commit b990c0eff38404755a1b57bce8453a499d358315
Author: silencht <silencht@qq.com>
Date:   Tue Aug 6 18:23:05 2024 +0800

    Init commit

diff --git a/.gitignore b/.gitignore
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+.idea/
+__MACOSX/
+.DS_Store
+*pycache*
+*.pyc
+*.egg-info
+*.mp4
+*build/
+*.pem
+*.webm
+*.jpg
+*.svo
+*.png
\ No newline at end of file
diff --git a/LICENSE b/LICENSE
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--- /dev/null
+++ b/LICENSE
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+Copyright [2024] [Xuxin Cheng, Jialong Li, Shiqi Yang, Ge Yang and Xiaolong Wang]
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+------------------
+
+This code builds upon following open-source code-bases. Please visit the URLs to see the respective LICENSES:
+
+1) https://github.com/tonyzhaozh/act
+2) https://github.com/facebookresearch/detr
+3) https://github.com/dexsuite/dex-retargeting
+4) https://github.com/vuer-ai/vuer
+5) https://github.com/stack-of-tasks/pinocchio
+6) https://github.com/casadi/casadi
+7) https://github.com/meshcat-dev/meshcat-python
+8) https://github.com/zeromq/pyzmq
+
+------------------
\ No newline at end of file
diff --git a/README.md b/README.md
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+++ b/README.md
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+
+# Video Demo
+<img src="./img/1.webp" autoplay loop="loop" style="width: 49%" controls></img><img src="./img/2.webp" autoplay loop="loop" style="width: 49%" controls></img>
+
+# Introduction
+This repository implements teleoperation of the humanoid robot Unitree H1_2 using Apple Vision Pro.
+
+# Prerequisites
+
+We tested our code on Ubuntu 20.04 and Ubuntu 22.04, other operating systems may be configured differently.  
+
+For more information, you can refer to [Official documentation ]() and [OpenTeleVision](https://github.com/OpenTeleVision/TeleVision).
+ 
+
+
+## inverse kinematics
+
+```bash
+conda create -n tv python=3.8
+conda activate tv
+# If you use `pip install`, Make sure pinocchio version is 3.1.0
+conda install pinocchio -c conda-forge
+pip install meshcat
+```
+
+## unitree_dds_wrapper
+
+```bash
+# Install the Python version of the unitree_dds_wrapper.
+git clone https://github.com/unitreerobotics/unitree_dds_wrapper.git
+cd unitree_dds_wrapper/python
+pip3 install -e .
+```
+
+## TeleVision and Apple Vision Pro configuration
+
+### basic
+
+```bash
+cd ~
+git clone https://github.com/unitreerobotics/avp_teleoperate_robot.git 
+cd ~/avp_teleoperate_robot
+pip install -r requirements.txt
+cd act/detr && pip install -e .
+```
+
+### Isaac Gym
+
+If you want to try teleoperation example in a simulated environment (teleop_hand.py):
+1. Download Isaac Gym: https://developer.nvidia.com/isaac-gym/download
+2. Extracting to the current directory, go to the `IsaacGym_Preview_4_Package/isaacgym/python` directory and execute the command: `pip install -e .`
+
+### Local streaming
+
+**Apple** does not allow WebXR on non-https connections. To test the application locally, we need to create a self-signed certificate and install it on the client. You need a ubuntu machine and a router. Connect the VisionPro and the ubuntu machine to the same router.
+
+1. install mkcert: https://github.com/FiloSottile/mkcert
+2. check local ip address:
+
+```bash
+    ifconfig | grep inet
+```
+
+Suppose the local ip address of the ubuntu machine is `192.168.123.2`.
+
+3. create certificate:
+
+```bash
+mkcert -install && mkcert -cert-file cert.pem -key-file key.pem 192.168.123.2 localhost 127.0.0.1
+```
+
+ps. place the generated cert.pem and key.pem files in teleop.
+
+```bash
+cp cert.pem key.pem ~/avp_teleoperate_robot/teleop/
+```
+
+4. open firewall on server:
+
+```bash
+sudo ufw allow 8012
+```
+
+5. install ca-certificates on VisionPro:
+
+```
+mkcert -CAROOT
+```
+
+Copy the rootCA.pem via AirDrop to VisionPro and install it.
+
+Settings > General > About > Certificate Trust Settings. Under "Enable full trust for root certificates", turn on trust for the certificate.
+
+settings > Apps > Safari > Advanced > Feature Flags > Enable WebXR Related Features
+
+6. open the browser on Safari on VisionPro and go to https://192.168.123.2:8012?ws=wss://192.168.123.2:8012
+
+7. Click "Enter VR" and Allow to start the VR session.
+
+### Simulation Teleoperation Example
+1. After setup up streaming with either local or network streaming following the above instructions, you can try teleoperating two robot hands in Issac Gym:
+
+    ```bash
+    cd teleop && python teleop_hand.py
+    ```
+
+2. Go to your vuer site on VisionPro, click `Enter VR` and `Allow` to enter immersive environment.
+
+3. See your hands in 3D!
+
+<div style="center">
+  <img src="https://doc-cdn.unitree.com/static/2024/7/25/4b1b2327d4774abfbe8ef1c084d81cd7_2686x1627.png" width="50%">
+</div>
+
+
+
+
+<!-- <p style="text-align: center;">
+  <img src="https://doc-cdn.unitree.com/static/2024/7/25/4b1b2327d4774abfbe8ef1c084d81cd7_2686x1627.png"  style="display: block; margin: auto; width: 30%;">
+</p> -->
+
+# Usage
+
+## Dexterous hands service
+
+On Unitree H1_2's PC, execute command:
+
+```bash
+sudo ./inspire_hand -s /dev/ttyUSB0
+```
+
+Open another terminal and execute the following command to test. If two hands open and close continuously, it indicates success.
+
+```bash
+./h1_hand_example
+```
+
+## Image Server
+
+Copy `image_server.py` in the `avp_teleoperate_robot/teleop/image_server` directory to the PC of Unitree H1_2, and execute the following command **in the PC**:
+
+```bash
+sudo python image_server.py
+```
+
+After image service is started, you can use `image_client.py` **in the Host** terminal to test whether the communication is successful:
+
+```bash
+python image_client.py
+```
+
+## Start
+
+```bash
+python unitree_human_robot.py
+
+```
+
+# Codebase Tutorial
+
+The overall structure of the code remains the same as TeleVision, and we will only focus on the directory of files related to Unitree Robot
+
+    avp_teleoperate_robot/
+    │
+    ├── act                       [Documents Related to ACT Policy for Imitation Learning]
+    │
+    ├── assets                    [Storage of robot URDF-related files]
+    │  
+    ├── scripts
+    │
+    ├── teleop
+    │   ├── image_server/         [Image Transfer Server and Client Code]
+    │   │     ├── image_client.py [Client (only used to test whether the image stream service is OK, not used for teleoperation)]
+    │   │     ├── image_server.py [Capture images from binocular cameras and send via network (performed on Unitree H1_2)]
+    │   │         
+    │   ├── robot_control/          [Storage of IK solver, arm and hand control related documents]
+    │   │      ├── robot_arm_ik.py  [Inverse kinematics of the arm]  
+    │   │      ├── robot_arm.py     [Control dual arm joints and lock the others]
+    │   │      ├── robot_hand.py    [Control hand joints]
+    │   │
+    │   │──teleop_hand_and_arm.py   [Startup execution code for teleoperation]
+    |   |——teleop_hand.py           [Can be used for testing the environment configuration]
+
+
+# Acknowledgement
+This code builds upon following open-source code-bases. Please visit the URLs to see the respective LICENSES:
+
+1) https://github.com/OpenTeleVision/TeleVision
+2) https://github.com/dexsuite/dex-retargeting
+3) https://github.com/vuer-ai/vuer
+4) https://github.com/stack-of-tasks/pinocchio
+5) https://github.com/casadi/casadi
+6) https://github.com/meshcat-dev/meshcat-python
+7) https://github.com/zeromq/pyzmq
+8) https://github.com/unitreerobotics/unitree_dds_wrapper
+9) https://github.com/tonyzhaozh/act
+10) https://github.com/facebookresearch/detr
\ No newline at end of file
diff --git a/act/LICENSE b/act/LICENSE
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--- /dev/null
+++ b/act/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Tony Z. Zhao
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/act/README.md b/act/README.md
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index 0000000..1f58040
--- /dev/null
+++ b/act/README.md
@@ -0,0 +1,8 @@
+This part of the codebase is modified from ACT https://github.com/tonyzhaozh/act under MIT License.
