diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..b3dcd31e0d42f24cd9ccb5473c969747110daf7c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,55 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+g1/head_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_hand_index_0_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_hand_index_1_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_hand_middle_0_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_hand_middle_1_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_hand_palm_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_hand_thumb_1_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_hand_thumb_2_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_wrist_roll_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+g1/left_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/logo_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/pelvis.STL filter=lfs diff=lfs merge=lfs -text
+g1/pelvis_contour_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_hand_index_0_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_hand_index_1_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_hand_middle_0_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_hand_middle_1_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_hand_palm_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_hand_thumb_1_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_hand_thumb_2_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_wrist_roll_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+g1/right_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/torso_constraint_L_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/torso_constraint_R_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/torso_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/torso_link_23dof_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
+g1/torso_link_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
+g1/waist_constraint_L.STL filter=lfs diff=lfs merge=lfs -text
+g1/waist_constraint_R.STL filter=lfs diff=lfs merge=lfs -text
+g1/waist_support_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/waist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+g1/waist_yaw_link_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
diff --git a/g1/head_link.STL b/g1/head_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..401f822751c33dab53c6cee77eb62890aca5cd8f
--- /dev/null
+++ b/g1/head_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:005fb67fbd3eff94aa8bf4a6e83238174e9f91b6721f7111594322f223724411
+size 932784
diff --git a/g1/left_ankle_pitch_link.STL b/g1/left_ankle_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..69de8490184afc698f633e34bb74e65351bd4689
Binary files /dev/null and b/g1/left_ankle_pitch_link.STL differ
diff --git a/g1/left_ankle_roll_link.STL b/g1/left_ankle_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..cb69f65c6a8059fc6720cb393540f579b4d0c26e
--- /dev/null
+++ b/g1/left_ankle_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4092af943141d4d9f74232f3cfa345afc6565f46a077793b8ae0e68b39dc33f
+size 653384
diff --git a/g1/left_elbow_link.STL b/g1/left_elbow_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..1a96d99ba469960173129084ab6dd3bf8a732a71
Binary files /dev/null and b/g1/left_elbow_link.STL differ
diff --git a/g1/left_hand_index_0_link.STL b/g1/left_hand_index_0_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..a87568d6835efb4f38efa6935c6ef30a2af633e0
--- /dev/null
+++ b/g1/left_hand_index_0_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b35f2f77211d5a366f0b9a4e47c4ee35e536731266f1a34e9efa12db579b892
+size 475984
diff --git a/g1/left_hand_index_1_link.STL b/g1/left_hand_index_1_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c6c91dd461805b2f0e89a1202e68f5b095b74a41
--- /dev/null
+++ b/g1/left_hand_index_1_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e315ebc8a7a0cb98e033985b586b20d81cf8aa761181ae61ce56fcb14077a06
+size 1521784
diff --git a/g1/left_hand_middle_0_link.STL b/g1/left_hand_middle_0_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..a87568d6835efb4f38efa6935c6ef30a2af633e0
--- /dev/null
+++ b/g1/left_hand_middle_0_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b35f2f77211d5a366f0b9a4e47c4ee35e536731266f1a34e9efa12db579b892
+size 475984
diff --git a/g1/left_hand_middle_1_link.STL b/g1/left_hand_middle_1_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c6c91dd461805b2f0e89a1202e68f5b095b74a41
--- /dev/null
+++ b/g1/left_hand_middle_1_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e315ebc8a7a0cb98e033985b586b20d81cf8aa761181ae61ce56fcb14077a06
+size 1521784
diff --git a/g1/left_hand_palm_link.STL b/g1/left_hand_palm_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c8fcc3e4c3a864842b002eb94f6b692314ec97b8
--- /dev/null
+++ b/g1/left_hand_palm_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a486b75bd78a9bf03cec25d84d87f97f3dae038cf21a743b6d469b337e4004
+size 2140184
diff --git a/g1/left_hand_thumb_0_link.STL b/g1/left_hand_thumb_0_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..3028bb4d6e1ae3d30d2504259c08e4106bbacf63
Binary files /dev/null and b/g1/left_hand_thumb_0_link.STL differ
diff --git a/g1/left_hand_thumb_1_link.STL b/g1/left_hand_thumb_1_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..54f77542da4eab84d91035acd25405c09fb9d2e8
--- /dev/null
