fe9425433a87ca 100644
--- a/processed/fair_mon/allegro/right/cat/task_info.json
+++ b/processed/fair_mon/allegro/right/cat/task_info.json
@@ -2,15 +2,9 @@
   "task": "cat",
   "dataset_name": "fair_mon",
   "robot_type": "allegro",
-  "hand_type": "right",
+  "embodiment_type": "right",
   "data_id": 0,
-<<<<<<< HEAD
-  "right_object_mesh_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/cat",
-  "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex"
-=======
   "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex"
->>>>>>> 62480b5 (:zap: add dexmachina set)
+  "right_object_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat/convex"
 }
\ No newline at end of file
diff --git a/processed/fair_mon/allegro/right/coke/0/trajectory_ikrollout.npz b/processed/fair_mon/allegro/right/coke/0/trajectory_ikrollout.npz
index f604bee9165dc9351afff0fafe3a516f0ab01626..08f3f7e1528db7949171cff27ba9b61353c0c673 100644
--- a/processed/fair_mon/allegro/right/coke/0/trajectory_ikrollout.npz
+++ b/processed/fair_mon/allegro/right/coke/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:75c82372e7a055102d4a479bc04dbfb20725f97c784280f3cfcba81daadeee52
+oid sha256:552ef1815b3881febf6e9d78c77845d6d37f5ed47fc530c411ce13053030ec75
 size 3974
diff --git a/processed/fair_mon/allegro/right/coke/0/trajectory_kinematic.npz b/processed/fair_mon/allegro/right/coke/0/trajectory_kinematic.npz
index c4b7ef060507a8b03cd3da1d7b4fd1d0e05de5e2..0e29fde5eb02a91ff764508da27b967e139c5e5e 100644
--- a/processed/fair_mon/allegro/right/coke/0/trajectory_kinematic.npz
+++ b/processed/fair_mon/allegro/right/coke/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:51a9e3167ef638610ca178696b21113ccdb52c8af781ec3766a70b3ce5d3036b
+oid sha256:a183a9045f6986b2d8a8d7047297220f9a61cc6ae2b2ae9c6a4637bfeb22f90c
 size 17388
diff --git a/processed/fair_mon/allegro/right/coke/0/trajectory_mjwp.npz b/processed/fair_mon/allegro/right/coke/0/trajectory_mjwp.npz
index 080416d0ec604aa561df454db555594b11ef7850..a3827746f80e375f3e5d1e76cd47b9b2296c1456 100644
--- a/processed/fair_mon/allegro/right/coke/0/trajectory_mjwp.npz
+++ b/processed/fair_mon/allegro/right/coke/0/trajectory_mjwp.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b00325a9b28ee3cb8d977491827e2abed847c985095320e68615c65a25ed6009
-size 68018
+oid sha256:05578aea29ecdd805611e7b96bcc180eb99efaabcf965e4a61a9b5bd427a8baf
+size 79454
diff --git a/processed/fair_mon/allegro/right/coke/0/visualization_mjwp.mp4 b/processed/fair_mon/allegro/right/coke/0/visualization_mjwp.mp4
index 7d20ec7c5cc1302ab577bceb0f746e780c235dd2..b04e0e39dd3bc5279d0ce576e2c5de172bca719b 100644
--- a/processed/fair_mon/allegro/right/coke/0/visualization_mjwp.mp4
+++ b/processed/fair_mon/allegro/right/coke/0/visualization_mjwp.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9073b4b7e70b0d3b8cb0b96473d1d5a42b1a92f0311a093319e9ff34857a549a
-size 115721
+oid sha256:9910deec8fc656022f384a3dc0a59d2ed04ace15467065506d0ec55fba1b03c2
+size 71042
diff --git a/processed/fair_mon/allegro/right/coke/scene.xml b/processed/fair_mon/allegro/right/coke/scene.xml
index 4f078ead503b8cf06662a6da7dccf1dbc0795b97..c48fcd170098eabcc5999298c2327f694491545b 100644
--- a/processed/fair_mon/allegro/right/coke/scene.xml
+++ b/processed/fair_mon/allegro/right/coke/scene.xml
@@ -1,268 +1,291 @@
 <mujoco model="allegro_right">
-  <compiler angle="radian" meshdir="../../../assets/"/>
+  <compiler angle="radian" meshdir="../../../assets/" />
 
   <option timestep="0.01" iterations="10">
-    <flag eulerdamp="disable"/>
+    <flag eulerdamp="disable" />
   </option>
 
   <visual>
-    <global azimuth="140" elevation="-20"/>
-    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="140" elevation="-20" />
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9" />
+    <rgba haze="0.15 0.25 0.35 1" />
   </visual>
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1" />
     </default>
     <default class="allegro_right">
-      <joint armature="1"/>
-      <geom density="800"/>
-      <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+      <joint armature="1" />
+      <geom density="800" />
+      <general biastype="affine" gainprm="300" biasprm="0 -300 1" />
       <default class="right_visual">
-        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black" />
         <default class="right_palm_visual">
-          <geom mesh="right_base_link"/>
+          <geom mesh="right_base_link" />
         </default>
         <default class="right_base_visual">
-          <geom mesh="right_link_0.0"/>
+          <geom mesh="right_link_0.0" />
         </default>
         <default class="right_proximal_visual">
-          <geom mesh="right_link_1.0"/>
+          <geom mesh="right_link_1.0" />
         </default>
         <default class="right_medial_visual">
-          <geom mesh="right_link_2.0"/>
+          <geom mesh="right_link_2.0" />
         </default>
         <default class="right_distal_visual">
-          <geom mesh="right_link_3.0"/>
+          <geom mesh="right_link_3.0" />
         </default>
         <default class="right_fingertip_visual">
-          <geom material="right_white" mesh="right_link_3.0_tip"/>
+          <geom material="right_white" mesh="right_link_3.0_tip" />
         </default>
         <default class="right_thumbtip_visual">
-          <geom material="right_white" mesh="right_link_15.0_tip"/>
+          <geom material="right_white" mesh="right_link_15.0_tip" />
         </default>
       </default>
       <default class="right_collision">
-        <geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
         <default class="right_palm_collision">
-          <geom size="0.0204 0.0565 0.0475"/>
+          <geom size="0.0204 0.0565 0.0475" />
         </default>
         <default class="right_base_collision">
-          <geom size="0.0098 0.01375 0.0082"/>
+          <geom size="0.0098 0.01375 0.0082" />
           <default class="right_thumb_base_collision">
-            <geom size="0.0179 0.017 0.02275"/>
+            <geom size="0.0179 0.017 0.02275" />
           </default>
         </default>
         <default class="right_proximal_collision">
-          <geom size="0.0098 0.01375 0.027"/>
+          <geom size="0.0098 0.01375 0.027" />
           <default class="right_thumb_proximal_collision">
-            <geom size="0.0098 0.01375 0.00885"/>
+            <geom size="0.0098 0.01375 0.00885" />
           </default>
         </default>
         <default class="right_medial_collision">
-          <geom size="0.0098 0.01375 0.0192"/>
+          <geom size="0.0098 0.01375 0.0192" />
           <default class="right_thumb_medial_collision">
-            <geom size="0.0098 0.01375 0.0257"/>
+            <geom size="0.0098 0.01375 0.0257" />
           </default>
         </default>
         <default class="right_distal_collision">
-          <geom size="0.0098 0.01375 0.008"/>
+          <geom size="0.0098 0.01375 0.008" />
           <default class="right_thumb_distal_collision">
-            <geom size="0.0098 0.01375 0.0157"/>
+            <geom size="0.0098 0.01375 0.0157" />
           </default>
         </default>
         <default class="right_fingertip_collision">
-          <geom size="0.012 0.01 0" type="capsule"/>
+          <geom size="0.012 0.01 0" type="capsule" />
           <default class="right_thumbtip_collision">
-            <geom size="0.012 0.008 0"/>
+            <geom size="0.012 0.008 0" />
           </default>
         </default>
       </default>
       <default class="right_base_slide">
-        <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
+        <joint type="slide" range="-3 3" />
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000" />
       </default>
       <default class="right_base_hinge">
-        <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+        <joint range="-6.28 6.28" />
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
       </default>
       <default class="right_base">
-        <joint range="-0.47 0.47"/>
-        <general ctrlrange="-0.47 0.47"/>
+        <joint range="-0.47 0.47" />
+        <general ctrlrange="-0.47 0.47" />
       </default>
       <default class="right_proximal">
-        <joint range="0.196 1.61"/>
-        <general ctrlrange="0.196 1.61"/>
+        <joint range="0.196 1.61" />
+        <general ctrlrange="0.196 1.61" />
       </default>
       <default class="right_medial">
-        <joint range="0.174 1.709"/>
-        <general ctrlrange="0.174 1.709"/>
+        <joint range="0.174 1.709" />
+        <general ctrlrange="0.174 1.709" />
       </default>
       <default class="right_distal">
-        <joint range="0.227 1.618"/>
-        <general ctrlrange="0.227 1.618"/>
+        <joint range="0.227 1.618" />
+        <general ctrlrange="0.227 1.618" />
       </default>
       <default class="right_thumb_base">
-        <joint range="0.263 1.396"/>
-        <general ctrlrange="0.263 1.396"/>
+        <joint range="0.263 1.396" />
+        <general ctrlrange="0.263 1.396" />
       </default>
       <default class="right_thumb_proximal">
-        <joint range="0.105 1.163"/>
-        <general ctrlrange="0.105 1.163"/>
+        <joint range="0.105 1.163" />
+        <general ctrlrange="0.105 1.163" />
       </default>
       <default class="right_thumb_medial">
-        <joint range="0.189 1.644"/>
-        <general ctrlrange="0.189 1.644"/>
+        <joint range="0.189 1.644" />
+        <general ctrlrange="0.189 1.644" />
       </default>
       <default class="right_thumb_distal">
-        <joint range="0.162 1.719"/>
-        <general ctrlrange="0.162 1.719"/>
+        <joint range="0.162 1.719" />
+        <general ctrlrange="0.162 1.719" />
       </default>
     </default>
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
-    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
-    <material name="right_black" rgba="0.2 0.2 0.2 1"/>
-    <material name="right_white" rgba="0.9 0.9 0.9 1"/>
-    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
-    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
-    <mesh name="right_base_link" file="robots/allegro/assets/base_link.stl"/>
-    <mesh name="right_link_0.0" file="robots/allegro/assets/link_0.0.stl"/>
-    <mesh name="right_link_1.0" file="robots/allegro/assets/link_1.0.stl"/>
-    <mesh name="right_link_2.0" file="robots/allegro/assets/link_2.0.stl"/>
-    <mesh name="right_link_3.0" file="robots/allegro/assets/link_3.0.stl"/>
-    <mesh name="right_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl"/>
-    <mesh name="right_link_12.0_right" file="robots/allegro/assets/link_12.0_right.stl"/>
-    <mesh name="right_link_13.0" file="robots/allegro/assets/link_13.0.stl"/>
-    <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
-    <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
-    <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
-    <mesh name="right_0" file="objects/cat/convex/0.obj"/>
-    <mesh name="right_1" file="objects/cat/convex/1.obj"/>
-    <mesh name="right_2" file="objects/cat/convex/2.obj"/>
-    <mesh name="right_3" file="objects/cat/convex/3.obj"/>
-    <mesh name="right_4" file="objects/cat/convex/4.obj"/>
-    <mesh name="right_5" file="objects/cat/convex/5.obj"/>
-    <mesh name="right_6" file="objects/cat/convex/6.obj"/>
-    <mesh name="right_7" file="objects/cat/convex/7.obj"/>
-    <mesh name="right_visual" file="objects/cat/visual.obj"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0"
+      width="512" height="3072" />
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge"
+      rgb1="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="300" />
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="1 1 1"
+      rgb2="1 1 1" width="512" height="3072" />
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
+      rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800" />
+    <material name="right_black" rgba="0.2 0.2 0.2 1" />
+    <material name="right_white" rgba="0.9 0.9 0.9 1" />
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"
+      reflectance="0.2" />
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+    <mesh name="right_base_link" file="robots/allegro/assets/base_link.stl" />
+    <mesh name="right_link_0.0" file="robots/allegro/assets/link_0.0.stl" />
+    <mesh name="right_link_1.0" file="robots/allegro/assets/link_1.0.stl" />
+    <mesh name="right_link_2.0" file="robots/allegro/assets/link_2.0.stl" />
+    <mesh name="right_link_3.0" file="robots/allegro/assets/link_3.0.stl" />
+    <mesh name="right_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl" />
+    <mesh name="right_link_12.0_right" file="robots/allegro/assets/link_12.0_right.stl" />
+    <mesh name="right_link_13.0" file="robots/allegro/assets/link_13.0.stl" />
+    <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl" />
+    <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl" />
+    <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl" />
+    <mesh name="right_0" file="objects/convex/0.obj" />
+    <mesh name="right_1" file="objects/convex/1.obj" />
+    <mesh name="right_2" file="objects/convex/2.obj" />
+    <mesh name="right_3" file="objects/convex/3.obj" />
+    <mesh name="right_4" file="objects/convex/4.obj" />
+    <mesh name="right_5" file="objects/convex/5.obj" />
+    <mesh name="right_6" file="objects/convex/6.obj" />
+    <mesh name="right_7" file="objects/convex/7.obj" />
+    <mesh name="right_visual" file="objects/visual.obj" />
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
-    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
-    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane" />
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901"
+      mode="trackcom" />
+    <light pos="0 0 3.5" dir="0 0 -1" />
     <body name="right_palm" childclass="allegro_right" quat="0 0 0.707107 -0.707107" gravcomp="1">
-      <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
-      <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
-      <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
-      <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
-      <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
-      <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
-      <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
-      <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0" />
+      <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0" />
+      <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1" />
+      <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0" />
+      <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0" />
+      <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1" />
+      <geom class="right_palm_visual" mesh="right_base_link" />
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475"
+        mass="0" />
+      <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
-        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
+        <geom class="right_base_visual" mesh="right_link_0.0" />
         <body name="right_ff_proximal" pos="0 0 0.0164">
-          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
-          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
+          <geom class="right_proximal_visual" mesh="right_link_1.0" />
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027"
+            mass="0" />
           <body name="right_ff_medial" pos="0 0 0.054">
-            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
-            <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
+            <geom class="right_medial_visual" mesh="right_link_2.0" />
+            <geom name="collision_hand_right_index_1" class="right_medial_collision"
+              pos="0 0 0.0192" mass="0" />
             <body name="right_ff_distal" pos="0 0 0.0384">
-              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
-              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
+              <geom class="right_distal_visual" mesh="right_link_3.0" />
               <body name="right_ff_tip">
-                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip" />
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision"
+                  pos="0 0 0.019" mass="0" />
+                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019" />
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019" />
+                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019" />
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_mf_base" pos="0 0 0.0007">
-        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
-        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
+        <geom class="right_base_visual" mesh="right_link_0.0" />
         <body name="right_mf_proximal" pos="0 0 0.0164">
-          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
-          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
+          <geom class="right_proximal_visual" mesh="right_link_1.0" />
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision"
+            pos="0 0 0.027" mass="0" />
           <body name="right_mf_medial" pos="0 0 0.054">
-            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
-            <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
+            <geom class="right_medial_visual" mesh="right_link_2.0" />
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision"
+              pos="0 0 0.0192" mass="0" />
             <body name="right_mf_distal" pos="0 0 0.0384">
-              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
-              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
+              <geom class="right_distal_visual" mesh="right_link_3.0" />
               <body name="right_mf_tip">
-                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip" />
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision"
+                  pos="0 0 0.019" mass="0" />
+                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019" />
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019" />
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019" />
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
-        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
+        <geom class="right_base_visual" mesh="right_link_0.0" />
         <body name="right_rf_proximal" pos="0 0 0.0164">
-          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
-          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
+          <geom class="right_proximal_visual" mesh="right_link_1.0" />
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027"
+            mass="0" />
           <body name="right_rf_medial" pos="0 0 0.054">
-            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
-            <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
+            <geom class="right_medial_visual" mesh="right_link_2.0" />
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192"
+              mass="0" />
             <body name="right_rf_distal" pos="0 0 0.0384">
-              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
-              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
+              <geom class="right_distal_visual" mesh="right_link_3.0" />
               <body name="right_rf_tip">
-                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip" />
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision"
+                  pos="0 0 0.019" mass="0" />
+                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019" />
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019" />
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019" />
               </body>
             </body>
           </body>
         </body>
       </body>
-      <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
-        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
-        <geom class="right_visual" mesh="right_link_12.0_right"/>
+      <body name="right_th_base" pos="-0.0182 0.019333 -0.045987"
+        quat="0.477714 -0.521334 -0.521334 -0.477714">
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0" />
+        <geom class="right_visual" mesh="right_link_12.0_right" />
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
-          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
-          <geom class="right_visual" mesh="right_link_13.0"/>
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0"
+            axis="0 0 1" />
+          <geom class="right_visual" mesh="right_link_13.0" />
           <body name="right_th_medial" pos="0 0 0.0177">
-            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
-            <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0"
+              axis="0 1 0" />
+            <geom class="right_visual" mesh="right_link_14.0" />
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision"
+              pos="0 0 0.0257" mass="0" />
             <body name="right_th_distal" pos="0 0 0.0514">
-              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
-              <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0"
+                axis="0 1 0" />
+              <geom class="right_visual" mesh="right_link_15.0" />
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision"
+                pos="0 0 0.0157" mass="0" />
               <body name="right_th_tip">
-                <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
-                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip" />
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision"
+                  pos="0 0 0.035" mass="0" />
+                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035" />
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035" />
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035" />
               </body>
             </body>
           </body>
@@ -270,196 +293,324 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
-      <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
-      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
-      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="-0.0244631 -0.00102834 0.0281614" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.0300984 0.0159805 0.0414208" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.0368511 -0.00150362 0.0209455" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.0261251 -0.0192511 0.00822949" size="0.01" group="4" rgba="0 1 0 1"/>
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
+        mesh="right_0" />
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
+        mesh="right_1" />
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
+        mesh="right_2" />
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
+        mesh="right_3" />
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
+        mesh="right_4" />
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
+        mesh="right_5" />
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
+        mesh="right_6" />
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
+        mesh="right_7" />
+      <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0"
+        rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box"
+        rgba="1 0 0 1" />
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_thumb_tip" pos="-0.0244631 -0.00102834 0.0226112" size="0.01"
+        group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_index_tip" pos="0.0300984 0.0159805 0.0414208" size="0.01"
+        group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_middle_tip" pos="0.0368511 -0.00150362 0.0153952" size="0.01"
+        group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_ring_tip" pos="0.0261251 -0.0192511 0.00822949" size="0.01"
+        group="4" rgba="0 1 0 1" />
     </body>
     <body name="ref_object_right_thumb_tip" mocap="true">
-      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
     </body>
     <body name="ref_hand_right_thumb_tip" mocap="true">
-      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
     </body>
     <body name="ref_object_right_index_tip" mocap="true">
-      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
     </body>
     <body name="ref_hand_right_index_tip" mocap="true">
-      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
     </body>
     <body name="ref_object_right_middle_tip" mocap="true">
-      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
     </body>
     <body name="ref_hand_right_middle_tip" mocap="true">
-      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
     </body>
     <body name="ref_object_right_ring_tip" mocap="true">
-      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
     </body>
     <body name="ref_hand_right_ring_tip" mocap="true">
-      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
     </body>
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0"
+      name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0"
+      name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0"
+      name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0"
+      name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0"
+      name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1"
+      name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2"
+      name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3"
+      name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4"
+      name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5"
+      name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6"
+      name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7"
+      name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0"
+      name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1"
+      name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2"
+      name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3"
+      name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4"
+      name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5"
+      name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6"
+      name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7"
+      name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0"
+      name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1"
+      name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2"
+      name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3"
+      name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4"
+      name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5"
+      name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6"
+      name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7"