+
+    @article{zhao2023learning,
+    title={Learning fine-grained bimanual manipulation with low-cost hardware},
+    author={Zhao, Tony Z and Kumar, Vikash and Levine, Sergey and Finn, Chelsea},
+    journal={arXiv preprint arXiv:2304.13705},
+    year={2023}
+    }
\ No newline at end of file
diff --git a/act/conda_env.yaml b/act/conda_env.yaml
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+++ b/act/conda_env.yaml
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+name: aloha
+channels:
+  - pytorch
+  - nvidia
+  - conda-forge
+dependencies:
+  - python=3.9
+  - pip=23.0.1
+  - pytorch=2.0.0
+  - torchvision=0.15.0
+  - pytorch-cuda=11.8
+  - pyquaternion=0.9.9
+  - pyyaml=6.0
+  - rospkg=1.5.0
+  - pexpect=4.8.0
+  - mujoco=2.3.3
+  - dm_control=1.0.9
+  - py-opencv=4.7.0
+  - matplotlib=3.7.1
+  - einops=0.6.0
+  - packaging=23.0
+  - h5py=3.8.0
+  - ipython=8.12.0
diff --git a/act/detr/LICENSE b/act/detr/LICENSE
new file mode 100644
index 0000000..b1395e9
--- /dev/null
+++ b/act/detr/LICENSE
@@ -0,0 +1,201 @@
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diff --git a/act/detr/README.md b/act/detr/README.md
new file mode 100644
index 0000000..500b1b8
--- /dev/null
+++ b/act/detr/README.md
@@ -0,0 +1,9 @@
+This part of the codebase is modified from DETR https://github.com/facebookresearch/detr under APACHE 2.0.
+
+    @article{Carion2020EndtoEndOD,
+      title={End-to-End Object Detection with Transformers},
+      author={Nicolas Carion and Francisco Massa and Gabriel Synnaeve and Nicolas Usunier and Alexander Kirillov and Sergey Zagoruyko},
+      journal={ArXiv},
+      year={2020},
+      volume={abs/2005.12872}
+    }
\ No newline at end of file
diff --git a/act/detr/main.py b/act/detr/main.py
new file mode 100644
index 0000000..ca17adf
--- /dev/null
+++ b/act/detr/main.py
@@ -0,0 +1,128 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+import argparse
+from pathlib import Path
+
+import numpy as np
+import torch
+from .models import build_ACT_model, build_CNNMLP_model
+
+import IPython
+e = IPython.embed
+
+def get_args_parser():
+    parser = argparse.ArgumentParser('Set transformer detector', add_help=False)
+    parser.add_argument('--lr', default=1e-4, type=float) # will be overridden
+    parser.add_argument('--lr_backbone', default=1e-5, type=float) # will be overridden
+    parser.add_argument('--batch_size', default=2, type=int) # not used
+    parser.add_argument('--weight_decay', default=1e-4, type=float)
+    parser.add_argument('--epochs', default=300, type=int) # not used
+    parser.add_argument('--lr_drop', default=200, type=int) # not used
+    parser.add_argument('--clip_max_norm', default=0.1, type=float, # not used
+                        help='gradient clipping max norm')
+    parser.add_argument('--qpos_noise_std', action='store', default=0, type=float, help='lr', required=False)
+
+
+    # Model parameters
+    # * Backbone
+    parser.add_argument('--backbone', default='resnet18', type=str, # will be overridden
+                        help="Name of the convolutional backbone to use")
+    parser.add_argument('--dilation', action='store_true',
+                        help="If true, we replace stride with dilation in the last convolutional block (DC5)")
+    parser.add_argument('--position_embedding', default='sine', type=str, choices=('sine', 'learned'),
+                        help="Type of positional embedding to use on top of the image features")
+    parser.add_argument('--camera_names', default=[], type=list, # will be overridden
+                        help="A list of camera names")
+
+    # * Transformer
+    parser.add_argument('--enc_layers', default=4, type=int, # will be overridden
+                        help="Number of encoding layers in the transformer")
+    parser.add_argument('--dec_layers', default=6, type=int, # will be overridden
+                        help="Number of decoding layers in the transformer")
+    parser.add_argument('--dim_feedforward', default=2048, type=int, # will be overridden
+                        help="Intermediate size of the feedforward layers in the transformer blocks")
+    parser.add_argument('--hidden_dim', default=256, type=int, # will be overridden
+                        help="Size of the embeddings (dimension of the transformer)")
+    parser.add_argument('--dropout', default=0.1, type=float,
+                        help="Dropout applied in the transformer")
+    parser.add_argument('--nheads', default=8, type=int, # will be overridden
+                        help="Number of attention heads inside the transformer's attentions")
+    parser.add_argument('--num_queries', default=400, type=int, # will be overridden
+                        help="Number of query slots")
+    parser.add_argument('--pre_norm', action='store_true')
+
+    # * Segmentation
+    parser.add_argument('--masks', action='store_true',
+                        help="Train segmentation head if the flag is provided")
+
+    # repeat args in imitate_episodes just to avoid error. Will not be used
+    parser.add_argument('--eval', action='store_true')
+    parser.add_argument('--onscreen_render', action='store_true')
+    # parser.add_argument('--ckpt_dir', action='store', type=str, help='ckpt_dir', required=True)
+    parser.add_argument('--policy_class', action='store', type=str, help='policy_class, capitalize', required=True)
+    # parser.add_argument('--task_name', action='store', type=str, help='task_name', required=True)
+    parser.add_argument('--seed', action='store', type=int, help='seed', required=True)
+    parser.add_argument('--num_epochs', action='store', type=int, help='num_epochs', required=True)
+    parser.add_argument('--kl_weight', action='store', type=int, help='KL Weight', required=False)
+    parser.add_argument('--chunk_size', action='store', type=int, help='chunk_size', required=False)
+    parser.add_argument('--temporal_agg', action='store_true')
+
+    parser.add_argument('--save_jit', action='store_true')
+    parser.add_argument('--ckpt_dir', default='/home/cxx/h1_hardware/data/logs', type=str, # will be overridden
+                        help='ckpt_dir')
+    
+    parser.add_argument('--no_wandb', action='store_true')
+    parser.add_argument('--resumeid', action='store', type=str, help='resume id', required=False)
+    parser.add_argument('--resume_ckpt', action='store', type=str, help='resume ckpt', required=False)
+    parser.add_argument('--taskid', action='store', type=str, help='task id', required=True)
+    parser.add_argument('--exptid', action='store', type=str, help='experiment id', required=True)
+    parser.add_argument('--source', choices=['self', 'ssd'], default='self')
+
+
+    return parser
+
+
+def build_ACT_model_and_optimizer(args_override):
+    parser = argparse.ArgumentParser('DETR training and evaluation script', parents=[get_args_parser()])
+    args = parser.parse_args()
+
+    for k, v in args_override.items():
+        setattr(args, k, v)
+
+    model = build_ACT_model(args)
+    model.cuda()
+
+    param_dicts = [
+        {"params": [p for n, p in model.named_parameters() if "backbone" not in n and p.requires_grad]},
+        {
+            "params": [p for n, p in model.named_parameters() if "backbone" in n and p.requires_grad],
+            "lr": args.lr_backbone,
+        },
+    ]
+    optimizer = torch.optim.AdamW(param_dicts, lr=args.lr,
+                                  weight_decay=args.weight_decay)
+
+    return model, optimizer
+
+
+def build_CNNMLP_model_and_optimizer(args_override):
+    parser = argparse.ArgumentParser('DETR training and evaluation script', parents=[get_args_parser()])
+    args = parser.parse_args()
+
+    for k, v in args_override.items():
+        setattr(args, k, v)
+
+    model = build_CNNMLP_model(args)
+    model.cuda()
+
+    param_dicts = [
+        {"params": [p for n, p in model.named_parameters() if "backbone" not in n and p.requires_grad]},
+        {
+            "params": [p for n, p in model.named_parameters() if "backbone" in n and p.requires_grad],
+            "lr": args.lr_backbone,
+        },
+    ]
+    optimizer = torch.optim.AdamW(param_dicts, lr=args.lr,
+                                  weight_decay=args.weight_decay)
+
+    return model, optimizer
+
diff --git a/act/detr/models/__init__.py b/act/detr/models/__init__.py
new file mode 100644
index 0000000..cc78db1
--- /dev/null
+++ b/act/detr/models/__init__.py
@@ -0,0 +1,9 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+from .detr_vae import build as build_vae
+from .detr_vae import build_cnnmlp as build_cnnmlp
+
+def build_ACT_model(args):
+    return build_vae(args)
+
+def build_CNNMLP_model(args):
+    return build_cnnmlp(args)
\ No newline at end of file
diff --git a/act/detr/models/backbone.py b/act/detr/models/backbone.py
new file mode 100644
index 0000000..1ded145
--- /dev/null
+++ b/act/detr/models/backbone.py
@@ -0,0 +1,144 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+Backbone modules.
