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@@ -57,3 +57,54 @@ 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
+assets/g1/meshes/head_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_hand_index_0_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_hand_index_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_hand_middle_0_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_hand_middle_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_hand_palm_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_hand_thumb_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_hand_thumb_2_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_wrist_roll_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/left_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/logo_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/pelvis.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/pelvis_contour_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_hand_index_0_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_hand_index_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_hand_middle_0_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_hand_middle_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_hand_palm_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_hand_thumb_1_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_hand_thumb_2_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_wrist_roll_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/right_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/torso_constraint_L_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/torso_constraint_R_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/torso_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/torso_link_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/waist_constraint_L.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/waist_constraint_R.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/waist_support_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/waist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+assets/g1/meshes/waist_yaw_link_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text

assets/g1/LICENSE.txt

@@ -0,0 +1,23 @@
+BSD 3-Clause License
+Copyright (c) 2016-2023 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:
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. 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.
+3. 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.

assets/g1/g1.xml

@@ -0,0 +1,341 @@
+<mujoco model="g1_29dof">
+  <compiler angle="radian" meshdir="meshes/"/>
+
+  <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"/>
+  </asset>
+
+  <default>
+        <motor ctrllimited="true"/>
+        <joint frictionloss="0.1" />
+  </default>
+
+
+
+  <worldbody>
+    <body name="pelvis" pos="0 0 0.793">
+      <freejoint name="root"/>
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
+      <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" type="hinge"  pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" limited="true" actuatorfrcrange="-88 88"  stiffness="40.179238471" damping="2.557889765" armature="0.010177520"/>
+        <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" type="hinge"  pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" limited="true" actuatorfrcrange="-88 88" stiffness="99.098427777" damping="6.308801853" armature="0.025101925"/>
+          <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"  type="hinge" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"  limited="true" actuatorfrcrange="-88 88" stiffness="40.179238471" damping="2.557889765" armature="0.010177520"/>
+            <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"  type="hinge" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"  limited="true" actuatorfrcrange="-139 139" stiffness="99.098427777" damping="6.308801853" armature="0.025101925"/>
+              <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"   type="hinge" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236"  limited="true" actuatorfrcrange="-50 50" stiffness="28.501246196" damping="1.814445686" armature="0.00721945"/>
+                <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"  type="hinge" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618"  limited="true" actuatorfrcrange="-50 50" stiffness="28.501246196" damping="1.814445686" armature="0.00721945"/>
+                  <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 type="sphere" size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom type="sphere" size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom type="sphere" size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom type="sphere" 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"  type="hinge" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"  limited="true" actuatorfrcrange="-88 88" stiffness="40.179238471" damping="2.557889765" armature="0.010177520"/>
+        <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"  type="hinge" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236"  limited="true" actuatorfrcrange="-88 88" stiffness="99.098427777" damping="6.308801853" armature="0.025101925"/>
+          <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"  type="hinge" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" limited="true"  actuatorfrcrange="-88 88" stiffness="40.179238471" damping="2.557889765" armature="0.010177520"/>
+            <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"  type="hinge" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"  limited="true" actuatorfrcrange="-139 139" stiffness="99.098427777" damping="6.308801853" armature="0.025101925"/>
