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@@ -58,3 +58,54 @@ 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
+robots/g1/meshes/head_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_elbow_link_merge.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_hand_index_0_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_hand_index_1_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_hand_middle_0_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_hand_middle_1_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_hand_palm_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_hand_thumb_1_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_hand_thumb_2_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_wrist_roll_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/left_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/logo_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/pelvis.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/pelvis_contour_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_elbow_link_merge.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_hand_index_0_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_hand_index_1_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_hand_middle_0_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_hand_middle_1_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_hand_palm_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_hand_thumb_1_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_hand_thumb_2_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_wrist_roll_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/right_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/torso_constraint_L_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/torso_constraint_R_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/torso_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/waist_constraint_L.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/waist_constraint_R.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/waist_support_link.STL filter=lfs diff=lfs merge=lfs -text
+robots/g1/meshes/waist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text

data/g1/dailylife/dailylife_data_v1.1.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b9a2913bd7891871f5fcc25193cb6d879bc88f3636a35fee27277f6473df973
+size 1893699

data/g1/dailylife/dailylife_data_v1.1_bfmzero.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5a6176f2f6eb323343a87c0b4c588a2ef12ab03971ecdedf28abead877294ea
+size 4843002

data/g1/dailylife/dailylife_data_v1.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80fed7b2f96d3c16d2585f21e9ab50eba16a9a32ae8625c2c4ca7bdac8eaa491
+size 1653171

data/g1/kimodo/walk.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07beae35f7c978ed9ee43798c3eae6197cdfb7880ed8bdba2fc4372fc0333ba1
+size 44210

data/g1/lafan1/.keep

@@ -0,0 +1,3 @@
+Here is a npz demo [dance1_subject1.npz](./dance1_subject1.npz).
+
+Download full data from https://drive.google.com/file/d/1xAZO-0LtoA0hBWNASnL27ZaqeCJVj5J8/view?usp=drive_link, unpack and place the npz files under `humanoid_retargeting_tools/resources/data/g1/lafan1/`.

data/g1/lafan1/dance1_subject1.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b835c7015c06cb257f10823c13b4f33bea3d2d79ec9cd780e7ba57cf72537a3
+size 529263