+"""
+from collections import OrderedDict
+
+import torch
+import torch.nn.functional as F
+import torchvision
+from torch import nn
+from torchvision.models._utils import IntermediateLayerGetter
+from typing import Dict, List
+
+from util.misc import NestedTensor, is_main_process
+
+from .position_encoding import build_position_encoding
+
+import IPython
+e = IPython.embed
+
+class FrozenBatchNorm2d(torch.nn.Module):
+    """
+    BatchNorm2d where the batch statistics and the affine parameters are fixed.
+
+    Copy-paste from torchvision.misc.ops with added eps before rqsrt,
+    without which any other policy_models than torchvision.policy_models.resnet[18,34,50,101]
+    produce nans.
+    """
+
+    def __init__(self, n):
+        super(FrozenBatchNorm2d, self).__init__()
+        self.register_buffer("weight", torch.ones(n))
+        self.register_buffer("bias", torch.zeros(n))
+        self.register_buffer("running_mean", torch.zeros(n))
+        self.register_buffer("running_var", torch.ones(n))
+
+    def _load_from_state_dict(self, state_dict, prefix, local_metadata, strict,
+                              missing_keys, unexpected_keys, error_msgs):
+        num_batches_tracked_key = prefix + 'num_batches_tracked'
+        if num_batches_tracked_key in state_dict:
+            del state_dict[num_batches_tracked_key]
+
+        super(FrozenBatchNorm2d, self)._load_from_state_dict(
+            state_dict, prefix, local_metadata, strict,
+            missing_keys, unexpected_keys, error_msgs)
+
+    def forward(self, x):
+        # move reshapes to the beginning
+        # to make it fuser-friendly
+        w = self.weight.reshape(1, -1, 1, 1)
+        b = self.bias.reshape(1, -1, 1, 1)
+        rv = self.running_var.reshape(1, -1, 1, 1)
+        rm = self.running_mean.reshape(1, -1, 1, 1)
+        eps = 1e-5
+        scale = w * (rv + eps).rsqrt()
+        bias = b - rm * scale
+        return x * scale + bias
+
+
+class BackboneBase(nn.Module):
+
+    def __init__(self, backbone: nn.Module, train_backbone: bool, num_channels: int, return_interm_layers: bool):
+        super().__init__()
+        # for name, parameter in backbone.named_parameters(): # only train later layers # TODO do we want this?
+        #     if not train_backbone or 'layer2' not in name and 'layer3' not in name and 'layer4' not in name:
+        #         parameter.requires_grad_(False)
+        if return_interm_layers:
+            return_layers = {"layer1": "0", "layer2": "1", "layer3": "2", "layer4": "3"}
+        else:
+            return_layers = {'layer4': "0"}
+        self.body = IntermediateLayerGetter(backbone, return_layers=return_layers)
+        self.num_channels = num_channels
+
+    def forward(self, tensor):
+        xs = self.body(tensor)
+        return xs
+        # out: Dict[str, NestedTensor] = {}
+        # for name, x in xs.items():
+        #     m = tensor_list.mask
+        #     assert m is not None
+        #     mask = F.interpolate(m[None].float(), size=x.shape[-2:]).to(torch.bool)[0]
+        #     out[name] = NestedTensor(x, mask)
+        # return out
+
+
+class Backbone(BackboneBase):
+    """ResNet backbone with frozen BatchNorm."""
+    def __init__(self, name: str,
+                 train_backbone: bool,
+                 return_interm_layers: bool,
+                 dilation: bool):
+        backbone = getattr(torchvision.models, name)(
+            replace_stride_with_dilation=[False, False, dilation],
+            pretrained=is_main_process(), norm_layer=FrozenBatchNorm2d) # pretrained # TODO do we want frozen batch_norm??
+        num_channels = 512 if name in ('resnet18', 'resnet34') else 2048
+        super().__init__(backbone, train_backbone, num_channels, return_interm_layers)
+
+class DINOv2BackBone(nn.Module):
+    def __init__(self) -> None:
+        super().__init__()
+        self.body = torch.hub.load('facebookresearch/dinov2', 'dinov2_vits14')
+        self.body.eval()
+        self.num_channels = 384
+    
+    @torch.no_grad()
+    def forward(self, tensor):
+        xs = self.body.forward_features(tensor)["x_norm_patchtokens"]
+        od = OrderedDict()
+        od["0"] = xs.reshape(xs.shape[0], 22, 16, 384).permute(0, 3, 2, 1)
+        return od
+    
+class Joiner(nn.Sequential):
+    def __init__(self, backbone, position_embedding):
+        super().__init__(backbone, position_embedding)
+
+    # def forward (self, tensor):
+    #     xs = self[0](tensor)
+    #     pos = self[1](xs)
+    #     return xs, pos
+    
+    def forward(self, tensor_list: NestedTensor):
+        xs = self[0](tensor_list)
+        out: List[NestedTensor] = []
+        pos = []
+        for name, x in xs.items():
+            out.append(x)
+            # position encoding
+            pos.append(self[1](x).to(x.dtype))
+
+        return out, pos
+
+
+def build_backbone(args):
+    position_embedding = build_position_encoding(args)
+    train_backbone = args.lr_backbone > 0
+    return_interm_layers = args.masks
+    if args.backbone == 'dino_v2':
+        backbone = DINOv2BackBone()
+    else:
+        assert args.backbone in ['resnet18', 'resnet34']
+        backbone = Backbone(args.backbone, train_backbone, return_interm_layers, args.dilation)
+    model = Joiner(backbone, position_embedding)
+    model.num_channels = backbone.num_channels
+    return model
diff --git a/act/detr/models/detr_vae.py b/act/detr/models/detr_vae.py
new file mode 100644
index 0000000..b3b3ee0
--- /dev/null
+++ b/act/detr/models/detr_vae.py
@@ -0,0 +1,302 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+DETR model and criterion classes.
+"""
+import torch
+from torch import nn
+from torch.autograd import Variable
+from .backbone import build_backbone
+from .transformer import build_transformer, TransformerEncoder, TransformerEncoderLayer
+
+import numpy as np
+import time 
+
+import IPython
+e = IPython.embed
+
+
+def reparametrize(mu, logvar):
+    std = logvar.div(2).exp()
+    eps = Variable(std.data.new(std.size()).normal_())
+    return mu + std * eps
+
+
+def get_sinusoid_encoding_table(n_position, d_hid):
+    def get_position_angle_vec(position):
+        return [position / np.power(10000, 2 * (hid_j // 2) / d_hid) for hid_j in range(d_hid)]
+
+    sinusoid_table = np.array([get_position_angle_vec(pos_i) for pos_i in range(n_position)])
+    sinusoid_table[:, 0::2] = np.sin(sinusoid_table[:, 0::2])  # dim 2i
+    sinusoid_table[:, 1::2] = np.cos(sinusoid_table[:, 1::2])  # dim 2i+1
+
+    return torch.FloatTensor(sinusoid_table).unsqueeze(0)
+
+
+class DETRVAE(nn.Module):
+    """ This is the DETR module that performs object detection """
+    def __init__(self, backbones, transformer, encoder, state_dim, action_dim, num_queries, camera_names):
+        """ Initializes the model.
+        Parameters:
+            backbones: torch module of the backbone to be used. See backbone.py
+            transformer: torch module of the transformer architecture. See transformer.py
+            state_dim: robot state dimension of the environment
+            num_queries: number of object queries, ie detection slot. This is the maximal number of objects
+                         DETR can detect in a single image. For COCO, we recommend 100 queries.
+            aux_loss: True if auxiliary decoding losses (loss at each decoder layer) are to be used.