+              <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"  type="hinge" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" limited="true"  actuatorfrcrange="-50 50" stiffness="28.501246196" damping="1.814445686" armature="0.00721945"/>
+                <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"  type="hinge" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618"  limited="true" actuatorfrcrange="-50 50" stiffness="28.501246196" damping="1.814445686" armature="0.00721945"/>
+                  <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 type="sphere" size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom type="sphere" size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom type="sphere" size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
+                  <geom type="sphere" 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"  type="hinge" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"  limited="true" actuatorfrcrange="-88 88" stiffness="40.179238471" damping="2.557889765" armature="0.010177520"/>
+        <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"  type="hinge" pos="0 0 0" axis="1 0 0" range="-0.52 0.52"  limited="true" actuatorfrcrange="-50 50" stiffness="28.501246196" damping="1.814445686" armature="0.00721945"/>
+          <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" type="hinge"  pos="0 0 0" axis="0 1 0" range="-0.52 0.52"  limited="true" actuatorfrcrange="-50 50" stiffness="28.501246196" damping="1.814445686" armature="0.00721945"/>
+            <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 type="mesh" pos="0.0039635 0 -0.054" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
+            <geom type="mesh" pos="0.0039635 0 -0.054" quat="1 0 0 0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
+            <geom type="mesh" pos="0.0039635 0 -0.054" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
+            <geom type="mesh" pos="0.0039635 0 -0.054" quat="1 0 0 0" 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="head_link" pos="0.015 0 0.4">
+              <geom type="mesh" pos="-0.0110365 0 -0.454" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
+              <geom type="mesh" pos="-0.0110365 0 -0.454" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
+            </body>
+
+            <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"  type="hinge" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" limited="true"  actuatorfrcrange="-25 25" stiffness="14.250623098" damping="0.907222843" armature="0.003609725"/>
+              <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 type="cylinder" size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" 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" type="hinge"  pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" limited="true"  actuatorfrcrange="-25 25" stiffness="14.25062309860" damping="0.907222843" armature="0.003609725"/>
+                <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 type="cylinder" size="0.03 0.015" pos="-0.004 0.006 -0.053" 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"  type="hinge" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"  limited="true" actuatorfrcrange="-25 25"  stiffness="14.250623098" damping="0.907222843" armature="0.003609725"/>
+                  <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"  type="hinge" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"  limited="true" actuatorfrcrange="-25 25" stiffness="14.250623098" damping="0.907222843" armature="0.003609725"/>
+                    <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"  type="hinge" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222"  limited="true" actuatorfrcrange="-5 5" stiffness="14.250623098" damping="0.907222843" armature="0.003609725"/>
+                      <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"  type="hinge" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443"  limited="true" actuatorfrcrange="-5 5" stiffness="16.778327481" damping="1.068141502" armature="0.00425"/>
+                        <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" type="hinge"  pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443"  limited="true" actuatorfrcrange="-5 5" stiffness="16.778327481" damping="1.068141502" armature="0.00425"/>
+                          <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"/>
+                          <geom type="mesh" pos="0.0415 0.003 0" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
+                          <geom type="box" size="0.04 0.015 0.035" pos="0.08 -0.0025 -0.0" mass="0.0001"/>
+                          <geom type="capsule"  fromto="0.120000 -0.0025 -0.025 0.120000 -0.002500 0.025" size="0.01500" mass="0.0001"/>
+                        </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" type="hinge"  pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704"  limited="true" actuatorfrcrange="-25 25" stiffness="14.250623098" damping="0.907222843" armature="0.003609725"/>
+              <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 type="cylinder" size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" 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"  type="hinge" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882"  limited="true" actuatorfrcrange="-25 25"  stiffness="14.250623098" damping="0.907222843" armature="0.003609725"/>
+                <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 type="cylinder" size="0.03 0.015" pos="-0.004 -0.006 -0.053" 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"  type="hinge" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"  limited="true" actuatorfrcrange="-25 25" stiffness="14.250623098" damping="0.907222843" armature="0.003609725"/>