robots/g1/g1_29dof.xml

@@ -0,0 +1,540 @@
+<mujoco model="g1_29dof">
+  <compiler angle="radian" meshdir="meshes" />
+
+  <default>
+    <default class="torso_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="leg_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="ankle_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="arm_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
+    </default>
+    <default class="wrist_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.1"/>
+    </default>
+    
+  </default>
+
+  <asset>
+    <mesh name="pelvis" file="pelvis.STL" />
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
+    <mesh name="left_knee_link" file="left_knee_link.STL" />
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
+    <mesh name="right_knee_link" file="right_knee_link.STL" />
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
+    <mesh name="waist_yaw_link" file="waist_yaw_link.STL" />
+    <mesh name="waist_roll_link" file="waist_roll_link.STL" />
+    <mesh name="torso_link" file="torso_link.STL" />
+    <mesh name="logo_link" file="logo_link.STL" />
+    <mesh name="head_link" file="head_link.STL" />
+    <mesh name="waist_support_link" file="waist_support_link.STL" />
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
+    <mesh name="left_elbow_link" file="left_elbow_link.STL" />
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
+    <mesh name="left_rubber_hand" file="left_rubber_hand.STL" />
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
+    <mesh name="right_elbow_link" file="right_elbow_link.STL" />
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
+    <mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
+    <!-- <mesh name="cup" file="new_cup.stl" scale="0.3 0.3 0.3"/> -->
+  </asset>
+
+  <worldbody>
+    <body name="pelvis" pos="0 0 0.793">
+      <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" />
+      <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
+        mesh="pelvis" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+        mesh="pelvis_contour_link" />
+      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link" />
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
+          mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
+          actuatorfrcrange="-88 88" class="leg_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
+          mesh="left_hip_pitch_link" />
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link" />
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934"
+            quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671"
+            actuatorfrcrange="-88 88" class="leg_motor" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+            mesh="left_hip_roll_link" />
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link" />
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
+              mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
+              actuatorfrcrange="-88 88" class="leg_motor" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+              mesh="left_hip_yaw_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link" />
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074"
+                quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
+                diaginertia="0.0113804 0.0112778 0.00146458" />
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
+                actuatorfrcrange="-139 139" class="leg_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
+                  range="-0.87267 0.5236" actuatorfrcrange="-50 50"  class="ankle_motor"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
+                    range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link" />
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
+          mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
+          actuatorfrcrange="-88 88" class="leg_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
+          mesh="right_hip_pitch_link" />
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link" />
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
+            mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236"
+            actuatorfrcrange="-88 88" class="leg_motor" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+            mesh="right_hip_roll_link" />
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link" />
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
+              mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
+              actuatorfrcrange="-88 88" class="leg_motor" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+              mesh="right_hip_yaw_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link" />
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074"
+                quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
+                diaginertia="0.011374 0.0112843 0.00146452" />
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
+                actuatorfrcrange="-139 139" class="leg_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
+                  range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
+                    range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link" />
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121"
+          mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05" />
+        <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
+          actuatorfrcrange="-88 88" class="torso_motor"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+          mesh="waist_yaw_link" />
+        <body name="waist_roll_link" pos="-0.0039635 0 0.035">