+        """
+        super().__init__()
+        self.num_queries = num_queries
+        self.camera_names = camera_names
+        self.transformer = transformer
+        self.encoder = encoder
+        hidden_dim = transformer.d_model
+        self.action_head = nn.Linear(hidden_dim, action_dim)
+        self.is_pad_head = nn.Linear(hidden_dim, 1)
+        self.query_embed = nn.Embedding(num_queries, hidden_dim)
+        if backbones is not None:
+            self.input_proj = nn.Conv2d(backbones[0].num_channels, hidden_dim, kernel_size=1)
+            self.backbones = nn.ModuleList(backbones)
+            self.input_proj_robot_state = nn.Linear(state_dim, hidden_dim)
+        else:
+            raise NotImplementedError
+            # input_dim = 14 + 7 # robot_state + env_state
+            self.input_proj_robot_state = nn.Linear(state_dim, hidden_dim)
+            self.input_proj_env_state = nn.Linear(7, hidden_dim)
+            self.pos = torch.nn.Embedding(2, hidden_dim)
+            self.backbones = None
+
+        # encoder extra parameters
+        self.latent_dim = 32 # final size of latent z # TODO tune
+        self.cls_embed = nn.Embedding(1, hidden_dim) # extra cls token embedding
+        self.encoder_action_proj = nn.Linear(action_dim, hidden_dim) # project action to embedding
+        self.encoder_joint_proj = nn.Linear(state_dim, hidden_dim)  # project qpos to embedding
+        self.latent_proj = nn.Linear(hidden_dim, self.latent_dim*2) # project hidden state to latent std, var
+        self.register_buffer('pos_table', get_sinusoid_encoding_table(1+1+num_queries, hidden_dim)) # [CLS], qpos, a_seq
+
+        # decoder extra parameters
+        self.latent_out_proj = nn.Linear(self.latent_dim, hidden_dim) # project latent sample to embedding
+        self.additional_pos_embed = nn.Embedding(2, hidden_dim) # learned position embedding for proprio and latent
+
+    def forward(self, qpos, image, env_state, actions=None, is_pad=None):
+        """
+        qpos: batch, qpos_dim
+        image: batch, num_cam, channel, height, width
+        env_state: None
+        actions: batch, seq, action_dim
+        """
+        is_training = actions is not None # train or val
+        bs, _ = qpos.shape
+        ### Obtain latent z from action sequence
+        if is_training:
+            # project action sequence to embedding dim, and concat with a CLS token
+            action_embed = self.encoder_action_proj(actions) # (bs, seq, hidden_dim)
+            qpos_embed = self.encoder_joint_proj(qpos)  # (bs, hidden_dim)
+            qpos_embed = torch.unsqueeze(qpos_embed, axis=1)  # (bs, 1, hidden_dim)
+            cls_embed = self.cls_embed.weight # (1, hidden_dim)
+            cls_embed = torch.unsqueeze(cls_embed, axis=0).repeat(bs, 1, 1) # (bs, 1, hidden_dim)
+            encoder_input = torch.cat([cls_embed, qpos_embed, action_embed], axis=1) # (bs, seq+1, hidden_dim)
+            encoder_input = encoder_input.permute(1, 0, 2) # (seq+1, bs, hidden_dim)
+            # do not mask cls token
+            cls_joint_is_pad = torch.full((bs, 2), False).to(qpos.device) # False: not a padding
+            is_pad = torch.cat([cls_joint_is_pad, is_pad], axis=1)  # (bs, seq+1)
+            # obtain position embedding
+            pos_embed = self.pos_table.clone().detach()
+            pos_embed = pos_embed.permute(1, 0, 2)  # (seq+1, 1, hidden_dim)
+            # query model
+            encoder_output = self.encoder(encoder_input, pos=pos_embed, src_key_padding_mask=is_pad)
+            encoder_output = encoder_output[0] # take cls output only
+            latent_info = self.latent_proj(encoder_output)
+            mu = latent_info[:, :self.latent_dim]
+            logvar = latent_info[:, self.latent_dim:]
+            latent_sample = reparametrize(mu, logvar)
+            latent_input = self.latent_out_proj(latent_sample)
+        else:
+            mu = logvar = None
+            latent_sample = torch.zeros([bs, self.latent_dim], dtype=torch.float32).to(qpos.device)
+            latent_input = self.latent_out_proj(latent_sample)
+
+        if self.backbones is not None:
+            # Image observation features and position embeddings
+            all_cam_features = []
+            all_cam_pos = []
+            featuress, poss = self.backbones[0](image.flatten(0, 1)) # HARDCODED
+            featuress = featuress[0].view(image.shape[0], 2, 384, 16, 22) # take the last layer feature
+            pos = poss[0]
+            for cam_id, cam_name in enumerate(self.camera_names):
+                # start = time.time()
+                # import ipdb; ipdb.set_trace()
+                features = featuress[:, cam_id] # HARDCODED
+                # features, pos = self.backbones[cam_id](image[:, cam_id]) # HARDCODED
+                # print("Time for 1 backbone: ", time.time() - start, image.shape)
+                # features = features[0] # take the last layer feature
+                # pos = pos[0]
+                all_cam_features.append(self.input_proj(features))
+                all_cam_pos.append(pos/2+ cam_id - 0.5)
+                # break
+
+            # for cam_id, cam_name in enumerate(self.camera_names):
+            #     features, pos = self.backbones[0](image[:, cam_id]) # HARDCODED
+            #     features = features[0] # take the last layer feature
+            #     pos = pos[0]
+            #     all_cam_features.append(self.input_proj(features))
+            #     all_cam_pos.append(pos)
+                
+            # proprioception features
+            proprio_input = self.input_proj_robot_state(qpos)
+            # fold camera dimension into width dimension
+            src = torch.cat(all_cam_features, axis=3)
+            pos = torch.cat(all_cam_pos, axis=3)
+            hs = self.transformer(src, None, self.query_embed.weight, pos, latent_input, proprio_input, self.additional_pos_embed.weight)[0]
+        else:
+            raise NotImplementedError
+            qpos = self.input_proj_robot_state(qpos)
+            env_state = self.input_proj_env_state(env_state)
+            transformer_input = torch.cat([qpos, env_state], axis=1) # seq length = 2
+            hs = self.transformer(transformer_input, None, self.query_embed.weight, self.pos.weight)[0]
+        a_hat = self.action_head(hs)
+        is_pad_hat = self.is_pad_head(hs)
+        return a_hat, is_pad_hat, [mu, logvar]
+
+
+
+class CNNMLP(nn.Module):
+    def __init__(self, backbones, state_dim, camera_names):
+        """ Initializes the model.
+        Parameters:
+            backbones: torch module of the backbone to be used. See backbone.py
+            transformer: torch module of the transformer architecture. See transformer.py
+            state_dim: robot state dimension of the environment
+            num_queries: number of object queries, ie detection slot. This is the maximal number of objects
+                         DETR can detect in a single image. For COCO, we recommend 100 queries.
+            aux_loss: True if auxiliary decoding losses (loss at each decoder layer) are to be used.