+      name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0"
+      name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0"
+      name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0"
+      name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0"
+      name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1"
+      name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2"
+      name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3"
+      name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4"
+      name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5"
+      name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6"
+      name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7"
+      name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0"
+      name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1"
+      name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2"
+      name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3"
+      name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4"
+      name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5"
+      name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6"
+      name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7"
+      name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0"
+      name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1"
+      name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2"
+      name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3"
+      name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4"
+      name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5"
+      name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6"
+      name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7"
+      name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0"
+      name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_thumb_0"
+      name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0"
+      name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1"
+      name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2"
+      name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3"
+      name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4"
+      name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5"
+      name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6"
+      name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7"
+      name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0"
+      name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1"
+      name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2"
+      name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3"
+      name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4"
+      name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5"
+      name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6"
+      name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7"
+      name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0"
+      name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1"
+      name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2"
+      name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3"
+      name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4"
+      name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5"
+      name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6"
+      name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7"
+      name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0"
+      name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0"
+      name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1"
+      name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2"
+      name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3"
+      name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4"
+      name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5"
+      name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6"
+      name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7"
+      name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0"
+      name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1"
+      name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2"
+      name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3"
+      name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4"
+      name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5"
+      name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6"
+      name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7"
+      name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0"
+      name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1"
+      name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2"
+      name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3"
+      name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4"
+      name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5"
+      name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6"
+      name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7"
+      name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0"
+      name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1"
+      name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2"
+      name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3"
+      name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4"
+      name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5"
+      name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6"
+      name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7"
+      name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0" />
   </contact>
 
   <actuator>
-    <general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
-    <general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
-    <general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
-    <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
-    <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
-    <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
-    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
-    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
-    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
-    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
-    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
-    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
-    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
-    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
-    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
-    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
-    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
-    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
-    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
-    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
-    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
-    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
+    <general name="right_pos_x" class="right_base_slide" joint="right_pos_x" />
+    <general name="right_pos_y" class="right_base_slide" joint="right_pos_y" />
+    <general name="right_pos_z" class="right_base_slide" joint="right_pos_z" />
+    <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x" />
+    <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y" />
+    <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z" />
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint" />
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint" />
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint" />
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint" />
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint" />
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint" />
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint" />
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint" />
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint" />
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint" />
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint" />
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint" />
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint" />
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint" />
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint" />
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint" />
   </actuator>
 </mujoco>
diff --git a/processed/fair_mon/allegro/right/coke/scene_eq.xml b/processed/fair_mon/allegro/right/coke/scene_eq.xml
index 37e2a33ece44cffe1e269225bdddce4cebabbdb4..979bf8272795b14fd6bc80acaab308d945a39b8a 100644
--- a/processed/fair_mon/allegro/right/coke/scene_eq.xml
+++ b/processed/fair_mon/allegro/right/coke/scene_eq.xml
@@ -142,15 +142,15 @@
     <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
     <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
     <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
-    <mesh name="right_0" file="objects/cat/convex/0.obj"/>
-    <mesh name="right_1" file="objects/cat/convex/1.obj"/>
-    <mesh name="right_2" file="objects/cat/convex/2.obj"/>
-    <mesh name="right_3" file="objects/cat/convex/3.obj"/>
-    <mesh name="right_4" file="objects/cat/convex/4.obj"/>
-    <mesh name="right_5" file="objects/cat/convex/5.obj"/>
-    <mesh name="right_6" file="objects/cat/convex/6.obj"/>
-    <mesh name="right_7" file="objects/cat/convex/7.obj"/>
-    <mesh name="right_visual" file="objects/cat/visual.obj"/>
+    <mesh name="right_0" file="objects/convex/0.obj"/>
+    <mesh name="right_1" file="objects/convex/1.obj"/>
+    <mesh name="right_2" file="objects/convex/2.obj"/>
+    <mesh name="right_3" file="objects/convex/3.obj"/>
+    <mesh name="right_4" file="objects/convex/4.obj"/>
+    <mesh name="right_5" file="objects/convex/5.obj"/>
+    <mesh name="right_6" file="objects/convex/6.obj"/>
+    <mesh name="right_7" file="objects/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/visual.obj"/>
   </asset>
 
   <worldbody>
@@ -282,9 +282,9 @@
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
       <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="-0.0244631 -0.00102834 0.0281614" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0244631 -0.00102834 0.0226112" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_index_tip" pos="0.0300984 0.0159805 0.0414208" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.0368511 -0.00150362 0.0209455" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0368511 -0.00150362 0.0153952" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_ring_tip" pos="0.0261251 -0.0192511 0.00822949" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_right_thumb_tip" mocap="true">
diff --git a/processed/fair_mon/allegro/right/coke/task_info.json b/processed/fair_mon/allegro/right/coke/task_info.json
index d20f960c478e5b19748b2b4b48fdd7e5f1d0d358..0cc263c5dd3063137f528ada98cbb5950f0473bc 100644
--- a/processed/fair_mon/allegro/right/coke/task_info.json
+++ b/processed/fair_mon/allegro/right/coke/task_info.json
@@ -2,9 +2,9 @@
   "task": "coke",
   "dataset_name": "fair_mon",
   "robot_type": "allegro",
-  "hand_type": "right",
+  "embodiment_type": "right",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat",
-  "right_object_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat/convex",
-  "left_object_mesh_dir": null
+  "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/",
+  "left_object_mesh_dir": null,
+  "right_object_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects//convex"
 }
\ No newline at end of file
diff --git a/processed/fair_mon/assets/objects/cat/convex/0.obj b/processed/fair_mon/assets/objects/cat/convex/0.obj
index 4f77341d0a640f87ec53d08892a90121f9279028..4cfb32828f0da0fd566712b6f06105f16673ab1b 100644
--- a/processed/fair_mon/assets/objects/cat/convex/0.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/0.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.07307084 0.00537934 -0.04729347
-v 0.06956606 0.00616156 -0.03924121
-v 0.06703721 0.00615464 -0.02780302
-v 0.07161051 -0.00532947 -0.03222750
-v 0.06823396 -0.00860372 -0.04386486
-v 0.06720105 -0.00380656 -0.05652654
-v 0.06906741 0.00541395 -0.05538841
-v 0.05852459 0.00616156 -0.03924121
-v 0.04639322 0.00615464 -0.00128462
-v 0.02208775 -0.00406269 0.07043171
-v 0.03149080 -0.00786996 0.05553644
-v 0.03072146 -0.02002553 0.05264845
-v 0.02406809 -0.02825615 0.05644695
-v 0.00031824 -0.06134477 0.05266267
-v 0.00031112 -0.06454980 0.03684268
-v 0.04334435 -0.02905222 -0.04820398
-v 0.03830089 -0.02945371 -0.05703870
-v 0.03951190 -0.01853723 -0.06624332
-v 0.04882947 -0.00947593 -0.06336954
-v 0.05163614 0.00220200 -0.05901620
-v 0.01316909 -0.00406269 0.06417200
-v 0.01479325 -0.00406269 0.07808562
-v 0.00031824 -0.03060973 0.06270666
-v 0.00031112 -0.04977068 0.03331449
-v 0.00031112 -0.05582077 0.01042387
-v 0.02834220 -0.03641063 -0.05106352
-v 0.03651289 -0.03399474 -0.04488918
-v 0.02834933 -0.02853304 -0.06627177
-v 0.02834220 -0.01949251 -0.06725341
-v 0.00031112 -0.03652831 -0.00128462
-v 0.00031112 -0.05014449 0.00092050
-v 0.01717963 -0.03838349 -0.03924121
+v -0.01314510 -0.06718677 0.03170103
+v -0.02067132 -0.05957778 0.03059217
+v -0.02417319 -0.05320400 0.01683001
+v -0.02253394 -0.05110686 0.00838420
+v -0.01553020 -0.05531762 0.00801458
+v -0.00557899 -0.05508155 0.00470649
+v 0.00001682 -0.05603679 0.01059576
+v -0.00172613 -0.06443633 0.03147310
+v -0.02500678 -0.05538898 0.04762547
+v -0.03177919 -0.04085174 0.01676840
+v -0.03414833 -0.02675368 -0.00129983
+v -0.02114595 -0.04599577 0.00112118
+v -0.01379123 -0.05105745 0.00152776
+v -0.00517216 -0.04881209 -0.00129983
+v 0.00030000 -0.04796116 -0.00129983
+v 0.00030000 -0.05233660 0.00312945
+v 0.00030399 -0.05023397 0.03170103
+v -0.02500678 -0.02093988 0.06163405
+v -0.02500678 -0.03465913 0.05876950
+v -0.02500678 -0.04718708 0.05432790
+v -0.03000432 -0.04205402 0.04748994
+v -0.03922165 -0.01110747 -0.00129983
+v -0.04044212 -0.01110747 0.02249751
+v -0.02115792 -0.04034117 -0.00129983
+v 0.00030000 -0.03655315 -0.00129983
+v 0.00030399 -0.04537541 0.01200647
+v 0.00030399 -0.04762627 0.02369877
+v -0.03961253 -0.01110747 0.03156550
+v -0.02856449 -0.01989680 0.05774689
+v -0.02624320 -0.02684152 0.06015557
+v -0.02086676 -0.01110747 -0.00101029
+v -0.02734801 -0.03943534 0.05426014
 f 1 2 3
 f 1 3 4
 f 1 4 5
 f 1 5 6
 f 1 6 7
-f 1 7 2
-f 2 7 8
-f 2 8 9
+f 1 7 8
+f 1 8 9
+f 1 9 2
 f 2 9 3
 f 3 9 10
-f 3 10 11
-f 3 11 4
+f 3 10 4
+f 4 10 11
 f 4 11 12
-f 4 12 13
-f 4 13 14
-f 4 14 15
-f 4 15 5
-f 5 16 6
-f 5 15 16
-f 6 16 17
-f 6 17 18
-f 6 18 19
-f 6 19 7
-f 7 19 20
-f 7 20 8
+f 4 12 5
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+f 5 13 6
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+f 6 14 15
+f 6 15 16
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+f 8 17 18
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 f 8 20 9
-f 9 21 22
-f 9 22 10
 f 9 20 21
-f 10 22 13
-f 10 13 12
-f 10 12 11
-f 13 22 14
-f 14 22 23
-f 14 23 15
-f 15 23 24
-f 15 24 30
-f 15 30 31
-f 15 31 25
+f 9 21 10
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+f 11 24 12
+f 11 22 25
+f 11 25 15
+f 11 15 14
+f 11 14 24
+f 12 24 13
+f 13 24 14
 f 15 25 26
-f 15 26 27
-f 15 27 16
-f 16 27 17
-f 17 28 18
-f 17 27 26
-f 17 26 28
+f 15 26 16
+f 16 26 17
+f 17 26 27
+f 17 27 25
+f 17 25 18
 f 18 28 29
-f 18 29 19
-f 19 29 20
-f 20 29 21
-f 21 23 22
-f 21 29 30
-f 21 30 23
-f 23 30 24
-f 25 31 32
-f 25 32 26
-f 26 32 28
-f 28 32 31
-f 28 31 30
-f 28 30 29
+f 18 29 30
+f 18 30 19
+f 18 25 31
+f 18 31 28
+f 19 30 20
+f 20 32 21
+f 20 30 32
+f 21 32 29
+f 21 29 28
+f 21 28 23
+f 22 31 25
+f 22 23 28
+f 22 28 31
+f 25 27 26
+f 29 32 30
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/1.obj b/processed/fair_mon/assets/objects/cat/convex/1.obj
index f1eae5c8b977d37c14b7b5bbbc2e90c397ea03ee..a0d6577c0cae510d1d2dd4fa51f4bcc50a7a1ff2 100644
--- a/processed/fair_mon/assets/objects/cat/convex/1.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/1.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v -0.00841114 -0.03676933 -0.07395325
-v 0.02833044 -0.01950025 -0.06726182
-v 0.02024927 -0.02633467 -0.06985732
-v 0.00115060 -0.03822354 -0.07327060
-v -0.00533418 -0.04318731 -0.06938800
-v -0.01798115 -0.04038637 -0.06842802
-v -0.01559072 -0.03457292 -0.07317815
-v -0.02524345 -0.01733742 -0.06682094
-v 0.02833044 -0.02924643 -0.05418473
-v 0.02833044 -0.02863184 -0.06620229
-v -0.02994988 -0.00888759 -0.06356411
-v 0.01716404 -0.01422750 -0.06485831
-v -0.00533418 -0.00888423 -0.03365535
-v -0.01736080 -0.00888759 -0.00315636
-v 0.00177096 -0.02937070 -0.00540343
-v 0.01005890 -0.03676597 -0.07150707
-v 0.00933929 -0.04171295 -0.06411877
-v 0.01656850 -0.03961729 -0.04917149
-v -0.01646749 -0.02937070 -0.00131462
-v -0.03245611 -0.02805083 -0.00131462
-v -0.02558258 -0.03821010 -0.06075528
-v -0.03110787 -0.03439492 -0.05936864
-v -0.02661650 -0.02771499 -0.06838535
-v 0.02662653 -0.03615474 -0.05418473
-v -0.05391214 -0.00946188 -0.05155367
-v -0.05265488 -0.00888423 -0.03293713
-v -0.01063615 -0.00888423 -0.05031636
-v -0.01890755 -0.00888759 -0.06246902
-v -0.00021418 -0.00888423 -0.04683198
-v -0.04869288 -0.01075488 -0.00131462
-v -0.05617023 -0.01142657 -0.04207474
-v -0.05049605 -0.01745496 -0.04860261
+v -0.06046724 0.00335733 -0.04679583
+v -0.05528533 0.04225211 -0.01483349
+v -0.05154443 0.05569564 -0.02624954
+v -0.05395883 0.00082007 -0.05448616
+v -0.05594380 -0.00884707 -0.04765462
+v -0.04868149 -0.00886674 -0.00130600
+v -0.05128676 0.05378778 -0.01049437
+v -0.04497876 0.06730014 -0.01668021
+v -0.04230669 0.06718213 -0.02854178
+v -0.04573267 0.00301313 -0.05822479
+v -0.03446224 -0.00687037 -0.06285448
+v -0.03462448 0.05858693 -0.03859539
+v 0.01694654 -0.02337238 -0.06727109
+v -0.01735143 -0.00886674 -0.00314626
+v 0.02645148 0.03702024 -0.00132537
+v -0.00275046 0.02637950 -0.00130600
+v -0.04306059 0.04871326 -0.00130600
+v -0.01790493 0.07360395 -0.00981638
+v -0.02748622 0.07709514 -0.02200726
+v -0.03373697 0.06997508 -0.03089860
+v -0.02529131 0.01793181 -0.05369840
+v 0.01312929 -0.00886674 -0.06342270
+v -0.02246654 0.07406616 -0.03275178
+v 0.03700617 0.05256832 -0.03955749
+v 0.01715649 0.04087530 -0.00131892
+v 0.02645148 0.05073913 -0.01555668
+v 0.00305176 0.05417131 -0.00131246
+v -0.01216952 0.05700360 -0.00130600
+v -0.01270393 0.07673127 -0.01766168
+v -0.01262759 0.07524628 -0.02880652
+v 0.00770880 0.01792197 -0.05347886
+v 0.02645148 0.05570547 -0.02460299
 f 1 2 3
 f 1 3 4
 f 1 4 5
 f 1 5 6
-f 1 6 7
-f 1 7 8
-f 1 8 2
-f 2 9 10
-f 2 10 3
-f 2 8 11
-f 2 11 12
-f 2 12 13
-f 2 13 14
-f 2 14 15
-f 2 15 9
-f 3 10 16
-f 3 16 4
-f 4 16 5
-f 5 16 17
-f 5 17 18
-f 5 18 19
-f 5 19 20
-f 5 20 21
-f 5 21 6
-f 6 21 22
-f 6 22 23
-f 6 23 7
-f 7 23 8
-f 8 23 11
-f 9 15 24
-f 9 24 10
-f 10 24 17
-f 10 17 16
-f 11 25 26
-f 11 26 27
-f 11 27 28
-f 11 28 12
-f 11 23 25
-f 12 29 13
-f 12 28 29
-f 13 29 27
-f 13 27 26
-f 13 26 14
-f 14 26 30
-f 14 30 19
-f 14 19 15
-f 15 19 18
-f 15 18 24
-f 17 24 18
-f 19 30 20
-f 20 30 31
-f 20 31 32
-f 20 32 22
-f 20 22 21
-f 22 32 25
-f 22 25 23
-f 25 31 26
-f 25 32 31
-f 26 31 30
-f 27 29 28
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 12
+f 4 12 10
+f 5 11 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 28
+f 6 28 17
+f 6 17 7
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 12
+f 10 12 11
+f 11 12 21
+f 11 21 22
+f 11 22 13
+f 12 20 23
+f 12 23 21
+f 13 15 14
+f 13 22 24
+f 13 24 15
+f 15 25 16
+f 15 24 26
+f 15 26 27
+f 15 27 25
+f 16 25 27
+f 16 27 28
+f 17 28 18
+f 18 28 27
+f 18 27 29
+f 18 29 19
+f 19 29 30
+f 19 30 23
+f 19 23 20
+f 21 31 22
+f 21 23 31
+f 22 31 24
+f 23 30 24
+f 23 24 31
+f 24 30 29
+f 24 29 32
+f 24 32 26
+f 26 32 29
+f 26 29 27
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/2.obj b/processed/fair_mon/assets/objects/cat/convex/2.obj
index a0d6577c0cae510d1d2dd4fa51f4bcc50a7a1ff2..fcbb36bbf775fb434c638cefb01c61fae6171d78 100644
--- a/processed/fair_mon/assets/objects/cat/convex/2.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/2.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v -0.06046724 0.00335733 -0.04679583
-v -0.05528533 0.04225211 -0.01483349
-v -0.05154443 0.05569564 -0.02624954
-v -0.05395883 0.00082007 -0.05448616
-v -0.05594380 -0.00884707 -0.04765462
-v -0.04868149 -0.00886674 -0.00130600
-v -0.05128676 0.05378778 -0.01049437
-v -0.04497876 0.06730014 -0.01668021
-v -0.04230669 0.06718213 -0.02854178
-v -0.04573267 0.00301313 -0.05822479
-v -0.03446224 -0.00687037 -0.06285448
-v -0.03462448 0.05858693 -0.03859539
-v 0.01694654 -0.02337238 -0.06727109
-v -0.01735143 -0.00886674 -0.00314626
-v 0.02645148 0.03702024 -0.00132537
-v -0.00275046 0.02637950 -0.00130600
-v -0.04306059 0.04871326 -0.00130600
-v -0.01790493 0.07360395 -0.00981638
-v -0.02748622 0.07709514 -0.02200726
-v -0.03373697 0.06997508 -0.03089860
-v -0.02529131 0.01793181 -0.05369840
-v 0.01312929 -0.00886674 -0.06342270
-v -0.02246654 0.07406616 -0.03275178
-v 0.03700617 0.05256832 -0.03955749
-v 0.01715649 0.04087530 -0.00131892
-v 0.02645148 0.05073913 -0.01555668
-v 0.00305176 0.05417131 -0.00131246
-v -0.01216952 0.05700360 -0.00130600
-v -0.01270393 0.07673127 -0.01766168
-v -0.01262759 0.07524628 -0.02880652
-v 0.00770880 0.01792197 -0.05347886
-v 0.02645148 0.05570547 -0.02460299
+v 0.05138532 -0.01789606 -0.03923760
+v 0.02313155 0.04906171 -0.03895767
+v 0.05178770 0.00618054 -0.05754811
+v 0.06826098 0.00618054 -0.05510500
+v 0.06031036 -0.01514256 -0.03923760
+v 0.05575331 -0.01789606 -0.03064859
+v 0.03449026 -0.01789606 -0.00129326
+v 0.02587063 0.05644108 -0.03778702
+v 0.02477985 -0.00404045 0.05492341
+v 0.02313155 0.04738023 -0.02456630
+v 0.02558461 0.05605192 -0.02529159
+v 0.05593753 0.03258476 -0.04766119
+v 0.05499703 0.02160014 -0.05177120
+v 0.05922927 0.03792288 -0.03740529
+v 0.07265806 0.00618054 -0.04817017
+v 0.06847914 -0.00899675 -0.03923760
+v 0.05364446 -0.01789606 -0.02212320
+v 0.07161575 -0.00531073 -0.03222643
+v 0.04335229 -0.01789606 -0.00129326
+v 0.02728623 -0.00394500 0.06171826
+v 0.03761718 0.05341590 -0.03888132
+v 0.03271107 0.05710193 -0.03175562
+v 0.02477985 0.00879453 0.07244499
+v 0.02477985 0.02674000 0.05150052
+v 0.04996972 0.04627884 -0.04145166
+v 0.04912618 0.04433303 -0.02254311
+v 0.05778459 0.03762183 -0.02879082
+v 0.06168718 0.03013231 -0.03055952
+v 0.07249807 0.00004207 -0.03923760
+v 0.03324919 -0.00404045 0.05204768
+v 0.05911293 0.03193127 -0.02132156
+v 0.04046777 0.05183724 -0.02730206
 f 1 2 3
 f 1 3 4
 f 1 4 5
 f 1 5 6
-f 1 6 2
-f 2 6 7
-f 2 7 3
-f 3 7 8
-f 3 8 9
-f 3 9 4
-f 4 10 11
-f 4 11 5
-f 4 9 12
-f 4 12 10
-f 5 11 13
-f 5 13 6
-f 6 13 14
-f 6 14 15
-f 6 15 16
-f 6 16 28
-f 6 28 17
-f 6 17 7
-f 7 17 8
-f 8 17 18
-f 8 18 19
-f 8 19 9
-f 9 19 20
-f 9 20 12
-f 10 12 11
-f 11 12 21
-f 11 21 22
-f 11 22 13
-f 12 20 23
-f 12 23 21
-f 13 15 14
-f 13 22 24
-f 13 24 15
-f 15 25 16
-f 15 24 26
-f 15 26 27
-f 15 27 25
-f 16 25 27
-f 16 27 28
-f 17 28 18
-f 18 28 27
-f 18 27 29
-f 18 29 19
-f 19 29 30
-f 19 30 23
-f 19 23 20
-f 21 31 22
-f 21 23 31
-f 22 31 24
-f 23 30 24
-f 23 24 31
-f 24 30 29
-f 24 29 32
-f 24 32 26
-f 26 32 29
-f 26 29 27
+f 1 6 17
+f 1 17 19
+f 1 19 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 10
+f 2 10 11
+f 2 11 8
+f 3 12 13
+f 3 13 4
+f 3 8 12
+f 4 13 12
+f 4 12 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 6
+f 6 16 18
+f 6 18 17
+f 7 19 20
+f 7 20 9
+f 8 21 12
+f 8 11 22
+f 8 22 21
+f 9 20 23
+f 9 23 10
+f 10 23 24
+f 10 24 11
+f 11 24 22
+f 12 21 25
+f 12 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 16
+f 16 29 18
+f 17 30 19
+f 17 18 30
+f 18 29 31
+f 18 31 23
+f 18 23 30
+f 19 30 20
+f 20 30 23
+f 21 22 25
+f 22 24 32
+f 22 32 25
+f 23 31 24
+f 24 31 26
+f 24 26 32
+f 25 32 26
+f 26 31 27
+f 27 31 28
+f 28 31 29
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/3.obj b/processed/fair_mon/assets/objects/cat/convex/3.obj
index 2b89c31e1d50ecca5d1b7404447d94283a355440..abbc068ecfe2da756c30bf38aca35e866de9753f 100644
--- a/processed/fair_mon/assets/objects/cat/convex/3.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/3.obj
@@ -1,36 +1,36 @@
 # https://github.com/mikedh/trimesh
-v -0.01248984 -0.00045837 0.07192635
-v 0.00029353 0.02124703 0.03055385
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-v -0.03921825 -0.01939238 -0.00129983
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+v -0.01972275 -0.06122655 0.06004021
+v -0.01410447 -0.07054924 0.05507980
 f 1 2 3
 f 1 3 4
 f 1 4 5
@@ -38,57 +38,57 @@ f 1 5 6
 f 1 6 7
 f 1 7 8
 f 1 8 9
-f 1 9 10
-f 1 10 2
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 f 4 15 16
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+f 29 31 30
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/4.obj b/processed/fair_mon/assets/objects/cat/convex/4.obj
index 332b99b80905d205f489ceed4304dd8272cb3b90..db0a099d0d8899e306f3e7be7873803807787182 100644
--- a/processed/fair_mon/assets/objects/cat/convex/4.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/4.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.00031203 -0.00404399 0.07161501
-v -0.01247229 -0.00350630 0.06516945
-v 0.02476260 -0.00403815 0.05494453
-v 0.02476260 -0.00385112 0.06455901
-v 0.01996296 -0.00285173 0.07371565
-v 0.00434667 -0.00148997 0.08377898
-v -0.01243551 -0.00091722 0.07193818
-v -0.01247229 0.01097037 0.06891290
-v -0.01247229 0.01151390 0.05327479
-v -0.01056715 0.01611932 0.03761872
-v 0.00106232 0.02767378 -0.00129702
-v 0.02510096 0.01144962 0.02833640
-v 0.02467800 0.00865597 0.07268328
-v 0.02241978 0.00706044 0.07884158
-v 0.02510096 0.01827007 0.03196315
-v 0.02510096 0.02814717 0.03196315
-v 0.01797322 0.00263620 0.08177709
-v 0.01176863 0.00301025 0.08649905
-v 0.00033410 0.01098791 0.08846503
-v -0.01247229 0.01503810 0.06364334
-v -0.01247229 0.02012276 0.05327479
-v -0.01056715 0.02632956 0.03801371
-v 0.00072027 0.05565694 -0.00129702
-v 0.02510096 0.03757425 -0.00129702
-v 0.02510096 0.01971949 0.01655844
-v 0.01821229 0.01321464 0.08571804
-v 0.02476627 0.02916411 0.04657787
-v 0.02368498 0.02701920 0.05459442
-v 0.01017243 0.01969612 0.09040409
-v 0.00696164 0.05261199 -0.00129702
-v 0.01698755 0.03412019 0.05047393
-v 0.01936714 0.02987713 0.05961262
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+v -0.04886136 -0.01100009 -0.00129880
+v -0.04043052 -0.02769423 0.02249192
 f 1 2 3
 f 1 3 4
 f 1 4 5
-f 1 5 6
-f 1 6 2
+f 1 5 2
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 f 2 6 7
 f 2 7 8
-f 2 8 20
-f 2 20 21
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-f 2 9 10
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-f 2 11 3
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-f 3 12 4