+          <inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047"
+            diaginertia="7.515e-06 6.40206e-06 3.98394e-06" />
+          <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52"
+            actuatorfrcrange="-50 50" class="torso_motor"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+            mesh="waist_roll_link" />
+          <body name="torso_link" pos="0 0 0.019">
+            <inertial pos="0.00331658 0.000261533 0.179856"
+              quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598"
+              diaginertia="0.12407 0.111951 0.0325382" />
+            <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52"
+              actuatorfrcrange="-50 50" class="torso_motor"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
+              mesh="torso_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
+              group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1"
+              mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1"
+              density="0" rgba="0.2 0.2 0.2 1" mesh="head_link" />
+            <geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
+              group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1"
+              mesh="waist_support_link" />
+            <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792" />
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778"
+              quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
+                mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
+                range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0"
+                type="cylinder" rgba="0.7 0.7 0.7 1" />
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
+                quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243"
+                  quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
+                  range="-1.5882 2.2515" actuatorfrcrange="-25 25" class="arm_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder"
+                  rgba="0.7 0.7 0.7 1" />
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009"
+                    quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734"
+                    diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
+                    range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062"
+                      quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
+                      actuatorfrcrange="-25 25" class="arm_motor" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                      rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07"
+                        quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445"
+                        diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
+                        range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                        rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658"
+                          quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405"
+                          diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
+                          range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                          rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742"
+                            quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576"
+                            diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
+                            range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                            rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
+                          <body name="left_rubber_hand" >
+                            <inertial pos="0.0001 0.0001 0.0001" mass="0.0001" diaginertia="0 0 0" />
+                            <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1"
+                              mesh="left_rubber_hand" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778"
+              quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
+                mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
+                range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0"
+                type="cylinder" rgba="0.7 0.7 0.7 1" />
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
+                quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243"
+                  quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
+                  range="-2.2515 1.5882" actuatorfrcrange="-25 25" class="arm_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                  rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder"
+                  rgba="0.7 0.7 0.7 1" />
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009"
+                    quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734"
+                    diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
+                    range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062"
+                      quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
+                      actuatorfrcrange="-25 25" class="arm_motor" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                      rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07"
+                        quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445"
+                        diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
+                        range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                        rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658"