+        """
+        super().__init__()
+        self.camera_names = camera_names
+        self.action_head = nn.Linear(1000, state_dim) # TODO add more
+        if backbones is not None:
+            self.backbones = nn.ModuleList(backbones)
+            backbone_down_projs = []
+            for backbone in backbones:
+                down_proj = nn.Sequential(
+                    nn.Conv2d(backbone.num_channels, 128, kernel_size=5),
+                    nn.Conv2d(128, 64, kernel_size=5),
+                    nn.Conv2d(64, 32, kernel_size=5)
+                )
+                backbone_down_projs.append(down_proj)
+            self.backbone_down_projs = nn.ModuleList(backbone_down_projs)
+
+            mlp_in_dim = 768 * len(backbones) + 14
+            self.mlp = mlp(input_dim=mlp_in_dim, hidden_dim=1024, output_dim=14, hidden_depth=2)
+        else:
+            raise NotImplementedError
+
+    def forward(self, qpos, image, env_state, actions=None):
+        """
+        qpos: batch, qpos_dim
+        image: batch, num_cam, channel, height, width
+        env_state: None
+        actions: batch, seq, action_dim
+        """
+        is_training = actions is not None # train or val
+        bs, _ = qpos.shape
+        # Image observation features and position embeddings
+        all_cam_features = []
+        for cam_id, cam_name in enumerate(self.camera_names):
+            features, pos = self.backbones[cam_id](image[:, cam_id])
+            features = features[0] # take the last layer feature
+            pos = pos[0] # not used
+            all_cam_features.append(self.backbone_down_projs[cam_id](features))
+        # flatten everything
+        flattened_features = []
+        for cam_feature in all_cam_features:
+            flattened_features.append(cam_feature.reshape([bs, -1]))
+        flattened_features = torch.cat(flattened_features, axis=1) # 768 each
+        features = torch.cat([flattened_features, qpos], axis=1) # qpos: 14
+        a_hat = self.mlp(features)
+        return a_hat
+
+
+def mlp(input_dim, hidden_dim, output_dim, hidden_depth):
+    if hidden_depth == 0:
+        mods = [nn.Linear(input_dim, output_dim)]
+    else:
+        mods = [nn.Linear(input_dim, hidden_dim), nn.ReLU(inplace=True)]
+        for i in range(hidden_depth - 1):
+            mods += [nn.Linear(hidden_dim, hidden_dim), nn.ReLU(inplace=True)]
+        mods.append(nn.Linear(hidden_dim, output_dim))
+    trunk = nn.Sequential(*mods)
+    return trunk
+
+
+def build_encoder(args):
+    d_model = args.hidden_dim # 256
+    dropout = args.dropout # 0.1
+    nhead = args.nheads # 8
+    dim_feedforward = args.dim_feedforward # 2048
+    num_encoder_layers = args.enc_layers # 4 # TODO shared with VAE decoder
+    normalize_before = args.pre_norm # False
+    activation = "relu"
+
+    encoder_layer = TransformerEncoderLayer(d_model, nhead, dim_feedforward,
+                                            dropout, activation, normalize_before)
+    encoder_norm = nn.LayerNorm(d_model) if normalize_before else None
+    encoder = TransformerEncoder(encoder_layer, num_encoder_layers, encoder_norm)
+
+    return encoder
+
+
+def build(args):
+    state_dim = args.state_dim
+    action_dim = args.action_dim
+
+    # From state
+    # backbone = None # from state for now, no need for conv nets
+    # From image
+    backbones = []
+    # backbone = build_backbone(args)
+    # backbones.append(backbone)
+    # for _ in args.camera_names:
+    backbone = build_backbone(args)
+    backbones.append(backbone)
+
+    transformer = build_transformer(args)
+
+    encoder = build_encoder(args)
+
+    model = DETRVAE(
+        backbones,
+        transformer,
+        encoder,
+        state_dim=state_dim,
+        action_dim=action_dim,
+        num_queries=args.num_queries,
+        camera_names=args.camera_names,
+    )
+
+    n_parameters = sum(p.numel() for p in model.parameters() if p.requires_grad)
+    print("number of parameters: %.2fM" % (n_parameters/1e6,))
+
+    return model
+
+def build_cnnmlp(args):
+    state_dim = 14 # TODO hardcode
+
+    # From state
+    # backbone = None # from state for now, no need for conv nets
+    # From image
+    backbones = []
+    for _ in args.camera_names:
+        backbone = build_backbone(args)
+        backbones.append(backbone)
+
+    model = CNNMLP(
+        backbones,
+        state_dim=state_dim,
+        camera_names=args.camera_names,
+    )
+
+    n_parameters = sum(p.numel() for p in model.parameters() if p.requires_grad)
+    print("number of parameters: %.2fM" % (n_parameters/1e6,))
+
+    return model
+
diff --git a/act/detr/models/position_encoding.py b/act/detr/models/position_encoding.py
new file mode 100644
index 0000000..209d917
--- /dev/null
+++ b/act/detr/models/position_encoding.py
@@ -0,0 +1,93 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+Various positional encodings for the transformer.
+"""
+import math
+import torch
+from torch import nn
+
+from util.misc import NestedTensor
+
+import IPython
+e = IPython.embed
+
+class PositionEmbeddingSine(nn.Module):
+    """
+    This is a more standard version of the position embedding, very similar to the one
+    used by the Attention is all you need paper, generalized to work on images.
+    """
+    def __init__(self, num_pos_feats=64, temperature=10000, normalize=False, scale=None):
+        super().__init__()
+        self.num_pos_feats = num_pos_feats
+        self.temperature = temperature
+        self.normalize = normalize
+        if scale is not None and normalize is False:
+            raise ValueError("normalize should be True if scale is passed")
+        if scale is None:
+            scale = 2 * math.pi
+        self.scale = scale
+
+    def forward(self, tensor):
+        x = tensor
+        # mask = tensor_list.mask
+        # assert mask is not None
+        # not_mask = ~mask
+
+        not_mask = torch.ones_like(x[0, [0]])
+        y_embed = not_mask.cumsum(1, dtype=torch.float32)
+        x_embed = not_mask.cumsum(2, dtype=torch.float32)
+        if self.normalize:
+            eps = 1e-6
+            y_embed = y_embed / (y_embed[:, -1:, :] + eps) * self.scale
+            x_embed = x_embed / (x_embed[:, :, -1:] + eps) * self.scale
+
+        dim_t = torch.arange(self.num_pos_feats, dtype=torch.float32, device=x.device)
+        dim_t = self.temperature ** (2 * (dim_t // 2) / self.num_pos_feats)
+
+        pos_x = x_embed[:, :, :, None] / dim_t
+        pos_y = y_embed[:, :, :, None] / dim_t
+        pos_x = torch.stack((pos_x[:, :, :, 0::2].sin(), pos_x[:, :, :, 1::2].cos()), dim=4).flatten(3)
+        pos_y = torch.stack((pos_y[:, :, :, 0::2].sin(), pos_y[:, :, :, 1::2].cos()), dim=4).flatten(3)
+        pos = torch.cat((pos_y, pos_x), dim=3).permute(0, 3, 1, 2)
+        return pos
+
+
+class PositionEmbeddingLearned(nn.Module):
+    """
+    Absolute pos embedding, learned.
+    """
+    def __init__(self, num_pos_feats=256):
+        super().__init__()
+        self.row_embed = nn.Embedding(50, num_pos_feats)
+        self.col_embed = nn.Embedding(50, num_pos_feats)
+        self.reset_parameters()
+
+    def reset_parameters(self):
+        nn.init.uniform_(self.row_embed.weight)
+        nn.init.uniform_(self.col_embed.weight)
+
+    def forward(self, tensor_list: NestedTensor):
+        x = tensor_list.tensors
+        h, w = x.shape[-2:]
+        i = torch.arange(w, device=x.device)
+        j = torch.arange(h, device=x.device)
+        x_emb = self.col_embed(i)
+        y_emb = self.row_embed(j)
+        pos = torch.cat([
+            x_emb.unsqueeze(0).repeat(h, 1, 1),
+            y_emb.unsqueeze(1).repeat(1, w, 1),
+        ], dim=-1).permute(2, 0, 1).unsqueeze(0).repeat(x.shape[0], 1, 1, 1)
+        return pos
+
+
+def build_position_encoding(args):
+    N_steps = args.hidden_dim // 2
+    if args.position_embedding in ('v2', 'sine'):
+        # TODO find a better way of exposing other arguments
+        position_embedding = PositionEmbeddingSine(N_steps, normalize=True)
+    elif args.position_embedding in ('v3', 'learned'):
+        position_embedding = PositionEmbeddingLearned(N_steps)
+    else:
+        raise ValueError(f"not supported {args.position_embedding}")
+
+    return position_embedding
diff --git a/act/detr/models/transformer.py b/act/detr/models/transformer.py
new file mode 100644
index 0000000..f38afd0
--- /dev/null
+++ b/act/detr/models/transformer.py
@@ -0,0 +1,314 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+DETR Transformer class.