+                  <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"  type="hinge" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"  limited="true" actuatorfrcrange="-25 25"  stiffness="14.250623098" damping="0.907222843" armature="0.003609725"/>
+                    <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"  type="hinge" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" limited="true"  actuatorfrcrange="-5 5" stiffness="14.250623098" damping="0.907222843" armature="0.003609725"/>
+                      <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" type="hinge"  pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443"  limited="true" actuatorfrcrange="-5 5" stiffness="16.778327481" damping="1.068141502" armature="0.00425"/>
+                        <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" type="hinge"  pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443"  limited="true" actuatorfrcrange="-5 5" stiffness="16.778327481" damping="1.068141502" armature="0.00425"/>
+                          <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"/>
+                          <geom type="mesh" pos="0.0415 -0.003 0" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
+                          <geom type="box" size="0.04 0.015 0.035" pos="0.08 0.0025 -0.0" mass="0.0001"/>
+                          <geom type="capsule" fromto="0.120000 0.0025 -0.025 0.120000 0.002500 0.025" size="0.01500" mass="0.0001"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  
+  <actuator>
+    <motor name="left_hip_pitch_joint"        gear="88.0"  joint="left_hip_pitch_joint" ctrlrange="-88 88"/>
+    <motor name="left_hip_roll_joint"         gear="88.0"  joint="left_hip_roll_joint" ctrlrange="-139 139"/>
+    <motor name="left_hip_yaw_joint"          gear="88.0"  joint="left_hip_yaw_joint" ctrlrange="-88 88"/>
+    <motor name="left_knee_joint"             gear="139.0" joint="left_knee_joint" ctrlrange="-139 139"/>
+    <motor name="left_ankle_pitch_joint"      gear="50.0"  joint="left_ankle_pitch_joint" ctrlrange="-50 50"/>
+    <motor name="left_ankle_roll_joint"       gear="50.0"  joint="left_ankle_roll_joint" ctrlrange="-50 50"/>
+
+    <motor name="right_hip_pitch_joint"       gear="88.0"  joint="right_hip_pitch_joint" ctrlrange="-88 88"/>
+    <motor name="right_hip_roll_joint"        gear="88.0"  joint="right_hip_roll_joint" ctrlrange="-139 139"/>
+    <motor name="right_hip_yaw_joint"         gear="88.0"  joint="right_hip_yaw_joint" ctrlrange="-88 88"/>
+    <motor name="right_knee_joint"            gear="139.0" joint="right_knee_joint" ctrlrange="-139 139"/>
+    <motor name="right_ankle_pitch_joint"     gear="50.0"  joint="right_ankle_pitch_joint" ctrlrange="-50 50"/>
+    <motor name="right_ankle_roll_joint"      gear="50.0"  joint="right_ankle_roll_joint" ctrlrange="-50 50"/>
+    
+    <motor name="waist_yaw_joint"             gear="88.0"  joint="waist_yaw_joint" ctrlrange="-88 88"/>
+    <motor name="waist_roll_joint"            gear="50.0"  joint="waist_roll_joint" ctrlrange="-50 50"/>
+    <motor name="waist_pitch_joint"           gear="50.0"  joint="waist_pitch_joint" ctrlrange="-50 50"/>
+
+    <motor name="left_shoulder_pitch_joint"   gear="25.0"  joint="left_shoulder_pitch_joint" ctrlrange="-25 25"/>
+    <motor name="left_shoulder_roll_joint"    gear="25.0"  joint="left_shoulder_roll_joint" ctrlrange="-25 25"/>
+    <motor name="left_shoulder_yaw_joint"     gear="25.0"  joint="left_shoulder_yaw_joint" ctrlrange="-25 25"/>
+    <motor name="left_elbow_joint"            gear="25.0"  joint="left_elbow_joint" ctrlrange="-25 25"/>
+    <motor name="left_wrist_roll_joint"       gear="25.0"  joint="left_wrist_roll_joint" ctrlrange="-25 25"/>
+    <motor name="left_wrist_pitch_joint"      gear="25.0"  joint="left_wrist_pitch_joint" ctrlrange="-5 5"/>
+    <motor name="left_wrist_yaw_joint"        gear="25.0"  joint="left_wrist_yaw_joint" ctrlrange="-5 5"/>
+
+    <motor name="right_shoulder_pitch_joint"  gear="25.0"  joint="right_shoulder_pitch_joint" ctrlrange="-25 25"/>
+    <motor name="right_shoulder_roll_joint"   gear="25.0"  joint="right_shoulder_roll_joint" ctrlrange="-25 25"/>
+    <motor name="right_shoulder_yaw_joint"    gear="25.0"  joint="right_shoulder_yaw_joint" ctrlrange="-25 25"/>
+    <motor name="right_elbow_joint"           gear="25.0"  joint="right_elbow_joint" ctrlrange="-25 25"/>
+    <motor name="right_wrist_roll_joint"      gear="25.0"  joint="right_wrist_roll_joint" ctrlrange="-25 25"/>
+    <motor name="right_wrist_pitch_joint"     gear="25.0"  joint="right_wrist_pitch_joint" ctrlrange="-5 5"/>
+    <motor name="right_wrist_yaw_joint"       gear="25.0"  joint="right_wrist_yaw_joint" ctrlrange="-5 5"/>
+  </actuator>
+
+  <sensor>
+    <gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
+  </sensor>
+
+
+  <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"/>
+  </visual>
+  <asset>
+    <texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" 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="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+  <worldbody>
+    <light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+
+</mujoco>

assets/g1/meshes/head_link.STL

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assets/g1/meshes/left_ankle_roll_link.STL

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assets/g1/meshes/left_hand_index_0_link.STL

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assets/g1/meshes/left_hand_index_1_link.STL

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assets/g1/meshes/left_hand_palm_link.STL

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assets/g1/meshes/left_hand_thumb_1_link.STL

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assets/g1/meshes/left_hand_thumb_2_link.STL

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