+                          quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405"
+                          diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
+                          range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                          rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742"
+                            quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576"
+                            diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
+                            range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                            rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
+                          <body name="right_rubber_hand" >
+                            <inertial pos="0.0001 0.0001 0.0001" mass="0.0001" diaginertia="0 0 0" />
+                            <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" 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="fx" joint="floating_base_joint" gear="1 0 0 0 0 0" />
+    <motor name="fy" joint="floating_base_joint" gear="0 1 0 0 0 0" />
+    <motor name="fz" joint="floating_base_joint" gear="0 0 1 0 0 0" />
+    <motor name="tx" joint="floating_base_joint" gear="0 0 0 1 0 0" />
+    <motor name="ty" joint="floating_base_joint" gear="0 0 0 0 1 0" />
+    <motor name="tz" joint="floating_base_joint" gear="0 0 0 0 0 1" />
+
+    <motor name="left_hip_pitch" joint="left_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="left_hip_roll" joint="left_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="left_hip_yaw" joint="left_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="left_knee" joint="left_knee_joint" ctrlrange="-139 139" />
+    <motor name="left_ankle_pitch" joint="left_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="left_ankle_roll" joint="left_ankle_roll_joint" ctrlrange="-50 50" />
+
+    <motor name="right_hip_pitch" joint="right_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="right_hip_roll" joint="right_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="right_hip_yaw" joint="right_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="right_knee" joint="right_knee_joint" ctrlrange="-139 139" />
+    <motor name="right_ankle_pitch" joint="right_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="right_ankle_roll" joint="right_ankle_roll_joint" ctrlrange="-50 50" />
+
+    <motor name="waist_yaw" joint="waist_yaw_joint" ctrlrange="-88 88" />
+    <motor name="waist_roll" joint="waist_roll_joint" ctrlrange="-50 50" />
+    <motor name="waist_pitch" joint="waist_pitch_joint" ctrlrange="-50 50" />
+
+    <motor name="left_shoulder_pitch" joint="left_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="left_shoulder_roll" joint="left_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="left_shoulder_yaw" joint="left_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="left_elbow" joint="left_elbow_joint" ctrlrange="-25 25" />
+    <motor name="left_wrist_roll" joint="left_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="left_wrist_pitch" joint="left_wrist_pitch_joint" ctrlrange="-5 5" />
+    <motor name="left_wrist_yaw" joint="left_wrist_yaw_joint" ctrlrange="-5 5" />
+
+    <motor name="right_shoulder_pitch" joint="right_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="right_shoulder_roll" joint="right_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="right_shoulder_yaw" joint="right_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="right_elbow" joint="right_elbow_joint" ctrlrange="-25 25" />
+    <motor name="right_wrist_roll" joint="right_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="right_wrist_pitch" joint="right_wrist_pitch_joint" ctrlrange="-5 5" />
+    <motor name="right_wrist_yaw" joint="right_wrist_yaw_joint" ctrlrange="-5 5" />
+  </actuator>
+
+  <sensor>
+    <jointpos name="left_hip_pitch_pos" joint="left_hip_pitch_joint" />
+    <jointpos name="left_hip_roll_pos" joint="left_hip_roll_joint" />
+    <jointpos name="left_hip_yaw_pos" joint="left_hip_yaw_joint" />
+    <jointpos name="left_knee_pos" joint="left_knee_joint" />
+    <jointpos name="left_ankle_pitch_pos" joint="left_ankle_pitch_joint" />
+    <jointpos name="left_ankle_roll_pos" joint="left_ankle_roll_joint" />
+    <jointpos name="right_hip_pitch_pos" joint="right_hip_pitch_joint" />
+    <jointpos name="right_hip_roll_pos" joint="right_hip_roll_joint" />
+    <jointpos name="right_hip_yaw_pos" joint="right_hip_yaw_joint" />
+    <jointpos name="right_knee_pos" joint="right_knee_joint" />
+    <jointpos name="right_ankle_pitch_pos" joint="right_ankle_pitch_joint" />
+    <jointpos name="right_ankle_roll_pos" joint="right_ankle_roll_joint" />
+    <jointpos name="waist_yaw_pos" joint="waist_yaw_joint" />
+    <jointpos name="waist_roll_pos" joint="waist_roll_joint" />
+    <jointpos name="waist_pitch_pos" joint="waist_pitch_joint" />
+    <jointpos name="left_shoulder_pitch_pos" joint="left_shoulder_pitch_joint" />
+    <jointpos name="left_shoulder_roll_pos" joint="left_shoulder_roll_joint" />
+    <jointpos name="left_shoulder_yaw_pos" joint="left_shoulder_yaw_joint" />
+    <jointpos name="left_elbow_pos" joint="left_elbow_joint" />
+    <jointpos name="left_wrist_roll_pos" joint="left_wrist_roll_joint" />
+    <jointpos name="left_wrist_pitch_pos" joint="left_wrist_pitch_joint" />
+    <jointpos name="left_wrist_yaw_pos" joint="left_wrist_yaw_joint" />
+    <jointpos name="right_shoulder_pitch_pos" joint="right_shoulder_pitch_joint" />
+    <jointpos name="right_shoulder_roll_pos" joint="right_shoulder_roll_joint" />