+
+Copy-paste from torch.nn.Transformer with modifications:
+    * positional encodings are passed in MHattention
+    * extra LN at the end of encoder is removed
+    * decoder returns a stack of activations from all decoding layers
+"""
+import copy
+from typing import Optional, List
+
+import torch
+import torch.nn.functional as F
+from torch import nn, Tensor
+
+import IPython
+e = IPython.embed
+
+class Transformer(nn.Module):
+
+    def __init__(self, d_model=512, nhead=8, num_encoder_layers=6,
+                 num_decoder_layers=6, dim_feedforward=2048, dropout=0.1,
+                 activation="relu", normalize_before=False,
+                 return_intermediate_dec=False):
+        super().__init__()
+
+        encoder_layer = TransformerEncoderLayer(d_model, nhead, dim_feedforward,
+                                                dropout, activation, normalize_before)
+        encoder_norm = nn.LayerNorm(d_model) if normalize_before else None
+        self.encoder = TransformerEncoder(encoder_layer, num_encoder_layers, encoder_norm)
+
+        decoder_layer = TransformerDecoderLayer(d_model, nhead, dim_feedforward,
+                                                dropout, activation, normalize_before)
+        decoder_norm = nn.LayerNorm(d_model)
+        self.decoder = TransformerDecoder(decoder_layer, num_decoder_layers, decoder_norm,
+                                          return_intermediate=return_intermediate_dec)
+
+        self._reset_parameters()
+
+        self.d_model = d_model
+        self.nhead = nhead
+
+    def _reset_parameters(self):
+        for p in self.parameters():
+            if p.dim() > 1:
+                nn.init.xavier_uniform_(p)
+
+    def forward(self, src, mask, query_embed, pos_embed, latent_input=None, proprio_input=None, additional_pos_embed=None):
+        # TODO flatten only when input has H and W
+        if len(src.shape) == 4: # has H and W
+            # flatten NxCxHxW to HWxNxC
+            bs, c, h, w = src.shape
+            src = src.flatten(2).permute(2, 0, 1)
+            pos_embed = pos_embed.flatten(2).permute(2, 0, 1).repeat(1, bs, 1)
+            query_embed = query_embed.unsqueeze(1).repeat(1, bs, 1)
+            # mask = mask.flatten(1)
+
+            additional_pos_embed = additional_pos_embed.unsqueeze(1).repeat(1, bs, 1) # seq, bs, dim
+            pos_embed = torch.cat([additional_pos_embed, pos_embed], axis=0)
+
+            addition_input = torch.stack([latent_input, proprio_input], axis=0)
+            src = torch.cat([addition_input, src], axis=0)
+        else:
+            assert len(src.shape) == 3
+            # flatten NxHWxC to HWxNxC
+            bs, hw, c = src.shape
+            src = src.permute(1, 0, 2)
+            pos_embed = pos_embed.unsqueeze(1).repeat(1, bs, 1)
+            query_embed = query_embed.unsqueeze(1).repeat(1, bs, 1)
+
+        tgt = torch.zeros_like(query_embed)
+        memory = self.encoder(src, src_key_padding_mask=mask, pos=pos_embed)
+        hs = self.decoder(tgt, memory, memory_key_padding_mask=mask,
+                          pos=pos_embed, query_pos=query_embed)
+        hs = hs.transpose(1, 2)
+        return hs
+
+class TransformerEncoder(nn.Module):
+
+    def __init__(self, encoder_layer, num_layers, norm=None):
+        super().__init__()
+        self.layers = _get_clones(encoder_layer, num_layers)
+        self.num_layers = num_layers
+        self.norm = norm
+
+    def forward(self, src,
+                mask: Optional[Tensor] = None,
+                src_key_padding_mask: Optional[Tensor] = None,
+                pos: Optional[Tensor] = None):
+        output = src
+
+        for layer in self.layers:
+            output = layer(output, src_mask=mask,
+                           src_key_padding_mask=src_key_padding_mask, pos=pos)
+
+        if self.norm is not None:
+            output = self.norm(output)
+
+        return output
+
+
+class TransformerDecoder(nn.Module):
+
+    def __init__(self, decoder_layer, num_layers, norm=None, return_intermediate=False):
+        super().__init__()
+        self.layers = _get_clones(decoder_layer, num_layers)
+        self.num_layers = num_layers
+        self.norm = norm
+        self.return_intermediate = return_intermediate
+
+    def forward(self, tgt, memory,
+                tgt_mask: Optional[Tensor] = None,
+                memory_mask: Optional[Tensor] = None,
+                tgt_key_padding_mask: Optional[Tensor] = None,
+                memory_key_padding_mask: Optional[Tensor] = None,
+                pos: Optional[Tensor] = None,
+                query_pos: Optional[Tensor] = None):
+        output = tgt
+
+        intermediate = []
+
+        for layer in self.layers:
+            output = layer(output, memory, tgt_mask=tgt_mask,
+                           memory_mask=memory_mask,
+                           tgt_key_padding_mask=tgt_key_padding_mask,
+                           memory_key_padding_mask=memory_key_padding_mask,
+                           pos=pos, query_pos=query_pos)
+            if self.return_intermediate:
+                intermediate.append(self.norm(output))
+
+        if self.norm is not None:
+            output = self.norm(output)
+            if self.return_intermediate:
+                intermediate.pop()
+                intermediate.append(output)
+
+        if self.return_intermediate:
+            return torch.stack(intermediate)
+
+        return output.unsqueeze(0)
+
+
+class TransformerEncoderLayer(nn.Module):
+
+    def __init__(self, d_model, nhead, dim_feedforward=2048, dropout=0.1,
+                 activation="relu", normalize_before=False):
+        super().__init__()
+        self.self_attn = nn.MultiheadAttention(d_model, nhead, dropout=dropout)
+        # Implementation of Feedforward model
+        self.linear1 = nn.Linear(d_model, dim_feedforward)
+        self.dropout = nn.Dropout(dropout)
+        self.linear2 = nn.Linear(dim_feedforward, d_model)
+
+        self.norm1 = nn.LayerNorm(d_model)
+        self.norm2 = nn.LayerNorm(d_model)
+        self.dropout1 = nn.Dropout(dropout)
+        self.dropout2 = nn.Dropout(dropout)
+
+        self.activation = _get_activation_fn(activation)
+        self.normalize_before = normalize_before
+
+    def with_pos_embed(self, tensor, pos: Optional[Tensor]):
+        return tensor if pos is None else tensor + pos
+
+    def forward_post(self,
+                     src,
+                     src_mask: Optional[Tensor] = None,
+                     src_key_padding_mask: Optional[Tensor] = None,
+                     pos: Optional[Tensor] = None):
+        q = k = self.with_pos_embed(src, pos)
+        src2 = self.self_attn(q, k, value=src, attn_mask=src_mask,
+                              key_padding_mask=src_key_padding_mask)[0]
+        src = src + self.dropout1(src2)
+        src = self.norm1(src)
+        src2 = self.linear2(self.dropout(self.activation(self.linear1(src))))
+        src = src + self.dropout2(src2)
+        src = self.norm2(src)
+        return src
+
+    def forward_pre(self, src,
+                    src_mask: Optional[Tensor] = None,
+                    src_key_padding_mask: Optional[Tensor] = None,
+                    pos: Optional[Tensor] = None):
+        src2 = self.norm1(src)
+        q = k = self.with_pos_embed(src2, pos)
+        src2 = self.self_attn(q, k, value=src2, attn_mask=src_mask,
+                              key_padding_mask=src_key_padding_mask)[0]
+        src = src + self.dropout1(src2)
+        src2 = self.norm2(src)
+        src2 = self.linear2(self.dropout(self.activation(self.linear1(src2))))
+        src = src + self.dropout2(src2)
+        return src
+
+    def forward(self, src,
+                src_mask: Optional[Tensor] = None,
+                src_key_padding_mask: Optional[Tensor] = None,
+                pos: Optional[Tensor] = None):
+        if self.normalize_before:
+            return self.forward_pre(src, src_mask, src_key_padding_mask, pos)
+        return self.forward_post(src, src_mask, src_key_padding_mask, pos)
+
+
+class TransformerDecoderLayer(nn.Module):
+
+    def __init__(self, d_model, nhead, dim_feedforward=2048, dropout=0.1,
+                 activation="relu", normalize_before=False):
+        super().__init__()
+        self.self_attn = nn.MultiheadAttention(d_model, nhead, dropout=dropout)
+        self.multihead_attn = nn.MultiheadAttention(d_model, nhead, dropout=dropout)