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-f 4 14 5
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 f 8 19 20
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 f 13 26 14
-f 13 16 27
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 f 27 31 32
 f 27 32 28
-f 29 32 31
+f 30 32 31
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/5.obj b/processed/fair_mon/assets/objects/cat/convex/5.obj
index e433e1c0c3ec69a32e62c74592a7f2d8255d8702..c092e4f4d7eadbc6ab7ccd92682abf6e5666f110 100644
--- a/processed/fair_mon/assets/objects/cat/convex/5.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/5.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.04784193 -0.00405224 -0.00128662
-v 0.03423095 -0.00402231 0.04878396
-v 0.02978120 -0.00405224 0.05892532
-v 0.04023665 -0.00405224 0.00095288
-v 0.05179726 0.00617395 -0.05754126
-v 0.06825841 0.00617395 -0.05511090
-v 0.07265484 0.00617395 -0.04816337
-v 0.06747801 0.00617993 -0.02856777
-v 0.02477403 0.00878438 0.07245138
-v 0.02477403 -0.00384868 0.06453679
-v 0.02477403 -0.00405224 0.05492985
-v 0.03515676 -0.00404626 0.01431352
-v 0.02313567 0.04907245 -0.03901451
-v 0.02586950 0.05644274 -0.03779297
-v 0.03983918 0.04849169 -0.04185206
-v 0.05500127 0.02162100 -0.05176437
-v 0.05801625 0.03034440 -0.04848148
-v 0.05783205 0.04091186 -0.03762754
-v 0.06114270 0.03221241 -0.03300859
-v 0.05911656 0.03194299 -0.02132757
-v 0.02477403 0.02511156 0.05438270
-v 0.02313567 0.04737807 -0.02457230
-v 0.02557382 0.05605357 -0.02529759
-v 0.03270892 0.05711330 -0.03176159
-v 0.03437636 0.05476631 -0.03901451
-v 0.04997956 0.04627642 -0.04144487
-v 0.05778843 0.03762487 -0.02878408
-v 0.04270388 0.05106021 -0.02837690
-v 0.04913129 0.04433655 -0.02254912
-v 0.02477403 0.02846441 0.04840223
-v 0.04116247 0.05208403 -0.03806018
-v 0.03574328 0.05313778 -0.02397425
+v 0.02832113 -0.01949062 -0.06725457
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+v 0.05363477 -0.01791889 -0.02213768
+v 0.04133376 -0.02746771 -0.01819987
 f 1 2 3
-f 1 3 11
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 f 1 4 5
 f 1 5 6
 f 1 6 7
 f 1 7 8
-f 1 8 2
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 f 14 25 15
-f 14 23 24
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 f 25 31 26
-f 26 31 28
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+f 28 29 32
 f 28 32 30
-f 28 30 29
+f 30 32 31
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/6.obj b/processed/fair_mon/assets/objects/cat/convex/6.obj
index b6cef5f552ae0da11c3dd0784aab2c4aacc9596a..f1eae5c8b977d37c14b7b5bbbc2e90c397ea03ee 100644
--- a/processed/fair_mon/assets/objects/cat/convex/6.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/6.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.02832545 -0.03091749 -0.03923709
-v 0.01716610 -0.02991663 -0.00425691
-v 0.01716610 -0.03107182 -0.00131458
-v 0.02832545 -0.03572066 -0.03923709
-v 0.02832545 -0.02926187 -0.05418416
-v -0.02086477 -0.01941234 -0.00103716
-v -0.02095733 -0.04344688 0.03169844
-v 0.00029692 -0.05023772 0.03169844
-v 0.01716610 -0.03992986 -0.00131458
-v 0.02832545 -0.03716114 -0.04840037
-v 0.00029692 -0.06322545 0.03169844
-v 0.02832545 -0.03557099 -0.05394036
-v 0.02493541 -0.03689455 -0.05418416
-v 0.01716610 -0.03151613 -0.05418416
-v 0.00242581 -0.02774188 -0.04656771
-v -0.01317066 -0.02939282 -0.03291527
-v -0.02868614 -0.02939282 -0.01310074
-v -0.03077454 -0.02939282 -0.00131458
-v -0.02095733 -0.05895545 0.03169844
-v -0.00014853 -0.06367443 0.03169844
-v -0.00363691 -0.06566679 0.03169844
-v 0.01716610 -0.03873257 -0.05418416
-v 0.00242581 -0.03022063 -0.04886273
-v -0.01268472 -0.03089878 -0.03291527
-v 0.00242581 -0.03779252 -0.04886273
-v -0.02095733 -0.05203833 0.00802524
-v -0.02095733 -0.05293161 0.01037911
-v -0.02095733 -0.05906302 0.02947067
-v -0.02039039 -0.06009661 0.03169844
-v -0.01313016 -0.06718678 0.03169844
-v 0.00524892 -0.03857356 -0.04886273
-v -0.01653755 -0.05462933 0.00709210
+v -0.00841114 -0.03676933 -0.07395325
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+v -0.05265488 -0.00888423 -0.03293713
+v -0.01063615 -0.00888423 -0.05031636
+v -0.01890755 -0.00888759 -0.06246902
+v -0.00021418 -0.00888423 -0.04683198
+v -0.04869288 -0.01075488 -0.00131462
+v -0.05617023 -0.01142657 -0.04207474
+v -0.05049605 -0.01745496 -0.04860261
 f 1 2 3
-f 1 3 9
-f 1 9 4
-f 1 4 10
-f 1 10 12
-f 1 12 5
-f 1 5 2
-f 2 5 6
-f 2 6 3
-f 3 6 7
-f 3 7 8
-f 3 8 11
-f 3 11 9
-f 4 9 11
-f 4 11 10
-f 5 12 13
-f 5 13 22
-f 5 22 14
-f 5 14 15
-f 5 15 6
-f 6 15 16
-f 6 16 17
-f 6 17 18
-f 6 18 7
-f 7 18 19
-f 7 19 29
-f 7 29 30
-f 7 30 21
-f 7 21 20
-f 7 20 11
-f 7 11 8
-f 10 13 12
-f 10 11 20
-f 10 20 21
-f 10 21 13
-f 13 21 22
-f 14 22 25
-f 14 25 23
-f 14 23 15
-f 15 23 16
-f 16 24 17
-f 16 23 25
-f 16 25 24
-f 17 24 25
-f 17 25 26
-f 17 26 27
-f 17 27 18
-f 18 27 28
-f 18 28 19
-f 19 28 29
-f 21 30 22
-f 22 31 25
-f 22 30 31
-f 25 31 30
-f 25 30 32
-f 25 32 26
-f 26 32 30
-f 26 30 27
-f 27 30 28
-f 28 30 29
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 9
+f 3 10 16
+f 3 16 4
+f 4 16 5
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 21 22
+f 6 22 23
+f 6 23 7
+f 7 23 8
+f 8 23 11
+f 9 15 24
+f 9 24 10
+f 10 24 17
+f 10 17 16
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 12
+f 11 23 25
+f 12 29 13
+f 12 28 29
+f 13 29 27
+f 13 27 26
+f 13 26 14
+f 14 26 30
+f 14 30 19
+f 14 19 15
+f 15 19 18
+f 15 18 24
+f 17 24 18
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 20 32 22
+f 20 22 21
+f 22 32 25
+f 22 25 23
+f 25 31 26
+f 25 32 31
+f 26 31 30
+f 27 29 28
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/7.obj b/processed/fair_mon/assets/objects/cat/convex/7.obj
index 2adfc06c218d8a9508d4e169d7c6255807c09bc8..332b99b80905d205f489ceed4304dd8272cb3b90 100644
--- a/processed/fair_mon/assets/objects/cat/convex/7.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/7.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.00440842 -0.00396036 0.08177882
-v 0.01314871 -0.00406226 0.07875010
-v 0.00029974 -0.00353237 0.06960024
-v -0.01232886 -0.00353237 0.07223688
-v -0.01888407 -0.02000640 0.06733605
-v -0.01972449 -0.06122882 0.06004850
-v -0.01501444 -0.07084829 0.05707859
-v 0.01314871 -0.00406226 0.06417991
-v -0.00864972 -0.07092981 0.05305990
-v -0.00009992 -0.06214593 0.05262373
-v 0.01314871 -0.02743839 0.06366532
-v -0.01247079 -0.00353237 0.06516497
-v -0.02500975 -0.01940178 0.05338336
-v -0.02373232 -0.01940178 0.06289589
-v -0.02385932 -0.02725497 0.06233229
-v -0.02010174 -0.07088226 0.05213365
-v -0.02500975 -0.03466658 0.05876938
-v -0.02500975 -0.04719363 0.05434392
-v -0.01336350 -0.07292028 0.04651728
-v 0.01314871 -0.01875641 0.06273906
-v 0.00029600 -0.05023029 0.03171675
-v -0.02500975 -0.03957822 0.03171675
-v -0.00345784 -0.06984966 0.04541459
-v 0.00029600 -0.06561736 0.04112636
-v -0.00190774 -0.06501275 0.03267731
-v -0.02500975 -0.02836909 0.04312590
-v -0.02500975 -0.05538648 0.04764448
-v -0.02500975 -0.05097077 0.03171675
-v -0.01948544 -0.06801544 0.03906310
-v -0.01320289 -0.06740403 0.03201570
-v -0.00854140 -0.06998553 0.04071469
-v -0.02038935 -0.06008753 0.03171675
+v 0.00031203 -0.00404399 0.07161501
+v -0.01247229 -0.00350630 0.06516945
+v 0.02476260 -0.00403815 0.05494453
+v 0.02476260 -0.00385112 0.06455901
+v 0.01996296 -0.00285173 0.07371565
+v 0.00434667 -0.00148997 0.08377898
+v -0.01243551 -0.00091722 0.07193818
+v -0.01247229 0.01097037 0.06891290
+v -0.01247229 0.01151390 0.05327479
+v -0.01056715 0.01611932 0.03761872
+v 0.00106232 0.02767378 -0.00129702
+v 0.02510096 0.01144962 0.02833640
+v 0.02467800 0.00865597 0.07268328
+v 0.02241978 0.00706044 0.07884158
+v 0.02510096 0.01827007 0.03196315
+v 0.02510096 0.02814717 0.03196315
+v 0.01797322 0.00263620 0.08177709
+v 0.01176863 0.00301025 0.08649905
+v 0.00033410 0.01098791 0.08846503
+v -0.01247229 0.01503810 0.06364334
+v -0.01247229 0.02012276 0.05327479
+v -0.01056715 0.02632956 0.03801371
+v 0.00072027 0.05565694 -0.00129702
+v 0.02510096 0.03757425 -0.00129702
+v 0.02510096 0.01971949 0.01655844
+v 0.01821229 0.01321464 0.08571804
+v 0.02476627 0.02916411 0.04657787
+v 0.02368498 0.02701920 0.05459442
+v 0.01017243 0.01969612 0.09040409
+v 0.00696164 0.05261199 -0.00129702
+v 0.01698755 0.03412019 0.05047393
+v 0.01936714 0.02987713 0.05961262
 f 1 2 3
 f 1 3 4
 f 1 4 5
 f 1 5 6
-f 1 6 7
-f 1 7 2
-f 2 8 3
-f 2 7 9
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 20
+f 2 20 21
+f 2 21 9
 f 2 9 10
 f 2 10 11
-f 2 11 20
-f 2 20 8
-f 3 8 12
+f 2 11 3
+f 3 11 12
 f 3 12 4
-f 4 12 13
 f 4 13 14
 f 4 14 5
-f 5 14 15
-f 5 15 6
-f 6 16 7
-f 6 15 17
-f 6 17 18
-f 6 18 16
-f 7 16 19
-f 7 19 9
-f 8 20 21
-f 8 21 22
-f 8 22 12
-f 9 19 23
-f 9 23 10
-f 10 23 24
-f 10 24 11
+f 4 12 15
+f 4 15 16
+f 4 16 13
+f 5 14 17
+f 5 17 18
+f 5 18 6
+f 6 18 19
+f 6 19 7
+f 7 19 8
+f 8 19 20
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 30
+f 11 30 24
 f 11 24 25
-f 11 25 21
-f 11 21 20
-f 12 22 26
-f 12 26 13
-f 13 26 22
-f 13 22 28
-f 13 28 27
-f 13 27 18
-f 13 18 17
-f 13 17 14
-f 14 17 15
-f 16 18 27
-f 16 27 28
-f 16 28 29
-f 16 29 19
-f 19 29 30
-f 19 30 31
-f 19 31 23
-f 21 25 30
-f 21 30 32
-f 21 32 28
-f 21 28 22
-f 23 31 25
-f 23 25 24
-f 25 31 30
-f 28 32 29
-f 29 32 30
+f 11 25 12
+f 12 25 24
+f 12 24 16
+f 12 16 15
+f 13 26 14
+f 13 16 27
+f 13 27 28
+f 13 28 26
+f 14 26 17
+f 16 24 27
+f 17 26 18
+f 18 26 29
+f 18 29 19
+f 19 29 20
+f 20 29 21
+f 21 23 22
+f 21 29 23
+f 23 29 31
+f 23 31 30
+f 24 30 27
+f 26 28 32
+f 26 32 29
+f 27 30 31
+f 27 31 32
+f 27 32 28
+f 29 32 31
 
diff --git a/processed/fair_mon/assets/objects/convex/0.obj b/processed/fair_mon/assets/objects/convex/0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc50bdf8746b7107c87a4e8f560f1107558c4cf8
--- /dev/null
+++ b/processed/fair_mon/assets/objects/convex/0.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02692429 0.01696256 0.02890657
+v 0.02440922 0.01889978 0.04136018
+v 0.02166808 0.01435454 0.05693868
+v 0.02414924 0.01540865 -0.05338605
+v 0.02109725 0.02339429 -0.04951440
+v 0.01942995 0.02526950 -0.00693776
+v 0.00349178 0.03047802 0.04193461
+v 0.01280600 0.02911013 0.01725716
+v 0.01089568 0.01908580 0.05624937
+v -0.01353155 0.02410454 0.05450310
+v -0.02540040 0.01533725 0.05061996
+v -0.03081486 0.01336056 0.03534017
+v -0.02998969 0.01296598 -0.00365203
+v 0.00172276 0.02541982 0.05546814
+v -0.02842978 0.01355974 -0.04194343
+v -0.01612009 0.01422301 -0.06040557
+v 0.00268357 0.02245480 -0.06042854
+v 0.00644769 0.03116009 -0.04644695
+v 0.01533237 0.02807857 -0.03667018
+v -0.00037407 0.03216158 -0.03061571
+v -0.00689064 0.03163171 0.02675821
+v -0.02109370 0.02484486 0.03435215
+v -0.02806807 0.01795654 0.02033610
+v -0.02607862 0.01881147 -0.01967859
+v -0.02380658 0.01814819 -0.05277715
+v -0.01575272 0.02669941 -0.05080112
+v -0.00622938 0.03077302 -0.04205832
+v -0.00993698 0.03047239 -0.01803572
+v -0.01262725 0.03003083 0.01348891
+v -0.01784955 0.02747166 0.02273721
+v -0.01992942 0.02544425 -0.00976395
+v -0.00935484 0.03034838 -0.03011021
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 3 7 14
+f 3 14 9
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 4 13 15
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 8
+f 7 10 14
+f 7 8 18
+f 7 18 20
+f 7 20 21
+f 7 21 10
+f 8 19 18
+f 9 14 10
+f 10 21 22
+f 10 22 11
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 18
+f 18 26 27
+f 18 27 20
+f 20 27 28
+f 20 28 21
+f 21 29 30
+f 21 30 22
+f 21 28 29
+f 22 30 31
+f 22 31 23
+f 23 31 24
+f 24 31 26
+f 24 26 25
+f 26 31 30
+f 26 30 29
+f 26 29 28
+f 26 28 32
+f 26 32 27
+f 27 32 28
+
diff --git a/processed/fair_mon/assets/objects/convex/1.obj b/processed/fair_mon/assets/objects/convex/1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc922635169f4e4f8c95f121f019fba5d7c9dabd
--- /dev/null
+++ b/processed/fair_mon/assets/objects/convex/1.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.03134970 -0.00952057 -0.04087421
+v 0.03004315 -0.01347424 -0.01579040
+v 0.02596251 -0.02086785 -0.03558733
+v 0.02380144 -0.01790560 -0.05179427
+v -0.02111037 -0.00792528 -0.05906661
+v -0.02688767 -0.00235830 0.01608092
+v 0.01879817 -0.01101071 0.05886076
+v 0.02996884 -0.01292445 0.00905099
+v 0.02728763 -0.01878286 -0.00520511
+v 0.00876685 -0.03047262 -0.04875835
+v 0.01985703 -0.02696960 0.00938575
+v 0.01349767 -0.03075503 -0.00919912
+v -0.01215649 -0.02634771 -0.05040906
+v -0.02961222 -0.00852314 -0.04753475
+v -0.02787222 -0.01618112 0.04181116
+v -0.02292468 -0.01471202 0.05772951
+v -0.03189713 -0.00763387 -0.00193832
+v 0.00853774 -0.02416958 0.05745246
+v 0.01743589 -0.02579491 0.04281543
+v 0.02789447 -0.01488326 0.03661663
+v 0.00731169 -0.03239538 -0.02716065
+v -0.00665785 -0.03220911 -0.02909994
+v 0.01554728 -0.02913571 0.02994454
+v 0.01029632 -0.03191469 0.00742337
+v -0.01877592 -0.02625758 -0.02601786
+v -0.02388447 -0.02158888 -0.04006617
+v -0.01089329 -0.03017219 0.04278080
+v -0.02566162 -0.02121034 0.01292957
+v -0.01756226 -0.02749235 0.03057943
+v -0.00865792 -0.02552453 0.05672523
+v 0.00524970 -0.03238336 0.03229940
+v -0.00332646 -0.03305032 -0.01013414
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 9
+f 3 10 4
+f 3 9 11
+f 3 11 12
+f 3 12 10
+f 4 10 5
+f 5 10 13
+f 5 13 14
+f 5 14 6
+f 6 15 16
+f 6 16 7
+f 6 14 17
+f 6 17 15
+f 7 16 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 9
+f 9 20 11
+f 10 12 21
+f 10 21 22
+f 10 22 13
+f 11 20 19
+f 11 19 23
+f 11 23 12
+f 12 23 24
+f 12 24 21
+f 13 22 25
+f 13 25 26
+f 13 26 14
+f 14 26 17
+f 15 27 16
+f 15 17 28
+f 15 28 29
+f 15 29 27
+f 16 27 30
+f 16 30 18
+f 17 26 28
+f 18 30 27
+f 18 27 31
+f 18 31 19
+f 19 31 23
+f 21 24 31
+f 21 31 32
+f 21 32 22
+f 22 32 27
+f 22 27 29
+f 22 29 25
+f 23 31 24
+f 25 29 28
+f 25 28 26
+f 27 32 31
+
diff --git a/processed/fair_mon/assets/objects/convex/2.obj b/processed/fair_mon/assets/objects/convex/2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27087ba05940fb326ee120d548762169bba973ed
--- /dev/null
+++ b/processed/fair_mon/assets/objects/convex/2.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01331277 0.01296483 -0.06083491
+v -0.01936360 -0.00593267 -0.05922975
+v -0.02229123 -0.00107121 -0.05988078
+v -0.01819634 0.01186623 -0.06089912
+v -0.02254992 0.01133867 -0.05770373
+v -0.02124384 0.01296105 -0.04567026
+v -0.00006277 0.01296105 -0.04566727
+v 0.01251212 0.01296105 -0.04566727
+v 0.02250010 0.01296105 -0.04566877
+v 0.02250010 0.01296105 -0.05604332
+v 0.01925069 0.01290433 -0.05852498
+v 0.02040533 0.00782919 -0.05801879
+v 0.02184391 -0.00105041 -0.05687651
+v 0.03092332 -0.00211876 -0.05127115
+v 0.00317402 -0.00635245 -0.04773233
+v -0.01984313 -0.00551479 -0.04602862
+v -0.03191325 -0.00205825 -0.04803992
+v -0.02998885 -0.00188429 -0.05300323
+v -0.02200099 0.00586078 -0.05921930
+v -0.03002670 0.00292802 -0.05293454
+v -0.02581825 0.00899398 -0.05547592
+v -0.02887206 0.00830569 -0.05282255
+v -0.03053777 0.00860823 -0.04702457
+v -0.01738241 0.00830569 -0.04564487
+v 0.01987534 0.00899587 -0.04564487
+v 0.02433617 0.00830758 -0.04564487
+v 0.03086653 0.00830758 -0.04596292
+v 0.03031129 0.00607256 -0.05138612
+v 0.02360427 0.00533700 -0.05682724
+v 0.03218522 0.00287696 -0.04914935
+v 0.03248808 -0.00114495 -0.04761586
+v -0.03197004 0.00279187 -0.04772337
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 18
+f 2 18 3
+f 3 19 4
+f 3 18 20
+f 3 20 19
+f 4 19 5
+f 5 21 22
+f 5 22 23
+f 5 23 6
+f 5 19 21
+f 6 16 24
+f 6 24 7
+f 6 23 16
+f 7 25 8
+f 7 24 25
+f 8 25 9
+f 9 26 27
+f 9 27 10
+f 9 25 26
+f 10 27 28
+f 10 28 29
+f 10 29 11
+f 11 29 12
+f 12 29 13
+f 13 29 14
+f 14 29 28
+f 14 28 30
+f 14 30 31
+f 14 31 15
+f 15 31 16
+f 16 23 17
+f 16 31 26
+f 16 26 24
+f 17 23 32
+f 17 32 20
+f 17 20 18
+f 19 20 21
+f 20 32 22
+f 20 22 21
+f 22 32 23
+f 24 26 25
+f 26 31 27
+f 27 31 30
+f 27 30 28
+
diff --git a/processed/fair_mon/assets/objects/convex/3.obj b/processed/fair_mon/assets/objects/convex/3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2566bb6369417dac4114f7300122bf02a026edb1
--- /dev/null
+++ b/processed/fair_mon/assets/objects/convex/3.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.03096087 0.00899816 -0.02174936
+v 0.03077564 0.00899816 -0.04690711
+v 0.03034565 0.01091277 -0.04648540
+v 0.03046721 0.01059321 -0.01846608
+v 0.03087901 0.00899816 0.00451687
+v 0.02980072 0.00899816 -0.05120248
+v 0.02874889 0.01296445 -0.05046751
+v 0.02947905 0.01296445 -0.04743725
+v 0.02934178 0.01242047 0.00451687
+v 0.02976433 0.01148005 0.00451687
+v 0.02251316 0.00899816 0.00451687
+v 0.02966180 0.00899816 -0.05177479
+v 0.02962376 0.00899816 -0.05184709
+v 0.02817584 0.01296445 -0.05154587
+v 0.02902177 0.01296445 0.00451687
+v 0.02251316 0.01296445 0.00451687
+v 0.02251316 0.00899816 -0.05702804
+v 0.02815765 0.01296445 -0.05157599
+v 0.02879023 0.00899816 -0.05246760
+v 0.02251316 0.01296445 -0.05604004
+v 0.02251316 0.01101333 -0.05652802
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 17
+f 1 17 19
+f 1 19 13
+f 1 13 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 9
+f 5 10 9
+f 5 9 15
+f 5 15 16
+f 5 16 11
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 18
+f 7 18 20
+f 7 20 16
+f 7 16 15
+f 7 15 8
+f 8 15 9
+f 11 16 20
+f 11 20 21
+f 11 21 17
+f 13 18 14
+f 13 19 20
+f 13 20 18
+f 17 21 19
+f 19 21 20
+
diff --git a/processed/fair_mon/assets/objects/convex/4.obj b/processed/fair_mon/assets/objects/convex/4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90d7ff09e84c8562ee565e8c5ecda8ead0e456bd
--- /dev/null
+++ b/processed/fair_mon/assets/objects/convex/4.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02301028 0.00899816 0.05595153
+v -0.02301028 0.01288136 0.05580654
+v -0.02473663 0.00899816 0.05614113
+v -0.02301028 0.00899816 -0.05779565
+v -0.02538559 0.01296406 0.05562810
+v -0.02301028 0.01296406 -0.05701496
+v -0.02685253 0.00899816 0.05598499
+v -0.02583570 0.00899816 -0.05547587
+v -0.02544072 0.01296406 -0.05502976
+v -0.02578870 0.01296406 0.05469126
+v -0.02555822 0.01270044 0.05563925
+v -0.03001148 0.01053405 0.04625977
+v -0.03029709 0.00899816 0.04612593
+v -0.02875874 0.00899816 -0.05275460
+v -0.02715080 0.01296406 -0.05335684
+v -0.02928207 0.01296406 0.04518910
+v -0.03070382 0.01296406 0.03846397
+v -0.03206954 0.00903116 0.03870933
+v -0.03224398 0.00899816 0.03443782
+v -0.03032240 0.00899816 -0.04916340
+v -0.02832671 0.01132101 -0.05255385
+v -0.03039019 0.00899816 -0.04870614
+v -0.02725113 0.01296406 -0.05267653
+v -0.03089363 0.01296406 0.03712564
+v -0.03102107 0.01296406 0.03360136
+v -0.03117292 0.01256572 0.03287643
+v -0.03049775 0.00899816 -0.04797005
+v -0.02998798 0.01084969 -0.04329704
+v -0.02897657 0.01239179 -0.04340857
+v -0.02887082 0.01296406 -0.04160182
+v -0.02999521 0.01296406 -0.00366007
+v -0.02910582 0.01260571 -0.04156836
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 19
+f 1 19 27
+f 1 27 22
+f 1 22 20
+f 1 20 14
+f 1 14 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 9
+f 4 9 6
+f 5 10 11
+f 5 11 7
+f 5 6 9
+f 5 9 15
+f 5 15 23
+f 5 23 30
+f 5 30 31
+f 5 31 25
+f 5 25 24
+f 5 24 17
+f 5 17 16
+f 5 16 10
+f 7 11 12
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 10 12 11
+f 10 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 17 24 18
+f 18 24 19
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 20 22 21
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+f 22 28 23
+f 23 28 29
+f 23 29 30
+f 25 31 28
+f 25 28 26
+f 26 28 27
+f 28 30 29
+f 28 31 32
+f 28 32 30
+f 30 32 31
+
diff --git a/processed/fair_mon/assets/objects/convex/5.obj b/processed/fair_mon/assets/objects/convex/5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17e1bdd3a80dba2de77f5b89cf116dbde42744df
--- /dev/null
+++ b/processed/fair_mon/assets/objects/convex/5.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.03285633 -0.00166153 -0.01311724
+v 0.03118378 -0.01048321 -0.04078213
+v 0.03152472 0.00529796 -0.04646167
+v 0.03227737 0.00411221 0.00105873
+v 0.03193643 0.00558182 0.03111681
+v 0.03221947 -0.00563350 0.01897907
+v -0.00449286 -0.01156830 -0.04330128
+v -0.00449286 -0.01156830 -0.05147708
+v 0.02229357 -0.01063419 -0.05526726
+v 0.03082997 -0.00688166 -0.05056103
+v 0.03135104 -0.00532750 0.04099877
+v 0.02437782 -0.00719571 0.05676638
+v -0.02989622 -0.00941623 0.04789209
+v 0.02184970 -0.00235205 -0.05672150
+v -0.03131788 0.00441419 -0.04634717
+v 0.03138963 0.00740977 -0.02394960
+v 0.03188496 0.00645151 -0.00108255
+v 0.03073991 0.00545096 0.04324310
+v 0.03092004 0.00899815 0.00798640
+v -0.03084185 -0.00819223 -0.04299211
+v 0.02543281 0.00588782 0.05634270
+v 0.01604726 -0.00716149 0.06025884
+v -0.02717512 -0.00708902 0.05778549
+v -0.03219918 -0.00529328 0.04107892
+v -0.03181964 -0.00811976 -0.00150623
+v -0.03286177 -0.00001880 0.01199415
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+v -0.03153660 0.00899815 0.00994447
+v -0.03028219 0.00899614 0.04610578
+v 0.01250919 0.00803385 0.05871300
+v 0.01542971 0.00057106 0.05996113
+v -0.02715582 0.00348008 0.05659462
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 6 11
+f 2 11 12
+f 2 12 13
+f 2 13 7
+f 3 10 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 5
+f 5 18 11
+f 5 11 6
+f 5 17 19
+f 5 19 18
+f 7 13 8
+f 8 20 15
+f 8 15 14
+f 8 14 9
+f 8 13 20
+f 9 14 10
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+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 20
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+f 15 28 16
+f 15 20 26
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+f 16 19 17
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+f 19 30 21
+f 20 25 26
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+f 21 31 22
+f 22 31 23
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+f 23 29 24
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+f 24 27 26
+f 24 26 25
+f 27 29 28
+f 29 32 30
+f 30 32 31
+
diff --git a/processed/fair_mon/assets/objects/convex/6.obj b/processed/fair_mon/assets/objects/convex/6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c0d4bcbd9e8fcb89903f3f4faec7de691122265
--- /dev/null
+++ b/processed/fair_mon/assets/objects/convex/6.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01780464 0.00411221 -0.04728114
+v -0.01780464 0.00411221 -0.04645262
+v -0.01780464 0.00473218 -0.04728114
+v 0.02011799 0.00411221 -0.04728114
+v -0.01780464 0.00473218 -0.04645262
+v 0.02011799 0.00411221 -0.04645262
+v 0.02011799 0.00473218 -0.04728114
+v 0.02011799 0.00473218 -0.04645262
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+
diff --git a/processed/fair_mon/assets/objects/convex/7.obj b/processed/fair_mon/assets/objects/convex/7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98e8c0d56bd19e0715bdb5aabfe894c963e0fcb8
--- /dev/null
+++ b/processed/fair_mon/assets/objects/convex/7.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.03102653 0.00899816 0.00601176
+v 0.03071445 0.01006029 0.00772652
+v 0.03044998 0.01038327 0.04123577
+v 0.03085197 0.00899816 0.03899025
+v 0.03087842 0.00899816 0.00452155
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+v 0.02933920 0.01241980 0.00452155
+v 0.02923341 0.01296406 0.02644597
+v 0.03082024 0.00899816 0.03967411
+v 0.02893191 0.01296406 0.04210335
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+v 0.02251055 0.01296406 -0.04565556
+v 0.02902183 0.01296406 0.00452155
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+v 0.01063049 0.01296406 0.05816901
+v 0.01597281 0.00899816 0.05833232
+v 0.02272212 0.00899816 0.05762804
+v -0.02300499 0.00899816 -0.04565556
+v -0.02300499 0.01296406 -0.04565556
+v 0.00566371 0.01296406 0.05782197
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+v -0.02301028 0.01296406 0.00452155
+v -0.02301028 0.01288098 0.05579080
+v 0.00419325 0.00899816 0.05817922
+v -0.02301028 0.00899816 0.05593370
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 12
+f 1 12 18
+f 1 18 17
+f 1 17 21
+f 1 21 20
+f 1 20 25
+f 1 25 29
+f 1 29 30
+f 1 30 26
+f 1 26 22
+f 1 22 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 11
+f 3 11 12
+f 3 12 9
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 14
+f 8 14 23
+f 8 23 27
+f 8 27 24
+f 8 24 19
+f 8 19 16
+f 8 16 10
+f 10 16 11
+f 11 17 18
+f 11 18 12
+f 11 16 19
+f 11 19 20
+f 11 20 21
+f 11 21 17
+f 13 22 23
+f 13 23 14
+f 19 24 25
+f 19 25 20
+f 22 26 27
+f 22 27 23
+f 24 28 29
+f 24 29 25
+f 24 27 28
+f 26 30 28
+f 26 28 27
+f 28 30 29
+
diff --git a/processed/fair_mon/assets/objects/visual.obj b/processed/fair_mon/assets/objects/visual.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d02e30ef2f962b4121e543167bd5ec16087ec28b
--- /dev/null
+++ b/processed/fair_mon/assets/objects/visual.obj
@@ -0,0 +1,5358 @@
+# https://github.com/mikedh/trimesh
+v -0.02917728 0.00273700 0.00619978
+v -0.02481982 -0.01609392 -0.00061408
+v -0.02940915 -0.00009063 -0.00467671
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+v 0.02368968 -0.02352736 -0.03173969
+v 0.02419138 -0.02280859 -0.01686712
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+v 0.02305005 -0.02413717 -0.01492758
+v 0.02597236 -0.02087017 -0.03561877
+v 0.02308206 -0.00933138 -0.05582484
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+v 0.02260033 -0.01341129 -0.05538180
+v 0.01855472 -0.01958225 -0.05494710
+v 0.00935811 -0.00763362 0.06050587
+v -0.02642485 -0.00869285 0.05809049
+v -0.01700040 -0.02149065 0.05839106
+v 0.01345170 -0.00807973 0.06084855
+v -0.02849569 -0.00516124 0.05753049
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+v -0.02264911 0.02122028 -0.04772252
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+v -0.02049634 0.02409161 -0.04977074
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+v 0.00931014 -0.00101653 0.05972850
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+v -0.01122979 0.02914881 0.04541694
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+v -0.00612478 0.03024542 0.04565093
+v -0.02609907 0.01870466 0.01014592
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diff --git a/processed/fair_mon/mano/right/cat/0/trajectory_keypoints.npz b/processed/fair_mon/mano/right/cat/0/trajectory_keypoints.npz
index 1dc64c90ab62fec864c2e7fc14c2a3c8f4ed5a98..43b0384d0a22fb03cb26f8c2d67f2b194b16cda3 100644
--- a/processed/fair_mon/mano/right/cat/0/trajectory_keypoints.npz
+++ b/processed/fair_mon/mano/right/cat/0/trajectory_keypoints.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7559fdec72abf1bc0e98373da0582460db6f0ea329056fb2c2daffed229e0380
-size 270
+oid sha256:9dd7310a64787af7922638b9671a0224d787cefa0d95caf4f28aed70f62233bb
+size 22000
diff --git a/processed/fair_mon/mano/right/cat/task_info.json b/processed/fair_mon/mano/right/cat/task_info.json
index 43451372fb61c066e79cbae716fdfb01fce86923..a18566fd149542befc797e8fe2d46321658aa1e9 100644
--- a/processed/fair_mon/mano/right/cat/task_info.json