+    <jointpos name="right_shoulder_yaw_pos" joint="right_shoulder_yaw_joint" />
+    <jointpos name="right_elbow_pos" joint="right_elbow_joint" />
+    <jointpos name="right_wrist_roll_pos" joint="right_wrist_roll_joint" />
+    <jointpos name="right_wrist_pitch_pos" joint="right_wrist_pitch_joint" />
+    <jointpos name="right_wrist_yaw_pos" joint="right_wrist_yaw_joint" />
+
+    <jointvel name="left_hip_pitch_vel" joint="left_hip_pitch_joint" />
+    <jointvel name="left_hip_roll_vel" joint="left_hip_roll_joint" />
+    <jointvel name="left_hip_yaw_vel" joint="left_hip_yaw_joint" />
+    <jointvel name="left_knee_vel" joint="left_knee_joint" />
+    <jointvel name="left_ankle_pitch_vel" joint="left_ankle_pitch_joint" />
+    <jointvel name="left_ankle_roll_vel" joint="left_ankle_roll_joint" />
+    <jointvel name="right_hip_pitch_vel" joint="right_hip_pitch_joint" />
+    <jointvel name="right_hip_roll_vel" joint="right_hip_roll_joint" />
+    <jointvel name="right_hip_yaw_vel" joint="right_hip_yaw_joint" />
+    <jointvel name="right_knee_vel" joint="right_knee_joint" />
+    <jointvel name="right_ankle_pitch_vel" joint="right_ankle_pitch_joint" />
+    <jointvel name="right_ankle_roll_vel" joint="right_ankle_roll_joint" />
+    <jointvel name="waist_yaw_vel" joint="waist_yaw_joint" />
+    <jointvel name="waist_roll_vel" joint="waist_roll_joint" />
+    <jointvel name="waist_pitch_vel" joint="waist_pitch_joint" />
+    <jointvel name="left_shoulder_pitch_vel" joint="left_shoulder_pitch_joint" />
+    <jointvel name="left_shoulder_roll_vel" joint="left_shoulder_roll_joint" />
+    <jointvel name="left_shoulder_yaw_vel" joint="left_shoulder_yaw_joint" />
+    <jointvel name="left_elbow_vel" joint="left_elbow_joint" />
+    <jointvel name="left_wrist_roll_vel" joint="left_wrist_roll_joint" />
+    <jointvel name="left_wrist_pitch_vel" joint="left_wrist_pitch_joint" />
+    <jointvel name="left_wrist_yaw_vel" joint="left_wrist_yaw_joint" />
+    <jointvel name="right_shoulder_pitch_vel" joint="right_shoulder_pitch_joint" />
+    <jointvel name="right_shoulder_roll_vel" joint="right_shoulder_roll_joint" />
+    <jointvel name="right_shoulder_yaw_vel" joint="right_shoulder_yaw_joint" />
+    <jointvel name="right_elbow_vel" joint="right_elbow_joint" />
+    <jointvel name="right_wrist_roll_vel" joint="right_wrist_roll_joint" />
+    <jointvel name="right_wrist_pitch_vel" joint="right_wrist_pitch_joint" /> 
+    <jointvel name="right_wrist_yaw_vel" joint="right_wrist_yaw_joint" />
+
+    <jointactuatorfrc name="left_hip_pitch_torque" joint="left_hip_pitch_joint" />
+    <jointactuatorfrc name="left_hip_roll_torque" joint="left_hip_roll_joint" />
+    <jointactuatorfrc name="left_hip_yaw_torque" joint="left_hip_yaw_joint" />
+    <jointactuatorfrc name="left_knee_torque" joint="left_knee_joint" />
+    <jointactuatorfrc name="left_ankle_pitch_torque" joint="left_ankle_pitch_joint" />
+    <jointactuatorfrc name="left_ankle_roll_torque" joint="left_ankle_roll_joint" />
+    <jointactuatorfrc name="right_hip_pitch_torque" joint="right_hip_pitch_joint" />
+    <jointactuatorfrc name="right_hip_roll_torque" joint="right_hip_roll_joint" />
+    <jointactuatorfrc name="right_hip_yaw_torque" joint="right_hip_yaw_joint" />
+    <jointactuatorfrc name="right_knee_torque" joint="right_knee_joint" />
+    <jointactuatorfrc name="right_ankle_pitch_torque" joint="right_ankle_pitch_joint" />
+    <jointactuatorfrc name="right_ankle_roll_torque" joint="right_ankle_roll_joint" />
+    <jointactuatorfrc name="waist_yaw_torque" joint="waist_yaw_joint" />
+    <jointactuatorfrc name="waist_roll_torque" joint="waist_roll_joint" />
+    <jointactuatorfrc name="waist_pitch_torque" joint="waist_pitch_joint" />
+    <jointactuatorfrc name="left_shoulder_pitch_torque" joint="left_shoulder_pitch_joint" />
+    <jointactuatorfrc name="left_shoulder_roll_torque" joint="left_shoulder_roll_joint" />
+    <jointactuatorfrc name="left_shoulder_yaw_torque" joint="left_shoulder_yaw_joint" />
+    <jointactuatorfrc name="left_elbow_torque" joint="left_elbow_joint" />
+    <jointactuatorfrc name="left_wrist_roll_torque" joint="left_wrist_roll_joint" />
+    <jointactuatorfrc name="left_wrist_pitch_torque" joint="left_wrist_pitch_joint" />
+    <jointactuatorfrc name="left_wrist_yaw_torque" joint="left_wrist_yaw_joint" />
+    <jointactuatorfrc name="right_shoulder_pitch_torque" joint="right_shoulder_pitch_joint" />
+    <jointactuatorfrc name="right_shoulder_roll_torque" joint="right_shoulder_roll_joint" />
+    <jointactuatorfrc name="right_shoulder_yaw_torque" joint="right_shoulder_yaw_joint" />
+    <jointactuatorfrc name="right_elbow_torque" joint="right_elbow_joint" />
+    <jointactuatorfrc name="right_wrist_roll_torque" joint="right_wrist_roll_joint" />
+    <jointactuatorfrc name="right_wrist_pitch_torque" joint="right_wrist_pitch_joint" />
+    <jointactuatorfrc name="right_wrist_yaw_torque" joint="right_wrist_yaw_joint" />
+
+    <framequat name="imu_quat" objtype="site" objname="imu" /> <!-- 4D quat 0 1 2 3 -->
+    <gyro name="imu_gyro" site="imu" /> <!-- 3D gyro 4 5 6 -->
+    <accelerometer name="imu_acc" site="imu" /> <!-- 3D acc 7 8 9 -->
+
+    <framepos name="frame_pos" objtype="site" objname="imu" /> <!-- 3D pos 10 11 12 -->
+    <framelinvel name="frame_vel" objtype="site" objname="imu" /> <!-- 3D vel 13 14 15 -->
+
+  </sensor>
+
+  <keyframe>
+    <key name="stand"
+      qpos="0.0 0.0 0.8 0.0 0.0 0.0 1.0 -0.1 0.0 0.0 0.3 -0.2 0.0 -0.1 0.0 0.0 0.3 -0.2 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0"/>
+  </keyframe>
+
+</mujoco>

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