+        # Implementation of Feedforward model
+        self.linear1 = nn.Linear(d_model, dim_feedforward)
+        self.dropout = nn.Dropout(dropout)
+        self.linear2 = nn.Linear(dim_feedforward, d_model)
+
+        self.norm1 = nn.LayerNorm(d_model)
+        self.norm2 = nn.LayerNorm(d_model)
+        self.norm3 = nn.LayerNorm(d_model)
+        self.dropout1 = nn.Dropout(dropout)
+        self.dropout2 = nn.Dropout(dropout)
+        self.dropout3 = nn.Dropout(dropout)
+
+        self.activation = _get_activation_fn(activation)
+        self.normalize_before = normalize_before
+
+    def with_pos_embed(self, tensor, pos: Optional[Tensor]):
+        return tensor if pos is None else tensor + pos
+
+    def forward_post(self, tgt, memory,
+                     tgt_mask: Optional[Tensor] = None,
+                     memory_mask: Optional[Tensor] = None,
+                     tgt_key_padding_mask: Optional[Tensor] = None,
+                     memory_key_padding_mask: Optional[Tensor] = None,
+                     pos: Optional[Tensor] = None,
+                     query_pos: Optional[Tensor] = None):
+        q = k = self.with_pos_embed(tgt, query_pos)
+        tgt2 = self.self_attn(q, k, value=tgt, attn_mask=tgt_mask,
+                              key_padding_mask=tgt_key_padding_mask)[0]
+        tgt = tgt + self.dropout1(tgt2)
+        tgt = self.norm1(tgt)
+        tgt2 = self.multihead_attn(query=self.with_pos_embed(tgt, query_pos),
+                                   key=self.with_pos_embed(memory, pos),
+                                   value=memory, attn_mask=memory_mask,
+                                   key_padding_mask=memory_key_padding_mask)[0]
+        tgt = tgt + self.dropout2(tgt2)
+        tgt = self.norm2(tgt)
+        tgt2 = self.linear2(self.dropout(self.activation(self.linear1(tgt))))
+        tgt = tgt + self.dropout3(tgt2)
+        tgt = self.norm3(tgt)
+        return tgt
+
+    def forward_pre(self, tgt, memory,
+                    tgt_mask: Optional[Tensor] = None,
+                    memory_mask: Optional[Tensor] = None,
+                    tgt_key_padding_mask: Optional[Tensor] = None,
+                    memory_key_padding_mask: Optional[Tensor] = None,
+                    pos: Optional[Tensor] = None,
+                    query_pos: Optional[Tensor] = None):
+        tgt2 = self.norm1(tgt)
+        q = k = self.with_pos_embed(tgt2, query_pos)
+        tgt2 = self.self_attn(q, k, value=tgt2, attn_mask=tgt_mask,
+                              key_padding_mask=tgt_key_padding_mask)[0]
+        tgt = tgt + self.dropout1(tgt2)
+        tgt2 = self.norm2(tgt)
+        tgt2 = self.multihead_attn(query=self.with_pos_embed(tgt2, query_pos),
+                                   key=self.with_pos_embed(memory, pos),
+                                   value=memory, attn_mask=memory_mask,
+                                   key_padding_mask=memory_key_padding_mask)[0]
+        tgt = tgt + self.dropout2(tgt2)
+        tgt2 = self.norm3(tgt)
+        tgt2 = self.linear2(self.dropout(self.activation(self.linear1(tgt2))))
+        tgt = tgt + self.dropout3(tgt2)
+        return tgt
+
+    def forward(self, tgt, memory,
+                tgt_mask: Optional[Tensor] = None,
+                memory_mask: Optional[Tensor] = None,
+                tgt_key_padding_mask: Optional[Tensor] = None,
+                memory_key_padding_mask: Optional[Tensor] = None,
+                pos: Optional[Tensor] = None,
+                query_pos: Optional[Tensor] = None):
+        if self.normalize_before:
+            return self.forward_pre(tgt, memory, tgt_mask, memory_mask,
+                                    tgt_key_padding_mask, memory_key_padding_mask, pos, query_pos)
+        return self.forward_post(tgt, memory, tgt_mask, memory_mask,
+                                 tgt_key_padding_mask, memory_key_padding_mask, pos, query_pos)
+
+
+def _get_clones(module, N):
+    return nn.ModuleList([copy.deepcopy(module) for i in range(N)])
+
+
+def build_transformer(args):
+    return Transformer(
+        d_model=args.hidden_dim,
+        dropout=args.dropout,
+        nhead=args.nheads,
+        dim_feedforward=args.dim_feedforward,
+        num_encoder_layers=args.enc_layers,
+        num_decoder_layers=args.dec_layers,
+        normalize_before=args.pre_norm,
+        return_intermediate_dec=True,
+    )
+
+
+def _get_activation_fn(activation):
+    """Return an activation function given a string"""
+    if activation == "relu":
+        return F.relu
+    if activation == "gelu":
+        return F.gelu
+    if activation == "glu":
+        return F.glu
+    raise RuntimeError(F"activation should be relu/gelu, not {activation}.")
diff --git a/act/detr/setup.py b/act/detr/setup.py
new file mode 100644
index 0000000..55d18c0
--- /dev/null
+++ b/act/detr/setup.py
@@ -0,0 +1,10 @@
+from distutils.core import setup
+from setuptools import find_packages
+
+setup(
+    name='detr',
+    version='0.0.0',
+    packages=find_packages(),
+    license='MIT License',
+    long_description=open('README.md').read(),
+)
\ No newline at end of file
diff --git a/act/detr/util/__init__.py b/act/detr/util/__init__.py
new file mode 100644
index 0000000..168f997
--- /dev/null
+++ b/act/detr/util/__init__.py
@@ -0,0 +1 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
diff --git a/act/detr/util/box_ops.py b/act/detr/util/box_ops.py
new file mode 100644
index 0000000..9c088e5
--- /dev/null
+++ b/act/detr/util/box_ops.py
@@ -0,0 +1,88 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+Utilities for bounding box manipulation and GIoU.
+"""
+import torch
+from torchvision.ops.boxes import box_area
+
+
+def box_cxcywh_to_xyxy(x):
+    x_c, y_c, w, h = x.unbind(-1)
+    b = [(x_c - 0.5 * w), (y_c - 0.5 * h),
+         (x_c + 0.5 * w), (y_c + 0.5 * h)]
+    return torch.stack(b, dim=-1)
+
+
+def box_xyxy_to_cxcywh(x):
+    x0, y0, x1, y1 = x.unbind(-1)
+    b = [(x0 + x1) / 2, (y0 + y1) / 2,
+         (x1 - x0), (y1 - y0)]
+    return torch.stack(b, dim=-1)
+
+
+# modified from torchvision to also return the union
+def box_iou(boxes1, boxes2):
+    area1 = box_area(boxes1)
+    area2 = box_area(boxes2)
+
+    lt = torch.max(boxes1[:, None, :2], boxes2[:, :2])  # [N,M,2]
+    rb = torch.min(boxes1[:, None, 2:], boxes2[:, 2:])  # [N,M,2]
+
+    wh = (rb - lt).clamp(min=0)  # [N,M,2]
+    inter = wh[:, :, 0] * wh[:, :, 1]  # [N,M]
+
+    union = area1[:, None] + area2 - inter
+
+    iou = inter / union
+    return iou, union
+
+
+def generalized_box_iou(boxes1, boxes2):
+    """
+    Generalized IoU from https://giou.stanford.edu/
+
+    The boxes should be in [x0, y0, x1, y1] format
+
+    Returns a [N, M] pairwise matrix, where N = len(boxes1)
+    and M = len(boxes2)
+    """
+    # degenerate boxes gives inf / nan results
+    # so do an early check
+    assert (boxes1[:, 2:] >= boxes1[:, :2]).all()
+    assert (boxes2[:, 2:] >= boxes2[:, :2]).all()
+    iou, union = box_iou(boxes1, boxes2)
+
+    lt = torch.min(boxes1[:, None, :2], boxes2[:, :2])
+    rb = torch.max(boxes1[:, None, 2:], boxes2[:, 2:])
+
+    wh = (rb - lt).clamp(min=0)  # [N,M,2]
+    area = wh[:, :, 0] * wh[:, :, 1]
+
+    return iou - (area - union) / area
+
+
+def masks_to_boxes(masks):
+    """Compute the bounding boxes around the provided masks
+
+    The masks should be in format [N, H, W] where N is the number of masks, (H, W) are the spatial dimensions.
+
+    Returns a [N, 4] tensors, with the boxes in xyxy format
+    """
+    if masks.numel() == 0:
+        return torch.zeros((0, 4), device=masks.device)
+
+    h, w = masks.shape[-2:]
+
+    y = torch.arange(0, h, dtype=torch.float)
+    x = torch.arange(0, w, dtype=torch.float)
+    y, x = torch.meshgrid(y, x)
+
+    x_mask = (masks * x.unsqueeze(0))
+    x_max = x_mask.flatten(1).max(-1)[0]
+    x_min = x_mask.masked_fill(~(masks.bool()), 1e8).flatten(1).min(-1)[0]
+
+    y_mask = (masks * y.unsqueeze(0))
+    y_max = y_mask.flatten(1).max(-1)[0]
+    y_min = y_mask.masked_fill(~(masks.bool()), 1e8).flatten(1).min(-1)[0]
+
+    return torch.stack([x_min, y_min, x_max, y_max], 1)
diff --git a/act/detr/util/misc.py b/act/detr/util/misc.py
new file mode 100644
index 0000000..dfa9fb5
--- /dev/null
+++ b/act/detr/util/misc.py
@@ -0,0 +1,468 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+Misc functions, including distributed helpers.
+
+Mostly copy-paste from torchvision references.