+++ b/processed/fair_mon/mano/right/cat/task_info.json
@@ -2,13 +2,9 @@
   "task": "cat",
   "dataset_name": "fair_mon",
   "robot_type": "mano",
-  "hand_type": "right",
+  "embodiment_type": "right",
   "data_id": 0,
-<<<<<<< HEAD
-  "right_object_mesh_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/cat",
-=======
   "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat",
->>>>>>> 62480b5 (:zap: add dexmachina set)
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex"
+  "right_object_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat/convex"
 }
\ No newline at end of file
diff --git a/processed/fair_mon/mano/right/coke/0/trajectory_keypoints.npz b/processed/fair_mon/mano/right/coke/0/trajectory_keypoints.npz
index c0a6095b6f4fd7a403140d29164c88e8894d0003..68f0f1e92ccff91b7f226f1401674297d88e15b9 100644
--- a/processed/fair_mon/mano/right/coke/0/trajectory_keypoints.npz
+++ b/processed/fair_mon/mano/right/coke/0/trajectory_keypoints.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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 size 22000
diff --git a/processed/fair_mon/mano/right/coke/task_info.json b/processed/fair_mon/mano/right/coke/task_info.json
index 0792ebcbc108299d7aced4305a8026ba5e25c215..498e9544af47addfb1a658717736f3cb29968e82 100644
--- a/processed/fair_mon/mano/right/coke/task_info.json
+++ b/processed/fair_mon/mano/right/coke/task_info.json
@@ -2,14 +2,9 @@
   "task": "coke",
   "dataset_name": "fair_mon",
   "robot_type": "mano",
-  "hand_type": "right",
+  "embodiment_type": "right",
   "data_id": 0,
-<<<<<<< HEAD
-  "right_object_mesh_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/coke",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_mon/assets/objects/coke/convex",
-=======
-  "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat",
-  "right_object_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat/convex",
->>>>>>> 62480b5 (:zap: add dexmachina set)
-  "left_object_mesh_dir": null
+  "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/",
+  "left_object_mesh_dir": null,
+  "right_object_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects//convex"
 }
\ No newline at end of file
diff --git a/processed/hdmi/g1/none/move_suitcase/0/trajectory_reference.npz b/processed/hdmi/g1/none/move_suitcase/0/trajectory_reference.npz
deleted file mode 100644
index f5144bd02082ea4a5c4b4446267a3b13068561ab..0000000000000000000000000000000000000000
--- a/processed/hdmi/g1/none/move_suitcase/0/trajectory_reference.npz
+++ /dev/null
@@ -1,3 +0,0 @@
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similarity index 100%
rename from processed/hdmi/g1/none/move_largebox/0/trajectory_hdmi.npz
rename to processed/hdmi/unitree_g1/humanoid/move_largebox/0/trajectory_hdmi.npz
diff --git a/processed/hdmi/unitree_g1/humanoid/move_largebox/0/trajectory_kinematic.npz b/processed/hdmi/unitree_g1/humanoid/move_largebox/0/trajectory_kinematic.npz
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--- /dev/null
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similarity index 100%
rename from processed/hdmi/g1/none/move_largebox/0/visualization_hdmi.mp4
rename to processed/hdmi/unitree_g1/humanoid/move_largebox/0/visualization_hdmi.mp4
diff --git a/processed/hdmi/unitree_g1/humanoid/move_largebox/1/trajectory_hdmi.npz b/processed/hdmi/unitree_g1/humanoid/move_largebox/1/trajectory_hdmi.npz
new file mode 100644
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--- /dev/null
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new file mode 100644
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+++ b/processed/hdmi/unitree_g1/humanoid/move_largebox/1/trajectory_kinematic.npz
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new file mode 100644
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+++ b/processed/hdmi/unitree_g1/humanoid/move_largebox/1/visualization_hdmi.mp4
@@ -0,0 +1,3 @@
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new file mode 100644
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--- /dev/null
+++ b/processed/hdmi/unitree_g1/humanoid/move_largebox/scene.zip
@@ -0,0 +1,3 @@
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similarity index 100%
rename from processed/hdmi/g1/none/move_suitcase/0/trajectory_hdmi.npz
rename to processed/hdmi/unitree_g1/humanoid/move_suitcase/0/trajectory_hdmi.npz
diff --git a/processed/hdmi/unitree_g1/humanoid/move_suitcase/0/trajectory_kinematic.npz b/processed/hdmi/unitree_g1/humanoid/move_suitcase/0/trajectory_kinematic.npz
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+++ b/processed/hdmi/unitree_g1/humanoid/move_suitcase/0/trajectory_kinematic.npz
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diff --git a/processed/hdmi/g1/none/move_suitcase/0/visualization_hdmi.mp4 b/processed/hdmi/unitree_g1/humanoid/move_suitcase/0/visualization_hdmi.mp4
similarity index 100%
rename from processed/hdmi/g1/none/move_suitcase/0/visualization_hdmi.mp4
rename to processed/hdmi/unitree_g1/humanoid/move_suitcase/0/visualization_hdmi.mp4
diff --git a/processed/hdmi/unitree_g1/humanoid/move_suitcase/1/trajectory_hdmi.npz b/processed/hdmi/unitree_g1/humanoid/move_suitcase/1/trajectory_hdmi.npz
new file mode 100644
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+++ b/processed/hdmi/unitree_g1/humanoid/move_suitcase/1/trajectory_hdmi.npz
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@@ -0,0 +1,3 @@
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diff --git a/processed/hdmi/g1/none/move_suitcase/scene.zip b/processed/hdmi/unitree_g1/humanoid/move_suitcase/scene.zip
similarity index 100%
rename from processed/hdmi/g1/none/move_suitcase/scene.zip
rename to processed/hdmi/unitree_g1/humanoid/move_suitcase/scene.zip
diff --git a/processed/lafan/assets/robots/unitree_g1/scene.xml b/processed/lafan/assets/robots/unitree_g1/scene.xml
index 9824b7362fbe0f16295f2d985e72aafa30ba0524..e7dcb9491226d43c0a81650218b576f5a56b11e5 100644
--- a/processed/lafan/assets/robots/unitree_g1/scene.xml
+++ b/processed/lafan/assets/robots/unitree_g1/scene.xml
@@ -1,5 +1,5 @@
 <mujoco model="g1 scene">
-  <compiler angle="radian" meshdir="../../../assets/robots/g1/meshes" autolimits="true" />
+  <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
 
   <!-- performance options -->
   <option timestep="0.02" iterations="2" ls_iterations="10">
diff --git a/processed/lafan/unitree_g1/humanoid/dance/0/trajectory_ik.npz b/processed/lafan/unitree_g1/humanoid/dance/0/trajectory_ik.npz
new file mode 100644
index 0000000000000000000000000000000000000000..30c6d0d125f7e1206a0157613dec4d995e2940a4
--- /dev/null
+++ b/processed/lafan/unitree_g1/humanoid/dance/0/trajectory_ik.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf2d5c5a2e9fa8a2832ed0d274cdb8e704fab92537e3b62e7fd61c3bcdc4bc7e
+size 320742
diff --git a/processed/lafan/unitree_g1/humanoid/dance/0/visualization_ik.mp4 b/processed/lafan/unitree_g1/humanoid/dance/0/visualization_ik.mp4
index 6151a9625b9051d8a2734822fc0fd15d0df7a87c..1a89d6fc70be25c7923a3ab086a11920658037fb 100644
--- a/processed/lafan/unitree_g1/humanoid/dance/0/visualization_ik.mp4
+++ b/processed/lafan/unitree_g1/humanoid/dance/0/visualization_ik.mp4
@@ -1,3 +1,3 @@
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+size 569412
diff --git a/processed/lafan/unitree_g1/humanoid/dance/0/visualization_kinematic.mp4 b/processed/lafan/unitree_g1/humanoid/dance/0/visualization_kinematic.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..114987c6de53fd9da95e56d39160a026ca13c4b3
--- /dev/null
+++ b/processed/lafan/unitree_g1/humanoid/dance/0/visualization_kinematic.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fbb12f6721189f4dad8e3e32d5f957c709024f7c367f36e04d1b06ae84b5b44
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diff --git a/processed/lafan/unitree_g1/humanoid/dance/scene.xml b/processed/lafan/unitree_g1/humanoid/dance/scene.xml
index 9824b7362fbe0f16295f2d985e72aafa30ba0524..e7dcb9491226d43c0a81650218b576f5a56b11e5 100644
--- a/processed/lafan/unitree_g1/humanoid/dance/scene.xml
+++ b/processed/lafan/unitree_g1/humanoid/dance/scene.xml
@@ -1,5 +1,5 @@
 <mujoco model="g1 scene">
-  <compiler angle="radian" meshdir="../../../assets/robots/g1/meshes" autolimits="true" />
+  <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
 
   <!-- performance options -->
   <option timestep="0.02" iterations="2" ls_iterations="10">
diff --git a/processed/omomo/assets/robots/unitree_g1/LICENSE b/processed/omomo/assets/robots/unitree_g1/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..6dfdadaa90baa4f7bea7400d3c4e8b9c784ae37f
--- /dev/null
+++ b/processed/omomo/assets/robots/unitree_g1/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
diff --git a/processed/omomo/assets/robots/unitree_g1/MUJOCO_LOG.TXT b/processed/omomo/assets/robots/unitree_g1/MUJOCO_LOG.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..5ee7281b5be10feeb20941a78472a2fa4c7dba4c
--- /dev/null
+++ b/processed/omomo/assets/robots/unitree_g1/MUJOCO_LOG.TXT
@@ -0,0 +1,6 @@
+Sat Nov  1 10:38:38 2025
+ERROR: could not initialize GLFW
+
+Sat Nov  1 11:48:42 2025
+ERROR: could not initialize GLFW
+
diff --git a/processed/omomo/assets/robots/unitree_g1/README.md b/processed/omomo/assets/robots/unitree_g1/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..3bf2d267f390df06cce99b984e48e6bdb4f574ef
--- /dev/null
+++ b/processed/omomo/assets/robots/unitree_g1/README.md
@@ -0,0 +1,32 @@
+File comes from GMR/assets/unitree_g1
+
+# Unitree G1 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
+
+MJCF/URDF for the G1 robot:
+
+| MJCF/URDF file name           | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
+| ----------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
+| `g1_23dof`                    |       1        |           14.5           | Beta          |   6*2   |     1     |   5*2   |    0     |
+| `g1_29dof`                    |       2        |           14.5           | Beta          |   6*2   |     3     |   7*2   |    0     |
+| `g1_29dof_with_hand`          |       2        |           14.5           | Beta          |   6*2   |     3     |   7*2   |   7*2    |
+| `g1_29dof_lock_waist`         |       3        |           14.5           | Beta          |   6*2   |     1     |   7*2   |    0     |
+| `g1_23dof_rev_1_0`            |       4        |           22.5           | Up-to-date    |   6*2   |     1     |   5*2   |    0     |
+| `g1_29dof_rev_1_0`            |       5        |           22.5           | Up-to-date    |   6*2   |     3     |   7*2   |    0     |
+| `g1_29dof_with_hand_rev_1_0`  |       5        |           22.5           | Up-to-date    |   6*2   |     3     |   7*2   |   7*2    |
+| `g1_29dof_lock_waist_rev_1_0` |       6        |           22.5           | Up-to-date    |   6*2   |     1     |   7*2   |    0     |
+| `g1_dual_arm`                 |       9        |           null           | Up-to-date    |    0    |     0     |   7*2   |    0     |
+
+## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
+
+1. Open MuJoCo Viewer
+
+   ```bash
+   pip install mujoco
+   python -m mujoco.viewer
+   ```
+
+2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
diff --git a/processed/omomo/assets/robots/unitree_g1/g1_custom_collision_29dof.urdf b/processed/omomo/assets/robots/unitree_g1/g1_custom_collision_29dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89ad14234f5a73e5a38cc532dd149cb8e74fded7
--- /dev/null
+++ b/processed/omomo/assets/robots/unitree_g1/g1_custom_collision_29dof.urdf
@@ -0,0 +1,1116 @@
+<robot name="g1_29dof_rev_1_0">
+  <!-- <mujoco>
+    <compiler meshdir="meshes" discardvisual="false"/>
+  </mujoco> -->
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world"/>
+    <child link="pelvis"/>
+  </joint> -->
+
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="0 0 -0.07605" rpy="0 0 0"/>
+      <mass value="3.813"/>
+      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/pelvis.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="pelvis_contour_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/pelvis_contour_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/pelvis_contour_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="pelvis_contour_joint" type="fixed">
+    <parent link="pelvis"/>
+    <child link="pelvis_contour_link"/>
+  </joint>
+
+  <!-- Legs -->
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
+      <mass value="1.35"/>
+      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="left_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
+      <mass value="1.52"/>
+      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
+    <parent link="left_hip_pitch_link"/>
+    <child link="left_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20"/>
+  </joint>
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
+      <mass value="1.702"/>
+      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.025 0 -0.1" rpy="0 0.52 0" />
+      <geometry>
+          <cylinder radius="0.03" length="0.2" />
+      </geometry>
+    </collision>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
+    <parent link="left_hip_roll_link"/>
+    <child link="left_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
+      <mass value="1.932"/>
+      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.007 0.005 -0.15" rpy="0 0 0" />
+      <geometry>
+          <cylinder radius="0.03" length="0.15" />
+      </geometry>
+    </collision>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
+    <parent link="left_hip_yaw_link"/>
+    <child link="left_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
+      <mass value="0.074"/>
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
+    <parent link="left_knee_link"/>
+    <child link="left_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
+      <mass value="0.608"/>
+      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_roll_link.STL"/>
+      </geometry>
+    </collision> -->
+    <!-- <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision> -->
+    <collision name="l_foot_1">
+      <origin rpy="0 1.5708 0" xyz="0.05 0.02 -0.02" />
+      <geometry>
+          <cylinder length="0.15" radius="0.02" />
+      </geometry>
+    </collision>
+    <collision name="l_foot_2">
+      <origin rpy="0 1.5708 0" xyz="0.05 -0.02 -0.02" />
+      <geometry>
+          <cylinder length="0.15" radius="0.02" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
+    <parent link="left_ankle_pitch_link"/>
+    <child link="left_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
+  </joint>
+  <link name="left_toe_link"></link>
+  <joint name="left_toe_joint" type="fixed">
+    <origin xyz="0.12 0.0 -0.039" rpy="0 0 0"/>
+    <parent link="left_ankle_roll_link"/>
+    <child link="left_toe_link"/>
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
+      <mass value="1.35"/>
+      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="right_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
+      <mass value="1.52"/>
+      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
+    <parent link="right_hip_pitch_link"/>
+    <child link="right_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20"/>
+  </joint>
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
+      <mass value="1.702"/>
+      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.025 0 -0.1" rpy="0 0.52 0" />
+      <geometry>
+          <cylinder radius="0.03" length="0.2" />
+      </geometry>
+    </collision>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
+    <parent link="right_hip_roll_link"/>
+    <child link="right_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
+      <mass value="1.932"/>
+      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.007 -0.005 -0.15" rpy="0 0 0" />
+      <geometry>
+          <cylinder radius="0.03" length="0.15" />
+      </geometry>
+    </collision>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
+    <parent link="right_hip_yaw_link"/>
+    <child link="right_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
+      <mass value="0.074"/>
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
+    <parent link="right_knee_link"/>
+    <child link="right_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
+      <mass value="0.608"/>
+      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_roll_link.STL"/>
+      </geometry>
+    </collision> -->
+    <!-- <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision> -->
+    <collision name="r_foot_1">
+      <origin rpy="0 1.5708 0" xyz="0.05 0.02 -0.02" />
+      <geometry>
+          <cylinder length="0.15" radius="0.02" />
+      </geometry>
+    </collision>
+    <collision name="r_foot_2">
+      <origin rpy="0 1.5708 0" xyz="0.05 -0.02 -0.02" />
+      <geometry>
+          <cylinder length="0.15" radius="0.02" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
+    <parent link="right_ankle_pitch_link"/>
+    <child link="right_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
+  </joint>
+  <link name="right_toe_link"></link>
+  <joint name="right_toe_joint" type="fixed">
+    <origin xyz="0.12 0.0 -0.039" rpy="0 0 0"/>
+    <parent link="right_ankle_roll_link"/>
+    <child link="right_toe_link"/>
+  </joint>
+
+  <!-- Torso -->
+  <link name="waist_yaw_link">
+    <inertial>
+      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0"/>
+      <mass value="0.214"/>
+      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/waist_yaw_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="waist_yaw_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="waist_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
+  </joint>
+  <link name="waist_roll_link">
+    <inertial>
+      <origin xyz="0 2.3E-05 0" rpy="0 0 0"/>
+      <mass value="0.086"/>
+      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/waist_roll_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="waist_roll_joint" type="revolute">
+    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
+    <parent link="waist_yaw_link"/>
+    <child link="waist_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
+  </joint>
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
+      <mass value="6.78"/>
+      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL"/>
+      </geometry>
+    </collision> -->
+    <collision>
+      <origin
+          xyz="0 0 0.1"
+          rpy="0 0 0" />
+      <geometry>
+          <cylinder length="0.35" radius="0.08" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="waist_pitch_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="waist_roll_link"/>
+    <child link="torso_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
+  </joint>
+
+  <!-- Head -->
+  <link name="head_link">
+    <inertial>
+      <origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
+      <mass value="1.036"/>
+      <inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/head_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/head_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="head_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="head_link"/>
+  </joint>
+
+  <link name="head_mocap"></link>
+  <joint name="head_mocap_joint" type="fixed">
+    <origin xyz="0 0 0.4" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="head_mocap"/>
+  </joint>
+
+  <!-- IMU -->
+  <link name="imu_in_torso"></link>
+  <joint name="imu_in_torso_joint" type="fixed">
+    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="imu_in_torso"/>
+  </joint>
+
+  <!-- Arm -->
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
+      <mass value="0.718"/>
+      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.05"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
+    <parent link="torso_link"/>
+    <child link="left_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
+      <mass value="0.643"/>
+      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
+    <parent link="left_shoulder_pitch_link"/>
+    <child link="left_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
+      <mass value="0.734"/>
+      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.05" rpy="0 0 0" />
+      <geometry>
+          <cylinder radius="0.03" length="0.1" />
+      </geometry>
+    </collision>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
+    <parent link="left_shoulder_roll_link"/>
+    <child link="left_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
+      <mass value="0.6"/>
+      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.15 0 0" rpy="0 1.57 0" />
+      <geometry>
+          <cylinder radius="0.03" length="0.15" />
+      </geometry>
+    </collision>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
+    <parent link="left_shoulder_yaw_link"/>
+    <child link="left_elbow_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
+  </joint>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="left_elbow_link"/>
+    <child link="left_wrist_roll_link"/>
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
+  </joint>
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0"/>
+      <mass value="0.08544498"/>
+      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="left_wrist_roll_link"/>
+    <child link="left_wrist_pitch_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0 0 0"/>
+      <mass value="0.48404956"/>
+      <inertia ixx="0.00016579646273" ixy="-0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="0.00000081417712" izz="0.00042953697654"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_wrist_pitch_link"/>
+    <child link="left_wrist_yaw_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0"/>
+      <mass value="0.08457647"/>
+      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 0.003 0" rpy="0 0 0"/>
+    <parent link="left_wrist_yaw_link"/>
+    <child link="left_rubber_hand"/>
+  </joint>
+  <link name="left_rubber_hand">
+    <inertial>
+      <origin xyz="0.05361310808 -0.00295905240 0.00215413091" rpy="0 0 0"/>
+      <mass value="0.170"/>
+      <inertia ixx="0.00010099485234748" ixy="0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="0.00000330189743286" izz="0.00021894770413514"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_rubber_hand.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
+      <mass value="0.718"/>
+      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.05"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
+    <parent link="torso_link"/>
+    <child link="right_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
+      <mass value="0.643"/>
+      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
+    <parent link="right_shoulder_pitch_link"/>
+    <child link="right_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
+      <mass value="0.734"/>
+      <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.05" rpy="0 0 0" />
+      <geometry>
+          <cylinder radius="0.03" length="0.1" />
+      </geometry>
+    </collision>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
+    <parent link="right_shoulder_roll_link"/>
+    <child link="right_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
+      <mass value="0.6"/>
+      <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.15 0 0" rpy="0 1.57 0" />
+      <geometry>
+          <cylinder radius="0.03" length="0.15" />
+      </geometry>
+    </collision>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
+    <parent link="right_shoulder_yaw_link"/>
+    <child link="right_elbow_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
+  </joint>
+  <joint name="right_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="right_elbow_link"/>
+    <child link="right_wrist_roll_link"/>
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
+  </joint>
+  <link name="right_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0"/>
+      <mass value="0.08544498"/>
+      <inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="right_wrist_roll_link"/>
+    <child link="right_wrist_pitch_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="right_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 0.00111685314 -0.00111658096" rpy="0 0 0"/>
+      <mass value="0.48404956"/>
+      <inertia ixx="0.00016579646273" ixy="0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="-0.00000081417712" izz="0.00042953697654"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="right_wrist_pitch_link"/>
+    <child link="right_wrist_yaw_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="right_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0"/>
+      <mass value="0.08457647"/>
+      <inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_yaw_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 -0.003 0" rpy="0 0 0"/>
+    <parent link="right_wrist_yaw_link"/>
+    <child link="right_rubber_hand"/>
+  </joint>
+  <link name="right_rubber_hand">
+    <inertial>
+      <origin xyz="0.05361310808 0.00295905240 0.00215413091" rpy="0 0 0"/>
+      <mass value="0.170"/>
+      <inertia ixx="0.00010099485234748" ixy="-0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="-0.00000330189743286" izz="0.00021894770413514"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_rubber_hand.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/processed/omomo/assets/robots/unitree_g1/g1_mocap_29dof.xml b/processed/omomo/assets/robots/unitree_g1/g1_mocap_29dof.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e383b22421d764843b616f9d8a8378e44cf7a561
--- /dev/null
+++ b/processed/omomo/assets/robots/unitree_g1/g1_mocap_29dof.xml
@@ -0,0 +1,319 @@
+<mujoco model="g1_mocap">
+  <compiler angle="radian" meshdir="meshes"/>
+
+  <default>
+    <motor ctrlrange="-1 1" ctrllimited="true"/>
+    <joint actuatorfrclimited="true" type="hinge"/>
+  </default>
+
+  <asset>
+    <mesh name="pelvis" file="pelvis.STL"/>
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
+    <mesh name="left_knee_link" file="left_knee_link.STL"/>
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
+    <mesh name="right_knee_link" file="right_knee_link.STL"/>
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
+    <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
+    <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
+    <mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
+    <mesh name="logo_link" file="logo_link.STL"/>
+    <mesh name="head_link" file="head_link.STL"/>
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
+    <mesh name="left_elbow_link" file="left_elbow_link.STL"/>
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
+    <mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
+    <mesh name="right_elbow_link" file="right_elbow_link.STL"/>
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
+    <mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
+  </asset>
+
+  <worldbody>
+    <body name="pelvis" pos="0 0 0.793">