+++ b/g1/left_hand_thumb_1_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:445c54a45bc13ce36001556f66bc0f49c83cb40321205ae4d676bb2874325684
+size 475984
diff --git a/g1/left_hand_thumb_2_link.STL b/g1/left_hand_thumb_2_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..3e4f124f2311fc11c2dcd7cec417da892ffd14c0
--- /dev/null
+++ b/g1/left_hand_thumb_2_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d8dbe5085acfc213d21aa8b0782e89cd79084e9678f3a85fc7b04a86b029db5
+size 1521784
diff --git a/g1/left_hip_pitch_link.STL b/g1/left_hip_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..4cf7475bf6bbaef47d5b3f7644a34c73b3d64037
--- /dev/null
+++ b/g1/left_hip_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4725168105ee768ee31638ef22b53f6be2d7641bfd7cfefe803488d884776fa4
+size 181684
diff --git a/g1/left_hip_roll_link.STL b/g1/left_hip_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..585f6040c38571177d55519417a0f46ca7b29381
--- /dev/null
+++ b/g1/left_hip_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f25922ee8a7c3152790051bebad17b4d9cd243569c38fe340285ff93a97acf
+size 192184
diff --git a/g1/left_hip_yaw_link.STL b/g1/left_hip_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..b46a74134f90c568cbdfb8484eeb83a0503b4504
--- /dev/null
+++ b/g1/left_hip_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a16d88aa6ddac8083aa7ad55ed317bea44b1fa003d314fba88965b7ed0f3b55b
+size 296284
diff --git a/g1/left_knee_link.STL b/g1/left_knee_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..2dcf84e4018ab9e4cff48cecdafe433601c48480
--- /dev/null
+++ b/g1/left_knee_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d92b9e3d3a636761150bb8025e32514c4602b91c7028d523ee42b3e632de477
+size 854884
diff --git a/g1/left_rubber_hand.STL b/g1/left_rubber_hand.STL
new file mode 100644
index 0000000000000000000000000000000000000000..04a2fa22b7f60f2d00c64ec996b33a5219c2b633
--- /dev/null
+++ b/g1/left_rubber_hand.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cff2221a690fa69303f61fce68f2d155c1517b52efb6ca9262dd56e0bc6e70fe
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diff --git a/g1/left_shoulder_pitch_link.STL b/g1/left_shoulder_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..926d9807f1cbf6ad0d41170904785eb30427c848
--- /dev/null
+++ b/g1/left_shoulder_pitch_link.STL
@@ -0,0 +1,3 @@
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+size 176784
diff --git a/g1/left_shoulder_roll_link.STL b/g1/left_shoulder_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..4c6840b93ea15d1ba7b4dac0f18f94655867cab7
--- /dev/null
+++ b/g1/left_shoulder_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/g1/left_shoulder_yaw_link.STL b/g1/left_shoulder_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..89b0e0661275ed832c674a46893239ad2e5bef85
--- /dev/null
+++ b/g1/left_shoulder_yaw_link.STL
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+version https://git-lfs.github.com/spec/v1
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diff --git a/g1/left_wrist_pitch_link.STL b/g1/left_wrist_pitch_link.STL
new file mode 100644
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diff --git a/g1/left_wrist_roll_link.STL b/g1/left_wrist_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..2097ca3e5bbc0af985d150e5dcda4d8ba9bcf43f
--- /dev/null
+++ b/g1/left_wrist_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/g1/left_wrist_roll_rubber_hand.STL b/g1/left_wrist_roll_rubber_hand.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7c58819795c4cdfe406a008bfdbe7ea19d765497
--- /dev/null
+++ b/g1/left_wrist_roll_rubber_hand.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/g1/left_wrist_yaw_link.STL b/g1/left_wrist_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..692f4b07105fa0ec4ffd989dc60be9b2a33ac9c3
--- /dev/null
+++ b/g1/left_wrist_yaw_link.STL
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diff --git a/g1/logo_link.STL b/g1/logo_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..6c25961c594c714ada9d32e922250d326c121f4a
--- /dev/null
+++ b/g1/logo_link.STL
@@ -0,0 +1,3 @@
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diff --git a/g1/pelvis.STL b/g1/pelvis.STL
new file mode 100644
index 0000000000000000000000000000000000000000..f98a88dbf6c7698791ba694e16cbcc180c40663c
--- /dev/null
+++ b/g1/pelvis.STL
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diff --git a/g1/pelvis_contour_link.STL b/g1/pelvis_contour_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..8025bc070cd65550f345e9e97bc44a8ff9740dea
--- /dev/null
+++ b/g1/pelvis_contour_link.STL
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diff --git a/g1/right_ankle_pitch_link.STL b/g1/right_ankle_pitch_link.STL
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diff --git a/g1/right_ankle_roll_link.STL b/g1/right_ankle_roll_link.STL
new file mode 100644
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diff --git a/g1/right_elbow_link.STL b/g1/right_elbow_link.STL
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diff --git a/g1/right_hand_index_0_link.STL b/g1/right_hand_index_0_link.STL
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diff --git a/g1/right_hand_middle_0_link.STL b/g1/right_hand_middle_0_link.STL
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diff --git a/g1/right_hand_palm_link.STL b/g1/right_hand_palm_link.STL
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diff --git a/g1/right_hand_thumb_2_link.STL b/g1/right_hand_thumb_2_link.STL
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