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
+      <freejoint name="pelvis"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" actuatorfrcrange="-88 88"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 1.57" actuatorfrcrange="-139 139"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.57 1.57" actuatorfrcrange="-88 88"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <body name="left_toe_link" pos="0.1 0 -0.02"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="pelvis_contour_link" pos="0 0 0"></body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" actuatorfrcrange="-88 88"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.57 0.5236" actuatorfrcrange="-139 139"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.57 1.57" actuatorfrcrange="-88 88"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <body name="right_toe_link" pos="0.1 0 -0.02"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205"/>
+        <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.57 1.57" actuatorfrcrange="-88 88"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
+          <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
+          <body name="torso_link">
+            <inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
+            <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
+            <body name="head_link" pos="0.0039635 0 -0.044">
+              <inertial pos="0.0001 0.0001 0.0001" quat="1.0 0.0 0.0 0.0" mass="1.036" diaginertia="0.004 0.004 0.002"/>
+            </body>
+            <body name="head_mocap" pos="0.0000 0.0000 0.4000"></body>
+            <geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
+            <geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
+            <body name="imu_in_torso" pos="-0.03959 -0.00224 0.14792"></body>
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 1.149" actuatorfrcrange="-25 25"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
+              <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.6 2.2515" actuatorfrcrange="-25 25"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
+                <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.4 2.0" actuatorfrcrange="-25 25"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.7" actuatorfrcrange="-25 25"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
+                          <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
+                          <body name="left_rubber_hand" pos="0.0415 0.003 0" quat="1 0 0 0">
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 1.149" actuatorfrcrange="-25 25"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
+              <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 0.6" actuatorfrcrange="-25 25"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
+                <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.0 1.4" actuatorfrcrange="-25 25"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.7" actuatorfrcrange="-25 25"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
+                          <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
+                          <body name="right_rubber_hand" pos="0.0415 -0.003 0" quat="1 0 0 0">
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
+    <motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
+    <motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
+    <motor name="left_knee_joint" joint="left_knee_joint"/>
+    <motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
+    <motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
+    <motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
+    <motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
+    <motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
+    <motor name="right_knee_joint" joint="right_knee_joint"/>
+    <motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
+    <motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
+    <motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
+    <motor name="waist_roll_joint" joint="waist_roll_joint"/>
+    <motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
+    <motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
+    <motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
+    <motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
+    <motor name="left_elbow_joint" joint="left_elbow_joint"/>
+    <motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
+    <motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
+    <motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
+    <motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
+    <motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
+    <motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
+    <motor name="right_elbow_joint" joint="right_elbow_joint"/>
+    <motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
+    <motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
+    <motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
+  </actuator>
+
+   <sensor>
+    <framequat name='orientation' objtype='site' noise='0.001' objname='imu_in_pelvis'/>
+    <framepos name='position' objtype='site' noise='0.001' objname='imu_in_pelvis'/>
+    <gyro name='angular-velocity' cutoff='34.9' noise='0.005' site='imu_in_pelvis'/>
+  </sensor>
+
+
+  <!-- setup scene -->
+  <statistic center="1.0 0.7 1.0" extent="0.8"/>
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-140" elevation="-20" offwidth="2080" offheight="1170"/>
+  </visual>
+  <asset>
+     <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="800" height="800"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="0 0 0"
+      width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0"/>
+    <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0" width="100" height="100"/>
+    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+    <texture name="texplane" builtin="checker" height="512" width="512" rgb1=".2 .3 .4" rgb2=".1 .15 .2" type="2d" />
+    <material name="MatPlane" reflectance="0.5" shininess="0.01" specular="0.1" texrepeat="1 1" texture="texplane" texuniform="true" />
+    <material name="geom" texture="texgeom" texuniform="true"/>
+  </asset>
+   <worldbody>
+    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" contype="1" conaffinity="0" priority="1"
+      friction="0.6" condim="3"/>
+
+        <light diffuse=".5 .5 .5" pos="-3 -3 5" dir="3 3 -5" castshadow="true"/>
+
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/processed/omomo/assets/robots/unitree_g1/g1_mocap_29dof_with_hands.xml b/processed/omomo/assets/robots/unitree_g1/g1_mocap_29dof_with_hands.xml
new file mode 100644
index 0000000000000000000000000000000000000000..75ef5db86cc7d2abf34d9b3b23bafdb3c13e2d21
--- /dev/null
+++ b/processed/omomo/assets/robots/unitree_g1/g1_mocap_29dof_with_hands.xml
@@ -0,0 +1,560 @@
+<mujoco model="g1_29dof_with_hands_scene">
+   <compiler angle="radian" meshdir="meshes"/>
+
+  <option integrator="implicitfast"/>
+
+  <default>
+    <default class="g1">
+      <site rgba="1 0 0 1" size="0.01" group="5"/>
+      <joint armature="0.01" frictionloss="0.3"/>
+      <position kp="500" dampratio="1" inheritrange="1"/>
+      <default class="visual">
+        <geom group="2" type="mesh" contype="0" conaffinity="0" density="0" material="metal"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="mesh"/>
+        <default class="foot">
+          <geom type="sphere" size="0.005" priority="1" friction="0.6" condim="3"/>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material name="black" rgba="0.2 0.2 0.2 1"/>
+    <material name="metal" rgba="0.7 0.7 0.7 1"/>
+
+    <mesh file="pelvis.STL"/>
+    <mesh file="pelvis_contour_link.STL"/>
+    <mesh file="left_hip_pitch_link.STL"/>
+    <mesh file="left_hip_roll_link.STL"/>
+    <mesh file="left_hip_yaw_link.STL"/>
+    <mesh file="left_knee_link.STL"/>
+    <mesh file="left_ankle_pitch_link.STL"/>
+    <mesh file="left_ankle_roll_link.STL"/>
+    <mesh file="right_hip_pitch_link.STL"/>
+    <mesh file="right_hip_roll_link.STL"/>
+    <mesh file="right_hip_yaw_link.STL"/>
+    <mesh file="right_knee_link.STL"/>
+    <mesh file="right_ankle_pitch_link.STL"/>
+    <mesh file="right_ankle_roll_link.STL"/>
+    <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
+    <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
+    <mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
+    <mesh file="logo_link.STL"/>
+    <mesh file="head_link.STL"/>
+    <mesh file="left_shoulder_pitch_link.STL"/>
+    <mesh file="left_shoulder_roll_link.STL"/>
+    <mesh file="left_shoulder_yaw_link.STL"/>
+    <mesh file="left_elbow_link.STL"/>
+    <mesh file="left_wrist_roll_link.STL"/>
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
+    <mesh file="left_wrist_yaw_link.STL"/>
+    <mesh file="left_hand_palm_link.STL"/>
+    <mesh file="left_hand_thumb_0_link.STL"/>
+    <mesh file="left_hand_thumb_1_link.STL"/>
+    <mesh file="left_hand_thumb_2_link.STL"/>
+    <mesh file="left_hand_middle_0_link.STL"/>
+    <mesh file="left_hand_middle_1_link.STL"/>
+    <mesh file="left_hand_index_0_link.STL"/>
+    <mesh file="left_hand_index_1_link.STL"/>
+    <mesh file="right_shoulder_pitch_link.STL"/>
+    <mesh file="right_shoulder_roll_link.STL"/>
+    <mesh file="right_shoulder_yaw_link.STL"/>
+    <mesh file="right_elbow_link.STL"/>
+    <mesh file="right_wrist_roll_link.STL"/>
+    <mesh file="right_wrist_pitch_link.STL"/>
+    <mesh file="right_wrist_yaw_link.STL"/>
+    <mesh file="right_hand_palm_link.STL"/>
+    <mesh file="right_hand_thumb_0_link.STL"/>
+    <mesh file="right_hand_thumb_1_link.STL"/>
+    <mesh file="right_hand_thumb_2_link.STL"/>
+    <mesh file="right_hand_middle_0_link.STL"/>
+    <mesh file="right_hand_middle_1_link.STL"/>
+    <mesh file="right_hand_index_0_link.STL"/>
+    <mesh file="right_hand_index_1_link.STL"/>
+  </asset>
+
+  <worldbody>
+    <body name="pelvis" pos="0 0 0.793" childclass="g1">
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
+      <freejoint name="floating_base_joint"/>
+      <geom class="visual" material="black" mesh="pelvis"/>
+      <geom class="visual" mesh="pelvis_contour_link"/>
+      <geom class="collision" mesh="pelvis_contour_link"/>
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="left_hip_pitch_joint" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
+        <geom class="visual" material="black" mesh="left_hip_pitch_link"/>
+        <geom class="collision" mesh="left_hip_pitch_link"/>
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="left_hip_roll_joint" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
+          <geom class="visual" mesh="left_hip_roll_link"/>
+          <geom class="collision" mesh="left_hip_roll_link"/>
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="left_hip_yaw_joint" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
+            <geom class="visual" mesh="left_hip_yaw_link"/>
+            <geom class="collision" mesh="left_hip_yaw_link"/>
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
+                diaginertia="0.0113804 0.0112778 0.00146458"/>
+              <joint name="left_knee_joint" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
+              <geom class="visual" mesh="left_knee_link"/>
+              <geom class="collision" mesh="left_knee_link"/>
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
+                <joint name="left_ankle_pitch_joint" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
+                <geom class="visual" mesh="left_ankle_pitch_link"/>
+                <geom class="collision" mesh="left_ankle_pitch_link"/>
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621"/>
+                  <joint name="left_ankle_roll_joint" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
+                  <geom class="visual" material="black" mesh="left_ankle_roll_link"/>
+                  <geom class="foot" pos="-0.05 0.025 -0.03"/>
+                  <geom class="foot" pos="-0.05 -0.025 -0.03"/>
+                  <geom class="foot" pos="0.12 0.03 -0.03"/>
+                  <geom class="foot" pos="0.12 -0.03 -0.03"/>
+                  <site name="left_foot"/>
+                  <body name="left_toe_link" pos="0.1 0 -0.02"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212"/>
+        <joint name="right_hip_pitch_joint" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
+        <geom class="visual" material="black" mesh="right_hip_pitch_link"/>
+        <geom class="collision" mesh="right_hip_pitch_link"/>
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755"/>
+          <joint name="right_hip_roll_joint" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
+          <geom class="visual" mesh="right_hip_roll_link"/>
+          <geom class="collision" mesh="right_hip_roll_link"/>
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139"/>
+            <joint name="right_hip_yaw_joint" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
+            <geom class="visual" mesh="right_hip_yaw_link"/>
+            <geom class="collision" mesh="right_hip_yaw_link"/>
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
+                diaginertia="0.011374 0.0112843 0.00146452"/>
+              <joint name="right_knee_joint" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
+              <geom class="visual" mesh="right_knee_link"/>
+              <geom class="collision" mesh="right_knee_link"/>
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
+                <joint name="right_ankle_pitch_joint" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
+                <geom class="visual" mesh="right_ankle_pitch_link"/>
+                <geom class="collision" mesh="right_ankle_pitch_link"/>
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621"/>
+                  <joint name="right_ankle_roll_joint" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
+                  <geom class="visual" material="black" mesh="right_ankle_roll_link"/>
+                  <geom class="foot" pos="-0.05 0.025 -0.03"/>
+                  <geom class="foot" pos="-0.05 -0.025 -0.03"/>
+                  <geom class="foot" pos="0.12 0.03 -0.03"/>
+                  <geom class="foot" pos="0.12 -0.03 -0.03"/>
+                  <site name="right_foot"/>
+                  <body name="right_toe_link" pos="0.1 0 -0.02"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214"
+          diaginertia="0.000163531 0.000107714 0.000102205"/>
+        <joint name="waist_yaw_joint" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
+        <geom class="visual" mesh="waist_yaw_link"/>
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
+          <joint name="waist_roll_joint" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
+          <geom class="visual" mesh="waist_roll_link"/>
+          <body name="torso_link">
+            <inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986"
+              mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
+            <joint name="waist_pitch_joint" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
+            <geom class="visual" mesh="torso_link"/>
+            <geom class="collision" mesh="torso_link"/>
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" class="visual" material="black" mesh="logo_link"/>
+            <geom pos="0.0039635 0 -0.044" class="visual" material="black" mesh="head_link"/>
+            <geom pos="0.0039635 0 -0.044" class="collision" mesh="head_link"/>
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
+              quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="left_shoulder_pitch_joint" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
+              <geom class="visual" mesh="left_shoulder_pitch_link"/>
+              <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" class="collision"/>
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="left_shoulder_roll_joint" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
+                <geom class="visual" mesh="left_shoulder_roll_link"/>
+                <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" class="collision"/>
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="left_shoulder_yaw_joint" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
+                  <geom class="visual" mesh="left_shoulder_yaw_link"/>
+                  <geom class="collision" mesh="left_shoulder_yaw_link"/>
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="left_elbow_joint" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
+                    <geom class="visual" mesh="left_elbow_link"/>
+                    <geom class="collision" mesh="left_elbow_link"/>
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="left_wrist_roll_joint" axis="1 0 0" range="-1.97222 1.97222"
+                        actuatorfrcrange="-25 25"/>
+                      <geom class="visual" mesh="left_wrist_roll_link"/>
+                      <geom class="collision" mesh="left_wrist_roll_link"/>
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="left_wrist_pitch_joint" axis="0 1 0" range="-1.61443 1.61443"
+                          actuatorfrcrange="-5 5"/>
+                        <geom class="visual" mesh="left_wrist_pitch_link"/>
+                        <geom class="collision" mesh="left_wrist_pitch_link"/>
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0885506 0.00212216 -0.000374562" quat="0.487149 0.493844 0.513241 0.505358"
+                            mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
+                          <joint name="left_wrist_yaw_joint" axis="0 0 1" range="-1.61443 1.61443"
+                            actuatorfrcrange="-5 5"/>
+                          <geom class="visual" mesh="left_wrist_yaw_link"/>
+                          <geom class="collision" mesh="left_wrist_yaw_link"/>
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" class="visual" mesh="left_hand_palm_link"/>
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" class="collision" mesh="left_hand_palm_link"/>
+                          <body name="left_hand_thumb_0_link" pos="0.067 0.003 0">
+                            <inertial pos="-0.000884246 -0.00863407 0.000944293"
+                              quat="0.462991 0.643965 -0.460173 0.398986" mass="0.0862366"
+                              diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
+                            <joint name="left_hand_thumb_0_joint" axis="0 1 0" range="-1.0472 1.0472"
+                              actuatorfrcrange="-2.45 2.45"/>
+                            <geom class="visual" mesh="left_hand_thumb_0_link"/>
+                            <geom class="collision" mesh="left_hand_thumb_0_link"/>
+                            <body name="left_hand_thumb_1_link" pos="-0.0025 -0.0193 0">
+                              <inertial pos="-0.000827888 -0.0354744 -0.0003809"
+                                quat="0.685598 0.705471 -0.15207 0.0956069" mass="0.0588507"
+                                diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                              <joint name="left_hand_thumb_1_joint" axis="0 0 1" range="-0.724312 1.0472"
+                                actuatorfrcrange="-1.4 1.4"/>
+                              <geom class="visual" mesh="left_hand_thumb_1_link"/>
+                              <geom size="0.01 0.015 0.01" pos="-0.001 -0.032 0" type="box" class="collision"/>
+                              <body name="left_hand_thumb_2_link" pos="0 -0.0458 0">
+                                <inertial pos="-0.00171735 -0.0262819 0.000107789"
+                                  quat="0.703174 0.710977 -0.00017564 -0.00766553" mass="0.0203063"
+                                  diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                                <joint name="left_hand_thumb_2_joint" axis="0 0 1" range="0 1.74533"
+                                  actuatorfrcrange="-1.4 1.4"/>
+                                <geom class="visual" mesh="left_hand_thumb_2_link"/>
+                                <geom class="collision" mesh="left_hand_thumb_2_link"/>
+
+                                <body name="left_hand_thumb_finger_tip" pos="0.0 -0.048 0.0"></body>
+
+                              </body>
+                            </body>
+                          </body>
+                          <body name="left_hand_middle_0_link" pos="0.1192 0.0046 -0.0285">
+                            <inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373"
+                              mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                            <joint name="left_hand_middle_0_joint" axis="0 0 1" range="-1.5708 0"
+                              actuatorfrcrange="-1.4 1.4"/>
+                            <geom class="visual" mesh="left_hand_middle_0_link"/>
+                            <geom class="collision" mesh="left_hand_middle_0_link"/>
+                            <body name="left_hand_middle_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 0.00171735 -0.000107789"
+                                quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063"
+                                diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                              <joint name="left_hand_middle_1_joint" axis="0 0 1" range="-1.74533 0"
+                                actuatorfrcrange="-1.4 1.4"/>
+                              <geom class="visual" mesh="left_hand_middle_1_link"/>
+                              <geom class="collision" mesh="left_hand_middle_1_link"/>
+
+                                <body name="left_hand_middle_finger_tip" pos="0.048 0.0 0.0"></body>
+
+                            </body>
+                          </body>
+                          <body name="left_hand_index_0_link" pos="0.1192 0.0046 0.0285">
+                            <inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373"
+                              mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                            <joint name="left_hand_index_0_joint" axis="0 0 1" range="-1.5708 0"
+                              actuatorfrcrange="-1.4 1.4"/>
+                            <geom class="visual" mesh="left_hand_index_0_link"/>
+                            <geom class="collision" mesh="left_hand_index_0_link"/>
+                            <body name="left_hand_index_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 0.00171735 -0.000107789"
+                                quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063"
+                                diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                              <joint name="left_hand_index_1_joint" axis="0 0 1" range="-1.74533 0"
+                                actuatorfrcrange="-1.4 1.4"/>
+                              <geom class="visual" mesh="left_hand_index_1_link"/>
+                              <geom class="collision" mesh="left_hand_index_1_link"/>
+
+                                <body name="left_hand_index_finger_tip" pos="0.048 0.0 0.0"></body>
+
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778"
+              quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394"/>
+              <joint name="right_shoulder_pitch_joint" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
+              <geom class="visual" mesh="right_shoulder_pitch_link"/>
+              <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" class="collision"/>
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256"
+                  mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
+                <joint name="right_shoulder_roll_joint" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
+                <geom class="visual" mesh="right_shoulder_roll_link"/>
+                <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" class="collision"/>
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
+                  <joint name="right_shoulder_yaw_joint" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
+                  <geom class="visual" mesh="right_shoulder_yaw_link"/>
+                  <geom class="collision" mesh="right_shoulder_yaw_link"/>
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353"/>
+                    <joint name="right_elbow_joint" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
+                    <geom class="visual" mesh="right_elbow_link"/>
+                    <geom class="collision" mesh="right_elbow_link"/>
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
+                      <joint name="right_wrist_roll_joint" axis="1 0 0" range="-1.97222 1.97222"
+                        actuatorfrcrange="-25 25"/>
+                      <geom class="visual" mesh="right_wrist_roll_link"/>
+                      <geom class="collision" mesh="right_wrist_roll_link"/>
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
+                        <joint name="right_wrist_pitch_joint" axis="0 1 0" range="-1.61443 1.61443"
+                          actuatorfrcrange="-5 5"/>
+                        <geom class="visual" mesh="right_wrist_pitch_link"/>
+                        <geom class="collision" mesh="right_wrist_pitch_link"/>
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0885506 -0.00212216 -0.000374562" quat="0.505358 0.513241 0.493844 0.487149"
+                            mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
+                          <joint name="right_wrist_yaw_joint" axis="0 0 1" range="-1.61443 1.61443"
+                            actuatorfrcrange="-5 5"/>
+                          <geom class="visual" mesh="right_wrist_yaw_link"/>
+                          <geom class="collision" mesh="right_wrist_yaw_link"/>
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" class="visual" mesh="right_hand_palm_link"/>
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" class="collision" mesh="right_hand_palm_link"/>
+                          <body name="right_hand_thumb_0_link" pos="0.067 -0.003 0">
+                            <inertial pos="-0.000884246 0.00863407 0.000944293"
+                              quat="0.643965 0.462991 -0.398986 0.460173" mass="0.0862366"
+                              diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
+                            <joint name="right_hand_thumb_0_joint" axis="0 1 0" range="-1.0472 1.0472"
+                              actuatorfrcrange="-2.45 2.45"/>
+                            <geom class="visual" mesh="right_hand_thumb_0_link"/>
+                            <geom class="collision" mesh="right_hand_thumb_0_link"/>
+                            <body name="right_hand_thumb_1_link" pos="-0.0025 0.0193 0">
+                              <inertial pos="-0.000827888 0.0354744 -0.0003809"
+                                quat="0.705471 0.685598 -0.0956069 0.15207" mass="0.0588507"
+                                diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                              <joint name="right_hand_thumb_1_joint" axis="0 0 1" range="-1.0472 0.724312"
+                                actuatorfrcrange="-1.4 1.4"/>
+                              <geom class="visual" mesh="right_hand_thumb_1_link"/>
+                              <geom size="0.01 0.015 0.01" pos="-0.001 0.032 0" type="box" class="collision"/>
+                              <body name="right_hand_thumb_2_link" pos="0 0.0458 0">
+                                <inertial pos="-0.00171735 0.0262819 0.000107789"
+                                  quat="0.710977 0.703174 0.00766553 0.00017564" mass="0.0203063"
+                                  diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                                <joint name="right_hand_thumb_2_joint" axis="0 0 1" range="-1.74533 0"
+                                  actuatorfrcrange="-1.4 1.4"/>
+                                <geom class="visual" mesh="right_hand_thumb_2_link"/>
+                                <geom class="collision" mesh="right_hand_thumb_2_link"/>
+
+                                <body name="right_hand_thumb_finger_tip" pos="0.0 0.048 0.0"></body>
+
+                              </body>
+                            </body>
+                          </body>
+                          <body name="right_hand_middle_0_link" pos="0.1192 -0.0046 -0.0285">
+                            <inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313"
+                              mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                            <joint name="right_hand_middle_0_joint" axis="0 0 1" range="0 1.5708"
+                              actuatorfrcrange="-1.4 1.4"/>
+                            <geom class="visual" mesh="right_hand_middle_0_link"/>
+                            <geom class="collision" mesh="right_hand_middle_0_link"/>
+                            <body name="right_hand_middle_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 -0.00171735 -0.000107789"
+                                quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063"
+                                diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                              <joint name="right_hand_middle_1_joint" axis="0 0 1" range="0 1.74533"
+                                actuatorfrcrange="-1.4 1.4"/>
+                              <geom class="visual" mesh="right_hand_middle_1_link"/>
+                              <geom class="collision" mesh="right_hand_middle_1_link"/>
+
+                                <body name="right_hand_middle_finger_tip" pos="0.048 0.0 0.0"></body>
+
+                            </body>
+                          </body>
+                          <body name="right_hand_index_0_link" pos="0.1192 -0.0046 0.0285">
+                            <inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313"
+                              mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
+                            <joint name="right_hand_index_0_joint" axis="0 0 1" range="0 1.5708"
+                              actuatorfrcrange="-1.4 1.4"/>
+                            <geom class="visual" mesh="right_hand_index_0_link"/>
+                            <geom class="collision" mesh="right_hand_index_0_link"/>
+                            <body name="right_hand_index_1_link" pos="0.0458 0 0">
+                              <inertial pos="0.0262819 -0.00171735 -0.000107789"
+                                quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063"
+                                diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
+                              <joint name="right_hand_index_1_joint" axis="0 0 1" range="0 1.74533"
+                                actuatorfrcrange="-1.4 1.4"/>
+                              <geom class="visual" mesh="right_hand_index_1_link"/>
+                              <geom class="collision" mesh="right_hand_index_1_link"/>
+
+                                <body name="right_hand_index_finger_tip" pos="0.048 0.0 0.0"></body>
+
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position class="g1" name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/> <!-- 0 -->
+    <position class="g1" name="left_hip_roll_joint" joint="left_hip_roll_joint"/> <!-- 1 -->
+    <position class="g1" name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/> <!-- 2 -->
+    <position class="g1" name="left_knee_joint" joint="left_knee_joint"/> <!-- 3 -->
+    <position class="g1" name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/> <!-- 4 -->
+    <position class="g1" name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/> <!-- 5 -->
+    <position class="g1" name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/> <!-- 6 -->
+    <position class="g1" name="right_hip_roll_joint" joint="right_hip_roll_joint"/> <!-- 7 -->
+    <position class="g1" name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/> <!-- 8 -->
+    <position class="g1" name="right_knee_joint" joint="right_knee_joint"/> <!-- 9 -->
+    <position class="g1" name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/> <!-- 10 -->
+    <position class="g1" name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/> <!-- 11 -->
+
+    <position class="g1" name="waist_yaw_joint" joint="waist_yaw_joint"/> <!-- 12 -->
+    <position class="g1" name="waist_roll_joint" joint="waist_roll_joint"/> <!-- 13 -->
+    <position class="g1" name="waist_pitch_joint" joint="waist_pitch_joint"/> <!-- 14 -->
+
+    <position class="g1" name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/> <!-- 15 -->
+    <position class="g1" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/> <!-- 16 -->
+    <position class="g1" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/> <!-- 17 -->
+    <position class="g1" name="left_elbow_joint" joint="left_elbow_joint"/> <!-- 18 -->
+    <position class="g1" name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/> <!-- 19 -->
+    <position class="g1" name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/> <!-- 20 --> 
+    <position class="g1" name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/> <!-- 21 -->
+    <position class="g1" name="left_hand_thumb_0_joint" joint="left_hand_thumb_0_joint"/> <!-- 22 -->
+    <position class="g1" name="left_hand_thumb_1_joint" joint="left_hand_thumb_1_joint"/> <!-- 23 -->
+    <position class="g1" name="left_hand_thumb_2_joint" joint="left_hand_thumb_2_joint"/> <!-- 24 -->
+    <position class="g1" name="left_hand_middle_0_joint" joint="left_hand_middle_0_joint"/> <!-- 25 -->
+    <position class="g1" name="left_hand_middle_1_joint" joint="left_hand_middle_1_joint"/> <!-- 26 --> 
+    <position class="g1" name="left_hand_index_0_joint" joint="left_hand_index_0_joint"/> <!-- 27 --> 
+    <position class="g1" name="left_hand_index_1_joint" joint="left_hand_index_1_joint"/> <!-- 28 -->
+
+    <position class="g1" name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/> <!-- 29 -->
+    <position class="g1" name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/> <!-- 30 -->
+    <position class="g1" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/> <!-- 31 -->
+    <position class="g1" name="right_elbow_joint" joint="right_elbow_joint"/> <!-- 32 -->
+    <position class="g1" name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/> <!-- 33 -->
+    <position class="g1" name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/> <!-- 34 --> 
+    <position class="g1" name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/> <!-- 35 -->
+    <position class="g1" name="right_hand_thumb_0_joint" joint="right_hand_thumb_0_joint"/> <!-- 36 -->
+    <position class="g1" name="right_hand_thumb_1_joint" joint="right_hand_thumb_1_joint"/> <!-- 37 --> 
+    <position class="g1" name="right_hand_thumb_2_joint" joint="right_hand_thumb_2_joint"/> <!-- 38 --> 
+    <position class="g1" name="right_hand_index_0_joint" joint="right_hand_index_0_joint"/> <!-- 39 -->
+    <position class="g1" name="right_hand_index_1_joint" joint="right_hand_index_1_joint"/> <!-- 40 -->
+    <position class="g1" name="right_hand_middle_0_joint" joint="right_hand_middle_0_joint"/> <!-- 41 -->
+    <position class="g1" name="right_hand_middle_1_joint" joint="right_hand_middle_1_joint"/> <!-- 42 -->
+  </actuator>
+
+  <sensor>
+    <gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
+  </sensor>
+
+  <keyframe>
+    <key name="stand"
+      qpos="
+      0 0 0.79
+      1 0 0 0
+      0 0 0 0 0 0
+      0 0 0 0 0 0
+      0 0 0
+      0.2 0.2 0 1.28 0 0 0
+      0 1.05 0 0 0 0 0
+      0.2 -0.2 0 1.28 0 0 0
+      0 -1.05 0 0 0 0 0
+      "
+      ctrl="
+      0 0 0 0 0 0
+      0 0 0 0 0 0
+      0 0 0
+      0.2 0.2 0 1.28 0 0 0
+      0 1.05 0 0 0 0 0
+      0.2 -0.2 0 1.28 0 0 0
+      0 -1.05 0 0 0 0 0
+      "/>
+  </keyframe>
+
+<!-- setup scene -->
+  <statistic center="1.0 0.7 1.0" extent="0.8"/>
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-140" elevation="-20" offwidth="2080" offheight="1170"/>
+  </visual>
+  <asset>
+     <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="800" height="800"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="0 0 0"
+      width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0"/>
+    <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0" width="100" height="100"/>
+    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+    <texture name="texplane" builtin="checker" height="512" width="512" rgb1=".2 .3 .4" rgb2=".1 .15 .2" type="2d" />
+    <material name="MatPlane" reflectance="0.5" shininess="0.01" specular="0.1" texrepeat="1 1" texture="texplane" texuniform="true" />
+    <material name="geom" texture="texgeom" texuniform="true"/>
+  </asset>
+   <worldbody>
+    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" contype="1" conaffinity="0" priority="1"
+      friction="0.6" condim="3"/>
+
+        <light diffuse=".5 .5 .5" pos="-3 -3 5" dir="3 3 -5" castshadow="true"/>
+
+  </worldbody>
+</mujoco>
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diff --git a/processed/omomo/assets/robots/unitree_g1/meshes/waist_roll_link_rev_1_0.STL b/processed/omomo/assets/robots/unitree_g1/meshes/waist_roll_link_rev_1_0.STL
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index 0000000000000000000000000000000000000000..36a5a70ef6704deb82407a42ad908886f2f08147
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/omomo/assets/robots/unitree_g1/meshes/waist_support_link.STL b/processed/omomo/assets/robots/unitree_g1/meshes/waist_support_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..4a50f94fe3e60c6c128874488869779be9fef816
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+version https://git-lfs.github.com/spec/v1
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+size 150484
diff --git a/processed/omomo/assets/robots/unitree_g1/meshes/waist_yaw_link.STL b/processed/omomo/assets/robots/unitree_g1/meshes/waist_yaw_link.STL
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diff --git a/processed/omomo/assets/robots/unitree_g1/meshes/waist_yaw_link_rev_1_0.STL b/processed/omomo/assets/robots/unitree_g1/meshes/waist_yaw_link_rev_1_0.STL
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diff --git a/processed/omomo/assets/robots/unitree_g1/robot.xml b/processed/omomo/assets/robots/unitree_g1/robot.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3cd2580d89c6c5f871040ea17b05301c9dd177a4
--- /dev/null
+++ b/processed/omomo/assets/robots/unitree_g1/robot.xml
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+<mujoco model="g1 scene">
+  <compiler angle="radian" meshdir="meshes" autolimits="true" />
+
+  <!-- performance options -->
+  <option timestep="0.02" iterations="2" ls_iterations="10">
+    <flag eulerdamp="disable" />
+  </option>
+
+  <custom>
+    <numeric data="15" name="max_contact_points" />
+    <numeric data="15" name="max_geom_pairs" />
+  </custom>
+
+  <default>
+    <default class="g1">
+      <default class="visual">
+        <geom group="2" type="mesh" density="0" material="silver" />
+      </default>
+      <default class="collision">
+        <geom group="3" rgba="0 1 0 1" type="sphere" />
+        <default class="hand_collision">
+          <geom type="sphere" pos="0.1 0.0 0.0" size="0.05" />
+        </default>
+        <default class="foot_collision">
+          <geom type="sphere" size="0.005" priority="1" friction="2.0" condim="3" />
+        </default>
+
+      </default>
+      <site group="5" rgba="1 0 0 1" />
+      <!-- Disable all contacts and use explicit contact pairs. -->
+      <geom condim="1" contype="0" conaffinity="0" />
+      <position kp="500" dampratio="1" inheritrange="1" />
+      <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+
+      <default class="hip">
+        <default class="hip_pitch">
+          <joint axis="0 1 0" range="-2.5307 2.8798" />
+        </default>
+        <default class="hip_roll">
+          <joint axis="1 0 0" range="-0.5236 2.9671" />
+        </default>
+        <default class="hip_yaw">
+          <joint axis="0 0 1" range="-2.7576 2.7576" />
+        </default>
+      </default>
+      <default class="knee">
+        <joint axis="0 1 0" range="-0.087267 2.8798" />
+      </default>
+      <default class="ankle">
+        <position kp="500" dampratio="1" inheritrange="1" />
+        <default class="ankle_pitch">
+          <joint axis="0 1 0" range="-0.87267 0.5236" />
+        </default>
+        <default class="ankle_roll">
+          <joint axis="1 0 0" range="-0.2618 0.2618" />
+        </default>
+      </default>
+
+      <default class="waist_yaw">
+        <joint axis="0 0 1" range="-2.618 2.618" />
+      </default>
+      <default class="waist_pitch">
+        <joint axis="0 1 0" range="-0.52 0.52" />
+      </default>
+      <default class="waist_roll">
+        <joint axis="1 0 0" range="-0.52 0.52" />
+      </default>
+
+      <default class="shoulder">
+        <default class="shoulder_pitch">
+          <joint axis="0 1 0" range="-3.0892 2.6704" />
+        </default>
+        <default class="shoulder_roll">
+          <joint axis="1 0 0" />
+        </default>
+        <default class="shoulder_yaw">
+          <joint axis="0 0 1" range="-2.618 2.618" />
+        </default>
+      </default>
+
+      <default class="elbow">
+        <joint axis="0 1 0" range="-1.0472 2.0944" />
+      </default>
+
+      <default class="wrist">
+        <position kp="500" dampratio="1" inheritrange="1" />
+        <default class="wrist_roll">
+          <joint axis="1 0 0" range="-1.97222 1.97222" />
+        </default>
+        <default class="wrist_pitch">
+          <joint axis="0 1 0" range="-1.61443 1.61443" />
+        </default>
+        <default class="wrist_yaw">
+          <joint axis="0 0 1" range="-1.61443 1.61443" />
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <texture type="skybox" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="3072" height="3072" />
+    <texture type="2d" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
+      rgb1="1 1 1" rgb2="1.0 1.0 1.0" markrgb="1.0 1.0 1.0" width="300" height="300" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="4 4" />
+
+    <material name="silver" rgba="0.7 0.7 0.7 1" />
+    <material name="black" rgba="0.2 0.2 0.2 1" />
+
+    <mesh name="pelvis" file="pelvis.STL" />
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
+    <mesh name="left_knee_link" file="left_knee_link.STL" />
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
+    <mesh name="right_knee_link" file="right_knee_link.STL" />
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
+    <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL" />
+    <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL" />
+    <mesh name="torso_link" file="torso_link_rev_1_0.STL" />
+    <mesh name="logo_link" file="logo_link.STL" />
+    <mesh name="head_link" file="head_link.STL" />
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
+    <mesh name="left_elbow_link" file="left_elbow_link.STL" />
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
+    <mesh name="left_rubber_hand" file="left_rubber_hand.STL" />
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
+    <mesh name="right_elbow_link" file="right_elbow_link.STL" />
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
+    <mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" type="directional" />
+    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" />
+    <body name="pelvis" pos="0 0 0.793" childclass="g1">
+      <camera name="track" pos="1.734 -1.135 .35" xyaxes="0.552 0.834 -0.000 -0.170 0.112 0.979"
+        mode="trackcom" />
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
+        diaginertia="0.010549 0.0093089 0.0079184" />
+      <freejoint name="floating_base_joint" />
+      <geom class="visual" material="black" mesh="pelvis" />
+      <geom class="visual" mesh="pelvis_contour_link" />
+      <!-- <geom name="pelvis_collision" class="collision" type="sphere" size="0.07" pos="0 0 -0.08"
+      /> -->
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
+          mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="left_hip_pitch_joint" class="hip_pitch" />
+        <geom class="visual" material="black" mesh="left_hip_pitch_link" />
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934"
+            quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="left_hip_roll_joint" class="hip_roll" />
+          <geom class="visual" mesh="left_hip_roll_link" />
+          <!-- <geom name="left_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" /> -->
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
+              mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="left_hip_yaw_joint" class="hip_yaw" />
+            <geom class="visual" mesh="left_hip_yaw_link" />
+            <!-- <geom name="left_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074"
+                quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
+                diaginertia="0.0113804 0.0112778 0.00146458" />
+              <joint name="left_knee_joint" class="knee" />
+              <geom class="visual" mesh="left_knee_link" />
+              <!-- <geom name="left_shin_collision" class="collision" size="0.045"
+                fromto="0.01 0 0 0.01 0 -0.15" />
+              <geom name="left_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="left_ankle_pitch_joint" class="ankle_pitch" />
+                <geom class="visual" mesh="left_ankle_pitch_link" />
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="left_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="left_ankle_roll_joint" class="ankle_roll" />
+                  <geom class="visual" material="black" mesh="left_ankle_roll_link" />
+                  <geom name="lf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
+                  <geom name="lf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
+                  <geom name="lf2" class="foot_collision" pos="0.12 0.03 -0.03" />
+                  <geom name="lf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
+          mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="right_hip_pitch_joint" class="hip_pitch" />
+        <geom class="visual" material="black" mesh="right_hip_pitch_link" />
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
+            mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="right_hip_roll_joint" class="hip_roll" />
+          <geom class="visual" mesh="right_hip_roll_link" />
+          <!-- <geom name="right_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" /> -->
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
+              mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="right_hip_yaw_joint" class="hip_yaw" />
+            <geom class="visual" mesh="right_hip_yaw_link" />
+            <!-- <geom name="right_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
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+                diaginertia="0.011374 0.0112843 0.00146452" />
+              <joint name="right_knee_joint" class="knee" />
+              <geom class="visual" mesh="right_knee_link" />
+              <!-- <geom name="right_shin_collision" class="collision" size="0.045"
+                fromto="0.01 0 0 0.01 0 -0.15" />
+              <geom name="right_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="right_ankle_pitch_joint" class="ankle_pitch" />
+                <geom class="visual" mesh="right_ankle_pitch_link" />
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="right_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="right_ankle_roll_joint" class="ankle_roll" />
+                  <geom class="visual" material="black" mesh="right_ankle_roll_link" />
+                  <geom name="rf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
+                  <geom name="rf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
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+                  <geom name="rf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
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+          mass="0.214"
+          diaginertia="0.000163531 0.000107714 0.000102205" />
+        <joint name="waist_yaw_joint" class="waist_yaw" />
+        <geom class="visual" mesh="waist_yaw_link" />
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086"
+            diaginertia="8.245e-06 7.079e-06 6.339e-06" />
+          <joint name="waist_roll_joint" class="waist_roll" />
+          <geom class="visual" mesh="waist_roll_link" />
+          <body name="torso_link">
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+              quat="0.999803 -6.03319e-05 0.0198256 0.00131986"
+              mass="7.818" diaginertia="0.121847 0.109825 0.0273735" />
+            <joint name="waist_pitch_joint" class="waist_pitch" />
+            <geom class="visual" mesh="torso_link" />
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" class="visual" material="black"
+              mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.044" class="visual" material="black" mesh="head_link" />
+            <!-- <geom name="torso_collision" class="collision" size="0.09"
+              fromto="0.01 0 0.08 0.01 0 0.2" />
+            <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0 0 .43" /> -->
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792" />
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
+              quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
+                mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="left_shoulder_pitch_joint" class="shoulder_pitch" />
+              <geom class="visual" mesh="left_shoulder_pitch_link" />
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
+                quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243"
+                  quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="left_shoulder_roll_joint" range="-1.5882 2.2515" class="shoulder_roll" />
+                <geom class="visual" mesh="left_shoulder_roll_link" />
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
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+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="left_shoulder_yaw_joint" class="shoulder_yaw" />
+                  <geom class="visual" mesh="left_shoulder_yaw_link" />
+                  <!-- <geom name="left_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" /> -->
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062"
+                      quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="left_elbow_joint" class="elbow" />
+                    <geom class="visual" mesh="left_elbow_link" />
+                    <!-- <geom name="left_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07"
+                        quat="0.575338 0.411667 -0.574906 0.411094"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="left_wrist_roll_joint" class="wrist_roll" />
+                      <geom class="visual" mesh="left_wrist_roll_link" />
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658"
+                          quat="0.249998 0.661363 0.293036 0.643608"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="left_wrist_pitch_joint" class="wrist_pitch" />
+                        <geom class="visual" mesh="left_wrist_pitch_link" />
+                        <!-- <geom name="left_wrist_collision" class="collision" size="0.035"
+                          fromto="-0.01 0 0 0.06 0 0" /> -->
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742"
+                            quat="0.510571 0.526295 0.468078 0.493188"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="left_wrist_yaw_joint" class="wrist_yaw" />
+                          <geom class="visual" mesh="left_wrist_yaw_link" />
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" class="visual"
+                            mesh="left_rubber_hand" />
+                          <site name="left_palm" pos="0.08 0 0" size="0.01" />
+                          <!-- <geom name="left_hand_collision" class="collision" size="0.035"
+                            rgba=".2 .6 .2 .2"
+                            fromto="0.07 0 0 0.15 -0.02 0" /> -->
+                          <geom name="lh" class="hand_collision" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778"
+              quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
+                mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="right_shoulder_pitch_joint" class="shoulder_pitch" />
+              <geom class="visual" mesh="right_shoulder_pitch_link" />
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
+                quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243"
+                  quat="0.712604 -0.00710317 -0.0196223 0.701256"
+                  mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="right_shoulder_roll_joint" range="-2.2515 1.5882" class="shoulder_roll" />
+                <geom class="visual" mesh="right_shoulder_roll_link" />
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009"
+                    quat="0.687134 -0.0679942 -0.0964829 0.716879"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="right_shoulder_yaw_joint" class="shoulder_yaw" />
+                  <geom class="visual" mesh="right_shoulder_yaw_link" />
+                  <!-- <geom name="right_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" /> -->
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062"
+                      quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="right_elbow_joint" class="elbow" />
+                    <geom class="visual" mesh="right_elbow_link" />
+                    <!-- <geom name="right_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07"
+                        quat="0.411667 0.575338 -0.411094 0.574906"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="right_wrist_roll_joint" class="wrist_roll" />
+                      <geom class="visual" mesh="right_wrist_roll_link" />
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658"
+                          quat="0.643608 0.293036 0.661363 0.249998"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="right_wrist_pitch_joint" class="wrist_pitch" />
+                        <geom class="visual" mesh="right_wrist_pitch_link" />
+                        <!-- <geom name="right_wrist_collision" class="collision" size="0.035"
+                          fromto="-0.01 0 0 0.06 0 0" /> -->
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742"
+                            quat="0.493188 0.468078 0.526295 0.510571"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="right_wrist_yaw_joint" class="wrist_yaw" />
+                          <geom class="visual" mesh="right_wrist_yaw_link" />
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" class="visual"
+                            mesh="right_rubber_hand" />
+                          <site name="right_palm" pos="0.08 0 0" size="0.01" />
+                          <!-- <geom name="right_hand_collision" class="collision" size="0.035"
+                            rgba=".2 .6 .2 .2"
+                            fromto="0.07 0 0 0.15 0.02 0" /> -->
+                          <geom name="rh" class="hand_collision" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position class="hip_pitch" name="left_hip_pitch_joint" joint="left_hip_pitch_joint" />
+    <position class="hip_roll" name="left_hip_roll_joint" joint="left_hip_roll_joint" />
+    <position class="hip_yaw" name="left_hip_yaw_joint" joint="left_hip_yaw_joint" />
+    <position class="knee" name="left_knee_joint" joint="left_knee_joint" />
+    <position class="ankle_pitch" name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" />
+    <position class="ankle_roll" name="left_ankle_roll_joint" joint="left_ankle_roll_joint" />
+
+    <position class="hip_pitch" name="right_hip_pitch_joint" joint="right_hip_pitch_joint" />
+    <position class="hip_roll" name="right_hip_roll_joint" joint="right_hip_roll_joint" />
+    <position class="hip_yaw" name="right_hip_yaw_joint" joint="right_hip_yaw_joint" />
+    <position class="knee" name="right_knee_joint" joint="right_knee_joint" />
+    <position class="ankle_pitch" name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" />
+    <position class="ankle_roll" name="right_ankle_roll_joint" joint="right_ankle_roll_joint" />
+
+    <position class="waist_yaw" name="waist_yaw_joint" joint="waist_yaw_joint" />
+    <position class="waist_roll" name="waist_roll_joint" joint="waist_roll_joint" />
+    <position class="waist_pitch" name="waist_pitch_joint" joint="waist_pitch_joint" />
+
+    <position class="shoulder_pitch" name="left_shoulder_pitch_joint"
+      joint="left_shoulder_pitch_joint" />
+    <position class="shoulder_roll" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" />
+    <position class="shoulder_yaw" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" />
+    <position class="elbow" name="left_elbow_joint" joint="left_elbow_joint" />
+    <position class="wrist_roll" name="left_wrist_roll_joint" joint="left_wrist_roll_joint" />
+    <position class="wrist_pitch" name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint" />
+    <position class="wrist_yaw" name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint" />
+
+    <position class="shoulder_pitch" name="right_shoulder_pitch_joint"
+      joint="right_shoulder_pitch_joint" />
+    <position class="shoulder_roll" name="right_shoulder_roll_joint"
+      joint="right_shoulder_roll_joint" />
+    <position class="shoulder_yaw" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" />
+    <position class="elbow" name="right_elbow_joint" joint="right_elbow_joint" />
+    <position class="wrist_roll" name="right_wrist_roll_joint" joint="right_wrist_roll_joint" />
+    <position class="wrist_pitch" name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint" />
+    <position class="wrist_yaw" name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint" />
+  </actuator>
+
+  <!-- <sensor>
+    <velocimeter site="imu_in_torso" name="local_linvel_torso" />
+    <velocimeter site="imu_in_pelvis" name="local_linvel_pelvis" />
+    <accelerometer site="imu_in_torso" name="accelerometer_torso" />
+    <accelerometer site="imu_in_pelvis" name="accelerometer_pelvis" />
+    <gyro site="imu_in_torso" name="gyro_torso" />
+    <gyro site="imu_in_pelvis" name="gyro_pelvis" />
+    <framezaxis objtype="site" objname="imu_in_torso" name="upvector_torso" />
+    <framezaxis objtype="site" objname="imu_in_pelvis" name="upvector_pelvis" />
+    <framequat objtype="site" objname="imu_in_torso" name="orientation_torso" />
+    <framequat objtype="site" objname="imu_in_pelvis" name="orientation_pelvis" />
+    <framelinvel objtype="site" objname="imu_in_torso" name="global_linvel_torso" />
+    <framelinvel objtype="site" objname="imu_in_pelvis" name="global_linvel_pelvis" />
+    <frameangvel objtype="site" objname="imu_in_torso" name="global_angvel_torso" />
+    <frameangvel objtype="site" objname="imu_in_pelvis" name="global_angvel_pelvis" />
+  </sensor> -->
+
+  <contact>
+    <pair name="left_foot_floor0" geom1="lf0" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor1" geom1="lf1" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor2" geom1="lf2" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor3" geom1="lf3" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor0" geom1="rf0" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor1" geom1="rf1" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor2" geom1="rf2" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor3" geom1="rf3" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_hand_floor" geom1="lh" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_hand_floor" geom1="rh" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+  </contact>
+</mujoco>
diff --git a/processed/omomo/assets/robots/unitree_g1/scene.xml b/processed/omomo/assets/robots/unitree_g1/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e7dcb9491226d43c0a81650218b576f5a56b11e5
--- /dev/null
+++ b/processed/omomo/assets/robots/unitree_g1/scene.xml
@@ -0,0 +1,524 @@
+<mujoco model="g1 scene">
+  <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
+
+  <!-- performance options -->
+  <option timestep="0.02" iterations="2" ls_iterations="10">
+    <flag eulerdamp="disable" />
+  </option>
+
+  <visual>
+    <global azimuth="135" elevation="-25" offwidth="1920" offheight="1080" />
+    <quality shadowsize="8192" />
+    <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0" />
+    <scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5"
+      framewidth="0.3" />
+    <rgba haze="0.15 0.25 0.35 1" force="1 0 0 1" />
+  </visual>
+
+  <custom>
+    <numeric data="15" name="max_contact_points" />
+    <numeric data="15" name="max_geom_pairs" />
+  </custom>
+
+  <default>
+    <default class="g1">
+      <default class="visual">
+        <geom group="2" type="mesh" density="0" material="silver" />
+      </default>
+      <default class="collision">
+        <geom group="3" rgba="0 1 0 1" type="sphere" />
+        <default class="hand_collision">
+          <geom type="sphere" pos="0.1 0.0 0.0" size="0.05" />
+        </default>
+        <default class="foot_collision">
+          <geom type="sphere" size="0.005" priority="1" friction="2.0" condim="3" />
+        </default>
+
+      </default>
+      <site group="5" rgba="1 0 0 1" />
+      <!-- Disable all contacts and use explicit contact pairs. -->
+      <geom condim="1" contype="0" conaffinity="0" />
+      <position kp="500" dampratio="1" inheritrange="1" />
+      <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+
+      <default class="hip">
+        <default class="hip_pitch">
+          <joint axis="0 1 0" range="-2.5307 2.8798" />
+        </default>
+        <default class="hip_roll">
+          <joint axis="1 0 0" range="-0.5236 2.9671" />
+        </default>
+        <default class="hip_yaw">
+          <joint axis="0 0 1" range="-2.7576 2.7576" />
+        </default>
+      </default>
+      <default class="knee">
+        <joint axis="0 1 0" range="-0.087267 2.8798" />
+      </default>
+      <default class="ankle">
+        <position kp="500" dampratio="1" inheritrange="1" />
+        <default class="ankle_pitch">
+          <joint axis="0 1 0" range="-0.87267 0.5236" />
+        </default>
+        <default class="ankle_roll">
+          <joint axis="1 0 0" range="-0.2618 0.2618" />
+        </default>
+      </default>
+
+      <default class="waist_yaw">
+        <joint axis="0 0 1" range="-2.618 2.618" />
+      </default>
+      <default class="waist_pitch">
+        <joint axis="0 1 0" range="-0.52 0.52" />
+      </default>
+      <default class="waist_roll">
+        <joint axis="1 0 0" range="-0.52 0.52" />
+      </default>
+
+      <default class="shoulder">
+        <default class="shoulder_pitch">
+          <joint axis="0 1 0" range="-3.0892 2.6704" />
+        </default>
+        <default class="shoulder_roll">
+          <joint axis="1 0 0" />
+        </default>
+        <default class="shoulder_yaw">
+          <joint axis="0 0 1" range="-2.618 2.618" />
+        </default>
+      </default>
+
+      <default class="elbow">
+        <joint axis="0 1 0" range="-1.0472 2.0944" />
+      </default>
+
+      <default class="wrist">
+        <position kp="500" dampratio="1" inheritrange="1" />
+        <default class="wrist_roll">
+          <joint axis="1 0 0" range="-1.97222 1.97222" />
+        </default>
+        <default class="wrist_pitch">
+          <joint axis="0 1 0" range="-1.61443 1.61443" />
+        </default>
+        <default class="wrist_yaw">
+          <joint axis="0 0 1" range="-1.61443 1.61443" />
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <texture type="skybox" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="3072" height="3072" />
+    <texture type="2d" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
+      rgb1="1 1 1" rgb2="1.0 1.0 1.0" markrgb="1.0 1.0 1.0" width="300" height="300" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="4 4" />
+
+    <material name="silver" rgba="0.7 0.7 0.7 1" />
+    <material name="black" rgba="0.2 0.2 0.2 1" />
+
+    <mesh name="pelvis" file="pelvis.STL" />
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
+    <mesh name="left_knee_link" file="left_knee_link.STL" />
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
+    <mesh name="right_knee_link" file="right_knee_link.STL" />
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
+    <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL" />
+    <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL" />
+    <mesh name="torso_link" file="torso_link_rev_1_0.STL" />
+    <mesh name="logo_link" file="logo_link.STL" />
+    <mesh name="head_link" file="head_link.STL" />
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
+    <mesh name="left_elbow_link" file="left_elbow_link.STL" />
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
+    <mesh name="left_rubber_hand" file="left_rubber_hand.STL" />
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
+    <mesh name="right_elbow_link" file="right_elbow_link.STL" />
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
+    <mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 5" dir="0 0 -1" type="directional" />
+    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" />
+    <body name="pelvis" pos="0 0 0.793" childclass="g1">
+      <camera name="track" pos="1.734 -1.135 .35" xyaxes="0.552 0.834 -0.000 -0.170 0.112 0.979"
+        mode="trackcom" />
+      <camera name="track2" pos="1.489 1.189 1.174" xyaxes="-0.609 0.793 -0.000 -0.221 -0.169 0.961"
+        mode="trackcom" />
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
+        diaginertia="0.010549 0.0093089 0.0079184" />
+      <freejoint name="floating_base_joint" />
+      <geom class="visual" material="black" mesh="pelvis" />
+      <geom class="visual" mesh="pelvis_contour_link" />
+      <!-- <geom name="pelvis_collision" class="collision" type="sphere" size="0.07" pos="0 0 -0.08"
+      /> -->
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
+      <site name="trace_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
+          mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="left_hip_pitch_joint" class="hip_pitch" />
+        <geom class="visual" material="black" mesh="left_hip_pitch_link" />
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934"
+            quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="left_hip_roll_joint" class="hip_roll" />
+          <geom class="visual" mesh="left_hip_roll_link" />
+          <!-- <geom name="left_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" /> -->
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
+              mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="left_hip_yaw_joint" class="hip_yaw" />
+            <geom class="visual" mesh="left_hip_yaw_link" />
+            <!-- <geom name="left_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074"
+                quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
+                diaginertia="0.0113804 0.0112778 0.00146458" />
+              <joint name="left_knee_joint" class="knee" />
+              <geom class="visual" mesh="left_knee_link" />
+              <!-- <geom name="left_shin_collision" class="collision" size="0.045"
+                fromto="0.01 0 0 0.01 0 -0.15" />
+              <geom name="left_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="left_ankle_pitch_joint" class="ankle_pitch" />
+                <geom class="visual" mesh="left_ankle_pitch_link" />
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="left_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="left_ankle_roll_joint" class="ankle_roll" />
+                  <geom class="visual" material="black" mesh="left_ankle_roll_link" />
+                  <geom name="lf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
+                  <geom name="lf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
+                  <geom name="lf2" class="foot_collision" pos="0.12 0.03 -0.03" />
+                  <geom name="lf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
+                  <site name="trace_left_foot" size="0.01" pos="0.04 0 -0.037" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
+          mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="right_hip_pitch_joint" class="hip_pitch" />
+        <geom class="visual" material="black" mesh="right_hip_pitch_link" />
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
+            mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="right_hip_roll_joint" class="hip_roll" />
+          <geom class="visual" mesh="right_hip_roll_link" />
+          <!-- <geom name="right_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" /> -->
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
+              mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="right_hip_yaw_joint" class="hip_yaw" />
+            <geom class="visual" mesh="right_hip_yaw_link" />
+            <!-- <geom name="right_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074"
+                quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
+                diaginertia="0.011374 0.0112843 0.00146452" />
+              <joint name="right_knee_joint" class="knee" />
+              <geom class="visual" mesh="right_knee_link" />
+              <!-- <geom name="right_shin_collision" class="collision" size="0.045"
+                fromto="0.01 0 0 0.01 0 -0.15" />
+              <geom name="right_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="right_ankle_pitch_joint" class="ankle_pitch" />
+                <geom class="visual" mesh="right_ankle_pitch_link" />
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="right_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="right_ankle_roll_joint" class="ankle_roll" />
+                  <geom class="visual" material="black" mesh="right_ankle_roll_link" />
+                  <geom name="rf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
+                  <geom name="rf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
+                  <geom name="rf2" class="foot_collision" pos="0.12 0.03 -0.03" />
+                  <geom name="rf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
+                  <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821"
+          mass="0.214"
+          diaginertia="0.000163531 0.000107714 0.000102205" />
+        <joint name="waist_yaw_joint" class="waist_yaw" />
+        <geom class="visual" mesh="waist_yaw_link" />
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086"
+            diaginertia="8.245e-06 7.079e-06 6.339e-06" />
+          <joint name="waist_roll_joint" class="waist_roll" />
+          <geom class="visual" mesh="waist_roll_link" />
+          <body name="torso_link">
+            <inertial pos="0.00203158 0.000339683 0.184568"
+              quat="0.999803 -6.03319e-05 0.0198256 0.00131986"
+              mass="7.818" diaginertia="0.121847 0.109825 0.0273735" />
+            <joint name="waist_pitch_joint" class="waist_pitch" />
+            <geom class="visual" mesh="torso_link" />
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" class="visual" material="black"
+              mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.044" class="visual" material="black" mesh="head_link" />
+            <!-- <geom name="torso_collision" class="collision" size="0.09"
+              fromto="0.01 0 0.08 0.01 0 0.2" />
+            <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0 0 .43" /> -->
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792" />
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
+              quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
+                mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="left_shoulder_pitch_joint" class="shoulder_pitch" />
+              <geom class="visual" mesh="left_shoulder_pitch_link" />
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
+                quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243"
+                  quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="left_shoulder_roll_joint" range="-1.5882 2.2515" class="shoulder_roll" />
+                <geom class="visual" mesh="left_shoulder_roll_link" />
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009"
+                    quat="0.716879 -0.0964829 -0.0679942 0.687134"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="left_shoulder_yaw_joint" class="shoulder_yaw" />
+                  <geom class="visual" mesh="left_shoulder_yaw_link" />
+                  <!-- <geom name="left_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" /> -->
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062"
+                      quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="left_elbow_joint" class="elbow" />
+                    <geom class="visual" mesh="left_elbow_link" />
+                    <!-- <geom name="left_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07"
+                        quat="0.575338 0.411667 -0.574906 0.411094"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="left_wrist_roll_joint" class="wrist_roll" />
+                      <geom class="visual" mesh="left_wrist_roll_link" />
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658"
+                          quat="0.249998 0.661363 0.293036 0.643608"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="left_wrist_pitch_joint" class="wrist_pitch" />
+                        <geom class="visual" mesh="left_wrist_pitch_link" />
+                        <!-- <geom name="left_wrist_collision" class="collision" size="0.035"
+                          fromto="-0.01 0 0 0.06 0 0" /> -->
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742"
+                            quat="0.510571 0.526295 0.468078 0.493188"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="left_wrist_yaw_joint" class="wrist_yaw" />
+                          <geom class="visual" mesh="left_wrist_yaw_link" />
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" class="visual"
+                            mesh="left_rubber_hand" />
+                          <site name="left_palm" pos="0.08 0 0" size="0.01" />
+                          <!-- <geom name="left_hand_collision" class="collision" size="0.035"
+                            rgba=".2 .6 .2 .2"
+                            fromto="0.07 0 0 0.15 -0.02 0" /> -->
+                          <geom name="lh" class="hand_collision" />
+                          <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778"
+              quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
+                mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="right_shoulder_pitch_joint" class="shoulder_pitch" />
+              <geom class="visual" mesh="right_shoulder_pitch_link" />
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
+                quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243"
+                  quat="0.712604 -0.00710317 -0.0196223 0.701256"
+                  mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="right_shoulder_roll_joint" range="-2.2515 1.5882" class="shoulder_roll" />
+                <geom class="visual" mesh="right_shoulder_roll_link" />
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009"
+                    quat="0.687134 -0.0679942 -0.0964829 0.716879"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="right_shoulder_yaw_joint" class="shoulder_yaw" />
+                  <geom class="visual" mesh="right_shoulder_yaw_link" />
+                  <!-- <geom name="right_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" /> -->
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062"
+                      quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="right_elbow_joint" class="elbow" />
+                    <geom class="visual" mesh="right_elbow_link" />
+                    <!-- <geom name="right_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07"
+                        quat="0.411667 0.575338 -0.411094 0.574906"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="right_wrist_roll_joint" class="wrist_roll" />
+                      <geom class="visual" mesh="right_wrist_roll_link" />
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658"
+                          quat="0.643608 0.293036 0.661363 0.249998"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="right_wrist_pitch_joint" class="wrist_pitch" />
+                        <geom class="visual" mesh="right_wrist_pitch_link" />
+                        <!-- <geom name="right_wrist_collision" class="collision" size="0.035"
+                          fromto="-0.01 0 0 0.06 0 0" /> -->
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742"
+                            quat="0.493188 0.468078 0.526295 0.510571"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="right_wrist_yaw_joint" class="wrist_yaw" />
+                          <geom class="visual" mesh="right_wrist_yaw_link" />
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" class="visual"
+                            mesh="right_rubber_hand" />
+                          <site name="right_palm" pos="0.08 0 0" size="0.01" />
+                          <!-- <geom name="right_hand_collision" class="collision" size="0.035"
+                            rgba=".2 .6 .2 .2"
+                            fromto="0.07 0 0 0.15 0.02 0" /> -->
+                          <geom name="rh" class="hand_collision" />
+                          <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position class="hip_pitch" name="left_hip_pitch_joint" joint="left_hip_pitch_joint" />
+    <position class="hip_roll" name="left_hip_roll_joint" joint="left_hip_roll_joint" />
+    <position class="hip_yaw" name="left_hip_yaw_joint" joint="left_hip_yaw_joint" />
+    <position class="knee" name="left_knee_joint" joint="left_knee_joint" />
+    <position class="ankle_pitch" name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" />
+    <position class="ankle_roll" name="left_ankle_roll_joint" joint="left_ankle_roll_joint" />
+
+    <position class="hip_pitch" name="right_hip_pitch_joint" joint="right_hip_pitch_joint" />
+    <position class="hip_roll" name="right_hip_roll_joint" joint="right_hip_roll_joint" />
+    <position class="hip_yaw" name="right_hip_yaw_joint" joint="right_hip_yaw_joint" />
+    <position class="knee" name="right_knee_joint" joint="right_knee_joint" />
+    <position class="ankle_pitch" name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" />
+    <position class="ankle_roll" name="right_ankle_roll_joint" joint="right_ankle_roll_joint" />
+
+    <position class="waist_yaw" name="waist_yaw_joint" joint="waist_yaw_joint" />
+    <position class="waist_roll" name="waist_roll_joint" joint="waist_roll_joint" />
+    <position class="waist_pitch" name="waist_pitch_joint" joint="waist_pitch_joint" />
+
+    <position class="shoulder_pitch" name="left_shoulder_pitch_joint"
+      joint="left_shoulder_pitch_joint" />
+    <position class="shoulder_roll" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" />
+    <position class="shoulder_yaw" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" />
+    <position class="elbow" name="left_elbow_joint" joint="left_elbow_joint" />
+    <position class="wrist_roll" name="left_wrist_roll_joint" joint="left_wrist_roll_joint" />
+    <position class="wrist_pitch" name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint" />
+    <position class="wrist_yaw" name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint" />
+
+    <position class="shoulder_pitch" name="right_shoulder_pitch_joint"
+      joint="right_shoulder_pitch_joint" />
+    <position class="shoulder_roll" name="right_shoulder_roll_joint"
+      joint="right_shoulder_roll_joint" />
+    <position class="shoulder_yaw" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" />
+    <position class="elbow" name="right_elbow_joint" joint="right_elbow_joint" />
+    <position class="wrist_roll" name="right_wrist_roll_joint" joint="right_wrist_roll_joint" />
+    <position class="wrist_pitch" name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint" />
+    <position class="wrist_yaw" name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint" />
+  </actuator>
+
+  <!-- <sensor>
+    <velocimeter site="imu_in_torso" name="local_linvel_torso" />
+    <velocimeter site="imu_in_pelvis" name="local_linvel_pelvis" />
+    <accelerometer site="imu_in_torso" name="accelerometer_torso" />
+    <accelerometer site="imu_in_pelvis" name="accelerometer_pelvis" />
+    <gyro site="imu_in_torso" name="gyro_torso" />
+    <gyro site="imu_in_pelvis" name="gyro_pelvis" />
+    <framezaxis objtype="site" objname="imu_in_torso" name="upvector_torso" />
+    <framezaxis objtype="site" objname="imu_in_pelvis" name="upvector_pelvis" />
+    <framequat objtype="site" objname="imu_in_torso" name="orientation_torso" />
+    <framequat objtype="site" objname="imu_in_pelvis" name="orientation_pelvis" />
+    <framelinvel objtype="site" objname="imu_in_torso" name="global_linvel_torso" />
+    <framelinvel objtype="site" objname="imu_in_pelvis" name="global_linvel_pelvis" />
+    <frameangvel objtype="site" objname="imu_in_torso" name="global_angvel_torso" />
+    <frameangvel objtype="site" objname="imu_in_pelvis" name="global_angvel_pelvis" />
+  </sensor> -->
+
+  <contact>
+    <pair name="left_foot_floor0" geom1="lf0" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor1" geom1="lf1" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor2" geom1="lf2" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor3" geom1="lf3" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor0" geom1="rf0" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor1" geom1="rf1" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor2" geom1="rf2" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor3" geom1="rf3" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_hand_floor" geom1="lh" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_hand_floor" geom1="rh" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+  </contact>
+</mujoco>
diff --git a/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/trajectory_kinematic.npz b/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..71cc5ef1da0511c8e8755cc0c478aa429c0848ec
--- /dev/null
+++ b/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acc6ad503f09478999d064eb2271dd0aaed9532dbe78727a5ff8c8c529287640
+size 66282
diff --git a/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/trajectory_mjwp.npz b/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..29bfd0f000187832b3ef93d72cadcbbf48488762
--- /dev/null
+++ b/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f32d8395fc0919d66f00d24f6ec4b3b762c12932b5ced562c3124f0725ebcdb2
+size 266518
diff --git a/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/visualization_mjwp.mp4 b/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ec4422943620f40fd2ccd117a6484573b560b69
--- /dev/null
+++ b/processed/omomo/unitree_g1/humanoid_object/move_largebox/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9f2489b73178b3528f83bfc4a5ae855e9c93edeabc514943cfc86bd3bd9c93d
+size 625908
diff --git a/processed/omomo/unitree_g1/humanoid_object/move_largebox/MUJOCO_LOG.TXT b/processed/omomo/unitree_g1/humanoid_object/move_largebox/MUJOCO_LOG.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..4c65a1ab6e828f273ef84c189f20278a67178c78
--- /dev/null
+++ b/processed/omomo/unitree_g1/humanoid_object/move_largebox/MUJOCO_LOG.TXT
@@ -0,0 +1,3 @@
+Tue Nov  4 10:17:14 2025
+ERROR: could not initialize GLFW
+
diff --git a/processed/omomo/unitree_g1/humanoid_object/move_largebox/scene.xml b/processed/omomo/unitree_g1/humanoid_object/move_largebox/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4e744ea5c3b0075c11a4bf0cda9614334748e46e
--- /dev/null
+++ b/processed/omomo/unitree_g1/humanoid_object/move_largebox/scene.xml
@@ -0,0 +1,538 @@
+<mujoco model="g1 scene">
+  <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
+
+  <!-- performance options -->
+  <option timestep="0.02" iterations="5" ls_iterations="10">
+    <flag eulerdamp="disable" />
+  </option>
+
+  <visual>
+    <global azimuth="135" elevation="-25" offwidth="1920" offheight="1080" />
+    <quality shadowsize="8192" />
+    <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0" />
+    <scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5"
+      framewidth="0.3" />
+    <rgba haze="0.15 0.25 0.35 1" force="1 0 0 1" />
+  </visual>
+
+  <custom>
+    <numeric data="15" name="max_contact_points" />
+    <numeric data="15" name="max_geom_pairs" />
+  </custom>
+
+  <default>
+    <default class="g1">
+      <default class="visual">
+        <geom group="2" type="mesh" density="0" material="silver" />
+      </default>
+      <default class="collision">
+        <geom group="3" rgba="0 1 0 1" type="sphere" />
+        <default class="hand_collision">
+          <geom type="sphere" pos="0.1 0.0 0.0" size="0.05" />
+        </default>
+        <default class="foot_collision">
+          <geom type="sphere" size="0.005" priority="1" friction="2.0" condim="3" />
+        </default>
+
+      </default>
+      <site group="5" rgba="1 0 0 1" />
+      <!-- Disable all contacts and use explicit contact pairs. -->
+      <geom condim="1" contype="0" conaffinity="0" />
+      <position kp="500" dampratio="1" inheritrange="1" />
+      <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+
+      <default class="hip">
+        <default class="hip_pitch">
+          <joint axis="0 1 0" range="-2.5307 2.8798" />
+        </default>
+        <default class="hip_roll">
+          <joint axis="1 0 0" range="-0.5236 2.9671" />
+        </default>
+        <default class="hip_yaw">
+          <joint axis="0 0 1" range="-2.7576 2.7576" />
+        </default>
+      </default>
+      <default class="knee">
+        <joint axis="0 1 0" range="-0.087267 2.8798" />
+      </default>
+      <default class="ankle">
+        <position kp="500" dampratio="1" inheritrange="1" />
+        <default class="ankle_pitch">
+          <joint axis="0 1 0" range="-0.87267 0.5236" />
+        </default>
+        <default class="ankle_roll">
+          <joint axis="1 0 0" range="-0.2618 0.2618" />
+        </default>
+      </default>
+
+      <default class="waist_yaw">
+        <joint axis="0 0 1" range="-2.618 2.618" />
+      </default>
+      <default class="waist_pitch">
+        <joint axis="0 1 0" range="-0.52 0.52" />
+      </default>
+      <default class="waist_roll">
+        <joint axis="1 0 0" range="-0.52 0.52" />
+      </default>
+
+      <default class="shoulder">
+        <default class="shoulder_pitch">
+          <joint axis="0 1 0" range="-3.0892 2.6704" />
+        </default>
+        <default class="shoulder_roll">
+          <joint axis="1 0 0" />
+        </default>
+        <default class="shoulder_yaw">
+          <joint axis="0 0 1" range="-2.618 2.618" />
+        </default>
+      </default>
+
+      <default class="elbow">
+        <joint axis="0 1 0" range="-1.0472 2.0944" />
+      </default>
+
+      <default class="wrist">
+        <position kp="500" dampratio="1" inheritrange="1" />
+        <default class="wrist_roll">
+          <joint axis="1 0 0" range="-1.97222 1.97222" />
+        </default>
+        <default class="wrist_pitch">
+          <joint axis="0 1 0" range="-1.61443 1.61443" />
+        </default>
+        <default class="wrist_yaw">
+          <joint axis="0 0 1" range="-1.61443 1.61443" />
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <texture type="skybox" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="3072" height="3072" />
+    <texture type="2d" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
+      rgb1="1 1 1" rgb2="1.0 1.0 1.0" markrgb="1.0 1.0 1.0" width="300" height="300" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="4 4" />
+
+    <material name="silver" rgba="0.7 0.7 0.7 1" />
+    <material name="black" rgba="0.2 0.2 0.2 1" />
+
+    <mesh name="pelvis" file="pelvis.STL" />
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
+    <mesh name="left_knee_link" file="left_knee_link.STL" />
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
+    <mesh name="right_knee_link" file="right_knee_link.STL" />
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
+    <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL" />
+    <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL" />
+    <mesh name="torso_link" file="torso_link_rev_1_0.STL" />
+    <mesh name="logo_link" file="logo_link.STL" />
+    <mesh name="head_link" file="head_link.STL" />
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
+    <mesh name="left_elbow_link" file="left_elbow_link.STL" />
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
+    <mesh name="left_rubber_hand" file="left_rubber_hand.STL" />
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
+    <mesh name="right_elbow_link" file="right_elbow_link.STL" />
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
+    <mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 5" dir="0 0 -1" type="directional" />
+    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" />
+    <body name="pelvis" pos="0 0 0.793" childclass="g1">
+      <camera name="track" pos="1.734 -1.135 .35" xyaxes="0.552 0.834 -0.000 -0.170 0.112 0.979"
+        mode="trackcom" />
+      <camera name="track2" pos="1.489 1.189 1.174" xyaxes="-0.609 0.793 -0.000 -0.221 -0.169 0.961"
+        mode="trackcom" />
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
+        diaginertia="0.010549 0.0093089 0.0079184" />
+      <freejoint name="floating_base_joint" />
+      <geom class="visual" material="black" mesh="pelvis" />
+      <geom class="visual" mesh="pelvis_contour_link" />
+      <!-- <geom name="pelvis_collision" class="collision" type="sphere" size="0.07" pos="0 0 -0.08"
+      /> -->
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
+      <site name="trace_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
+          mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="left_hip_pitch_joint" class="hip_pitch" />
+        <geom class="visual" material="black" mesh="left_hip_pitch_link" />
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934"
+            quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="left_hip_roll_joint" class="hip_roll" />
+          <geom class="visual" mesh="left_hip_roll_link" />
+          <!-- <geom name="left_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" /> -->
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
+              mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="left_hip_yaw_joint" class="hip_yaw" />
+            <geom class="visual" mesh="left_hip_yaw_link" />
+            <!-- <geom name="left_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074"
+                quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
+                diaginertia="0.0113804 0.0112778 0.00146458" />
+              <joint name="left_knee_joint" class="knee" />
+              <geom class="visual" mesh="left_knee_link" />
+              <!-- <geom name="left_shin_collision" class="collision" size="0.045"
+                fromto="0.01 0 0 0.01 0 -0.15" />
+              <geom name="left_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="left_ankle_pitch_joint" class="ankle_pitch" />
+                <geom class="visual" mesh="left_ankle_pitch_link" />
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="left_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="left_ankle_roll_joint" class="ankle_roll" />
+                  <geom class="visual" material="black" mesh="left_ankle_roll_link" />
+                  <geom name="lf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
+                  <geom name="lf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
+                  <geom name="lf2" class="foot_collision" pos="0.12 0.03 -0.03" />
+                  <geom name="lf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
+                  <site name="trace_left_foot" size="0.01" pos="0.04 0 -0.037" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
+          mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="right_hip_pitch_joint" class="hip_pitch" />
+        <geom class="visual" material="black" mesh="right_hip_pitch_link" />
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
+            mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="right_hip_roll_joint" class="hip_roll" />
+          <geom class="visual" mesh="right_hip_roll_link" />
+          <!-- <geom name="right_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" /> -->
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
+              mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="right_hip_yaw_joint" class="hip_yaw" />
+            <geom class="visual" mesh="right_hip_yaw_link" />
+            <!-- <geom name="right_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074"
+                quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
+                diaginertia="0.011374 0.0112843 0.00146452" />
+              <joint name="right_knee_joint" class="knee" />
+              <geom class="visual" mesh="right_knee_link" />
+              <!-- <geom name="right_shin_collision" class="collision" size="0.045"
+                fromto="0.01 0 0 0.01 0 -0.15" />
+              <geom name="right_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="right_ankle_pitch_joint" class="ankle_pitch" />
+                <geom class="visual" mesh="right_ankle_pitch_link" />
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="right_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="right_ankle_roll_joint" class="ankle_roll" />
+                  <geom class="visual" material="black" mesh="right_ankle_roll_link" />
+                  <geom name="rf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
+                  <geom name="rf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
+                  <geom name="rf2" class="foot_collision" pos="0.12 0.03 -0.03" />
+                  <geom name="rf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
+                  <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821"
+          mass="0.214"
+          diaginertia="0.000163531 0.000107714 0.000102205" />
+        <joint name="waist_yaw_joint" class="waist_yaw" />
+        <geom class="visual" mesh="waist_yaw_link" />
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086"
+            diaginertia="8.245e-06 7.079e-06 6.339e-06" />
+          <joint name="waist_roll_joint" class="waist_roll" />
+          <geom class="visual" mesh="waist_roll_link" />
+          <body name="torso_link">
+            <inertial pos="0.00203158 0.000339683 0.184568"
+              quat="0.999803 -6.03319e-05 0.0198256 0.00131986"
+              mass="7.818" diaginertia="0.121847 0.109825 0.0273735" />
+            <joint name="waist_pitch_joint" class="waist_pitch" />
+            <geom class="visual" mesh="torso_link" />
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" class="visual" material="black"
+              mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.044" class="visual" material="black" mesh="head_link" />
+            <!-- <geom name="torso_collision" class="collision" size="0.09"
+              fromto="0.01 0 0.08 0.01 0 0.2" />
+            <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0 0 .43" /> -->
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792" />
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
+              quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
+                mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="left_shoulder_pitch_joint" class="shoulder_pitch" />
+              <geom class="visual" mesh="left_shoulder_pitch_link" />
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
+                quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243"
+                  quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="left_shoulder_roll_joint" range="-1.5882 2.2515" class="shoulder_roll" />
+                <geom class="visual" mesh="left_shoulder_roll_link" />
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009"
+                    quat="0.716879 -0.0964829 -0.0679942 0.687134"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="left_shoulder_yaw_joint" class="shoulder_yaw" />
+                  <geom class="visual" mesh="left_shoulder_yaw_link" />
+                  <!-- <geom name="left_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" /> -->
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062"
+                      quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="left_elbow_joint" class="elbow" />
+                    <geom class="visual" mesh="left_elbow_link" />
+                    <!-- <geom name="left_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07"
+                        quat="0.575338 0.411667 -0.574906 0.411094"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="left_wrist_roll_joint" class="wrist_roll" />
+                      <geom class="visual" mesh="left_wrist_roll_link" />
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658"
+                          quat="0.249998 0.661363 0.293036 0.643608"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="left_wrist_pitch_joint" class="wrist_pitch" />
+                        <geom class="visual" mesh="left_wrist_pitch_link" />
+                        <!-- <geom name="left_wrist_collision" class="collision" size="0.035"
+                          fromto="-0.01 0 0 0.06 0 0" /> -->
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742"
+                            quat="0.510571 0.526295 0.468078 0.493188"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="left_wrist_yaw_joint" class="wrist_yaw" />
+                          <geom class="visual" mesh="left_wrist_yaw_link" />
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" class="visual"
+                            mesh="left_rubber_hand" />
+                          <site name="left_palm" pos="0.08 0 0" size="0.01" />
+                          <!-- <geom name="left_hand_collision" class="collision" size="0.035"
+                            rgba=".2 .6 .2 .2"
+                            fromto="0.07 0 0 0.15 -0.02 0" /> -->
+                          <geom name="lh" class="hand_collision" />
+                          <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778"
+              quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
+                mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="right_shoulder_pitch_joint" class="shoulder_pitch" />
+              <geom class="visual" mesh="right_shoulder_pitch_link" />
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
+                quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243"
+                  quat="0.712604 -0.00710317 -0.0196223 0.701256"
+                  mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="right_shoulder_roll_joint" range="-2.2515 1.5882" class="shoulder_roll" />
+                <geom class="visual" mesh="right_shoulder_roll_link" />
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009"
+                    quat="0.687134 -0.0679942 -0.0964829 0.716879"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="right_shoulder_yaw_joint" class="shoulder_yaw" />
+                  <geom class="visual" mesh="right_shoulder_yaw_link" />
+                  <!-- <geom name="right_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" /> -->
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062"
+                      quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="right_elbow_joint" class="elbow" />
+                    <geom class="visual" mesh="right_elbow_link" />
+                    <!-- <geom name="right_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07"
+                        quat="0.411667 0.575338 -0.411094 0.574906"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="right_wrist_roll_joint" class="wrist_roll" />
+                      <geom class="visual" mesh="right_wrist_roll_link" />
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658"
+                          quat="0.643608 0.293036 0.661363 0.249998"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="right_wrist_pitch_joint" class="wrist_pitch" />
+                        <geom class="visual" mesh="right_wrist_pitch_link" />
+                        <!-- <geom name="right_wrist_collision" class="collision" size="0.035"
+                          fromto="-0.01 0 0 0.06 0 0" /> -->
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742"
+                            quat="0.493188 0.468078 0.526295 0.510571"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="right_wrist_yaw_joint" class="wrist_yaw" />
+                          <geom class="visual" mesh="right_wrist_yaw_link" />
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" class="visual"
+                            mesh="right_rubber_hand" />
+                          <site name="right_palm" pos="0.08 0 0" size="0.01" />
+                          <!-- <geom name="right_hand_collision" class="collision" size="0.035"
+                            rgba=".2 .6 .2 .2"
+                            fromto="0.07 0 0 0.15 0.02 0" /> -->
+                          <geom name="rh" class="hand_collision" />
+                          <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <!-- object -->
+    <body name="largebox" pos="0.4 0.0 0.0">
+      <freejoint name="largebox_root" />
+      <!-- <inertial mass="0.1" pos="0 0 0" diaginertia="0.002 0.002 0.002" /> -->
+      <geom name="largebox_geom" type="box" size="0.12 0.12 0.12" pos="0.0 0.0 0"
+        quat="0.95 -0.1 0 0.25" density="300" />
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position class="hip_pitch" name="left_hip_pitch_joint" joint="left_hip_pitch_joint" />
+    <position class="hip_roll" name="left_hip_roll_joint" joint="left_hip_roll_joint" />
+    <position class="hip_yaw" name="left_hip_yaw_joint" joint="left_hip_yaw_joint" />
+    <position class="knee" name="left_knee_joint" joint="left_knee_joint" />
+    <position class="ankle_pitch" name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" />
+    <position class="ankle_roll" name="left_ankle_roll_joint" joint="left_ankle_roll_joint" />
+
+    <position class="hip_pitch" name="right_hip_pitch_joint" joint="right_hip_pitch_joint" />
+    <position class="hip_roll" name="right_hip_roll_joint" joint="right_hip_roll_joint" />
+    <position class="hip_yaw" name="right_hip_yaw_joint" joint="right_hip_yaw_joint" />
+    <position class="knee" name="right_knee_joint" joint="right_knee_joint" />
+    <position class="ankle_pitch" name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" />
+    <position class="ankle_roll" name="right_ankle_roll_joint" joint="right_ankle_roll_joint" />
+
+    <position class="waist_yaw" name="waist_yaw_joint" joint="waist_yaw_joint" />
+    <position class="waist_roll" name="waist_roll_joint" joint="waist_roll_joint" />
+    <position class="waist_pitch" name="waist_pitch_joint" joint="waist_pitch_joint" />
+
+    <position class="shoulder_pitch" name="left_shoulder_pitch_joint"
+      joint="left_shoulder_pitch_joint" />
+    <position class="shoulder_roll" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" />
+    <position class="shoulder_yaw" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" />
+    <position class="elbow" name="left_elbow_joint" joint="left_elbow_joint" />
+    <position class="wrist_roll" name="left_wrist_roll_joint" joint="left_wrist_roll_joint" />
+    <position class="wrist_pitch" name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint" />
+    <position class="wrist_yaw" name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint" />
+
+    <position class="shoulder_pitch" name="right_shoulder_pitch_joint"
+      joint="right_shoulder_pitch_joint" />
+    <position class="shoulder_roll" name="right_shoulder_roll_joint"
+      joint="right_shoulder_roll_joint" />
+    <position class="shoulder_yaw" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" />
+    <position class="elbow" name="right_elbow_joint" joint="right_elbow_joint" />
+    <position class="wrist_roll" name="right_wrist_roll_joint" joint="right_wrist_roll_joint" />
+    <position class="wrist_pitch" name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint" />
+    <position class="wrist_yaw" name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint" />
+  </actuator>
+
+  <!-- <sensor>
+    <velocimeter site="imu_in_torso" name="local_linvel_torso" />
+    <velocimeter site="imu_in_pelvis" name="local_linvel_pelvis" />
+    <accelerometer site="imu_in_torso" name="accelerometer_torso" />
+    <accelerometer site="imu_in_pelvis" name="accelerometer_pelvis" />
+    <gyro site="imu_in_torso" name="gyro_torso" />
+    <gyro site="imu_in_pelvis" name="gyro_pelvis" />
+    <framezaxis objtype="site" objname="imu_in_torso" name="upvector_torso" />
+    <framezaxis objtype="site" objname="imu_in_pelvis" name="upvector_pelvis" />
+    <framequat objtype="site" objname="imu_in_torso" name="orientation_torso" />
+    <framequat objtype="site" objname="imu_in_pelvis" name="orientation_pelvis" />
+    <framelinvel objtype="site" objname="imu_in_torso" name="global_linvel_torso" />
+    <framelinvel objtype="site" objname="imu_in_pelvis" name="global_linvel_pelvis" />
+    <frameangvel objtype="site" objname="imu_in_torso" name="global_angvel_torso" />
+    <frameangvel objtype="site" objname="imu_in_pelvis" name="global_angvel_pelvis" />
+  </sensor> -->
+
+  <contact>
+    <pair name="left_foot_floor0" geom1="lf0" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor1" geom1="lf1" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor2" geom1="lf2" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor3" geom1="lf3" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor0" geom1="rf0" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor1" geom1="rf1" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor2" geom1="rf2" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor3" geom1="rf3" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_hand_floor" geom1="lh" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_hand_floor" geom1="rh" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+
+    <!-- hand-object contact -->
+    <pair name="left_hand_object" geom1="lh" geom2="largebox_geom" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_hand_object" geom1="rh" geom2="largebox_geom" solref="0.008 1"
+      friction="1 1" condim="3" />
+  </contact>
+</mujoco>