+"""
+import os
+import subprocess
+import time
+from collections import defaultdict, deque
+import datetime
+import pickle
+from packaging import version
+from typing import Optional, List
+
+import torch
+import torch.distributed as dist
+from torch import Tensor
+
+# needed due to empty tensor bug in pytorch and torchvision 0.5
+import torchvision
+if version.parse(torchvision.__version__) < version.parse('0.7'):
+    from torchvision.ops import _new_empty_tensor
+    from torchvision.ops.misc import _output_size
+
+
+class SmoothedValue(object):
+    """Track a series of values and provide access to smoothed values over a
+    window or the global series average.
+    """
+
+    def __init__(self, window_size=20, fmt=None):
+        if fmt is None:
+            fmt = "{median:.4f} ({global_avg:.4f})"
+        self.deque = deque(maxlen=window_size)
+        self.total = 0.0
+        self.count = 0
+        self.fmt = fmt
+
+    def update(self, value, n=1):
+        self.deque.append(value)
+        self.count += n
+        self.total += value * n
+
+    def synchronize_between_processes(self):
+        """
+        Warning: does not synchronize the deque!
+        """
+        if not is_dist_avail_and_initialized():
+            return
+        t = torch.tensor([self.count, self.total], dtype=torch.float64, device='cuda')
+        dist.barrier()
+        dist.all_reduce(t)
+        t = t.tolist()
+        self.count = int(t[0])
+        self.total = t[1]
+
+    @property
+    def median(self):
+        d = torch.tensor(list(self.deque))
+        return d.median().item()
+
+    @property
+    def avg(self):
+        d = torch.tensor(list(self.deque), dtype=torch.float32)
+        return d.mean().item()
+
+    @property
+    def global_avg(self):
+        return self.total / self.count
+
+    @property
+    def max(self):
+        return max(self.deque)
+
+    @property
+    def value(self):
+        return self.deque[-1]
+
+    def __str__(self):
+        return self.fmt.format(
+            median=self.median,
+            avg=self.avg,
+            global_avg=self.global_avg,
+            max=self.max,
+            value=self.value)
+
+
+def all_gather(data):
+    """
+    Run all_gather on arbitrary picklable data (not necessarily tensors)
+    Args:
+        data: any picklable object
+    Returns:
+        list[data]: list of data gathered from each rank
+    """
+    world_size = get_world_size()
+    if world_size == 1:
+        return [data]
+
+    # serialized to a Tensor
+    buffer = pickle.dumps(data)
+    storage = torch.ByteStorage.from_buffer(buffer)
+    tensor = torch.ByteTensor(storage).to("cuda")
+
+    # obtain Tensor size of each rank
+    local_size = torch.tensor([tensor.numel()], device="cuda")
+    size_list = [torch.tensor([0], device="cuda") for _ in range(world_size)]
+    dist.all_gather(size_list, local_size)
+    size_list = [int(size.item()) for size in size_list]
+    max_size = max(size_list)
+
+    # receiving Tensor from all ranks
+    # we pad the tensor because torch all_gather does not support
+    # gathering tensors of different shapes
+    tensor_list = []
+    for _ in size_list:
+        tensor_list.append(torch.empty((max_size,), dtype=torch.uint8, device="cuda"))
+    if local_size != max_size:
+        padding = torch.empty(size=(max_size - local_size,), dtype=torch.uint8, device="cuda")
+        tensor = torch.cat((tensor, padding), dim=0)
+    dist.all_gather(tensor_list, tensor)
+
+    data_list = []
+    for size, tensor in zip(size_list, tensor_list):
+        buffer = tensor.cpu().numpy().tobytes()[:size]
+        data_list.append(pickle.loads(buffer))
+
+    return data_list
+
+
+def reduce_dict(input_dict, average=True):
+    """
+    Args:
+        input_dict (dict): all the values will be reduced
+        average (bool): whether to do average or sum
+    Reduce the values in the dictionary from all processes so that all processes
+    have the averaged results. Returns a dict with the same fields as
+    input_dict, after reduction.
+    """
+    world_size = get_world_size()
+    if world_size < 2:
+        return input_dict
+    with torch.no_grad():
+        names = []
+        values = []
+        # sort the keys so that they are consistent across processes
+        for k in sorted(input_dict.keys()):
+            names.append(k)
+            values.append(input_dict[k])
+        values = torch.stack(values, dim=0)
+        dist.all_reduce(values)
+        if average:
+            values /= world_size
+        reduced_dict = {k: v for k, v in zip(names, values)}
+    return reduced_dict
+
+
+class MetricLogger(object):
+    def __init__(self, delimiter="\t"):
+        self.meters = defaultdict(SmoothedValue)
+        self.delimiter = delimiter
+
+    def update(self, **kwargs):
+        for k, v in kwargs.items():
+            if isinstance(v, torch.Tensor):
+                v = v.item()
+            assert isinstance(v, (float, int))
+            self.meters[k].update(v)
+
+    def __getattr__(self, attr):
+        if attr in self.meters:
+            return self.meters[attr]
+        if attr in self.__dict__:
+            return self.__dict__[attr]
+        raise AttributeError("'{}' object has no attribute '{}'".format(
+            type(self).__name__, attr))
+
+    def __str__(self):
+        loss_str = []
+        for name, meter in self.meters.items():
+            loss_str.append(
+                "{}: {}".format(name, str(meter))
+            )
+        return self.delimiter.join(loss_str)
+
+    def synchronize_between_processes(self):
+        for meter in self.meters.values():
+            meter.synchronize_between_processes()
+
+    def add_meter(self, name, meter):
+        self.meters[name] = meter
+
+    def log_every(self, iterable, print_freq, header=None):
+        i = 0
+        if not header:
+            header = ''
+        start_time = time.time()
+        end = time.time()
+        iter_time = SmoothedValue(fmt='{avg:.4f}')
+        data_time = SmoothedValue(fmt='{avg:.4f}')
+        space_fmt = ':' + str(len(str(len(iterable)))) + 'd'
+        if torch.cuda.is_available():
+            log_msg = self.delimiter.join([
+                header,
+                '[{0' + space_fmt + '}/{1}]',
+                'eta: {eta}',
+                '{meters}',
+                'time: {time}',
+                'data: {data}',
+                'max mem: {memory:.0f}'
+            ])
+        else:
+            log_msg = self.delimiter.join([
+                header,
+                '[{0' + space_fmt + '}/{1}]',
+                'eta: {eta}',
+                '{meters}',
+                'time: {time}',
+                'data: {data}'
+            ])
+        MB = 1024.0 * 1024.0
+        for obj in iterable:
+            data_time.update(time.time() - end)
+            yield obj
+            iter_time.update(time.time() - end)
+            if i % print_freq == 0 or i == len(iterable) - 1:
+                eta_seconds = iter_time.global_avg * (len(iterable) - i)
+                eta_string = str(datetime.timedelta(seconds=int(eta_seconds)))
+                if torch.cuda.is_available():
+                    print(log_msg.format(
+                        i, len(iterable), eta=eta_string,
+                        meters=str(self),
+                        time=str(iter_time), data=str(data_time),
+                        memory=torch.cuda.max_memory_allocated() / MB))
+                else:
+                    print(log_msg.format(
+                        i, len(iterable), eta=eta_string,
+                        meters=str(self),
+                        time=str(iter_time), data=str(data_time)))
+            i += 1
+            end = time.time()
+        total_time = time.time() - start_time
+        total_time_str = str(datetime.timedelta(seconds=int(total_time)))
+        print('{} Total time: {} ({:.4f} s / it)'.format(
+            header, total_time_str, total_time / len(iterable)))
+
+
+def get_sha():
+    cwd = os.path.dirname(os.path.abspath(__file__))
+
+    def _run(command):
+        return subprocess.check_output(command, cwd=cwd).decode('ascii').strip()
+    sha = 'N/A'
+    diff = "clean"
+    branch = 'N/A'
+    try:
+        sha = _run(['git', 'rev-parse', 'HEAD'])
+        subprocess.check_output(['git', 'diff'], cwd=cwd)
+        diff = _run(['git', 'diff-index', 'HEAD'])
+        diff = "has uncommited changes" if diff else "clean"
+        branch = _run(['git', 'rev-parse', '--abbrev-ref', 'HEAD'])
+    except Exception:
+        pass
+    message = f"sha: {sha}, status: {diff}, branch: {branch}"
+    return message
+
+
+def collate_fn(batch):
+    batch = list(zip(*batch))
+    batch[0] = nested_tensor_from_tensor_list(batch[0])
+    return tuple(batch)
+
+
+def _max_by_axis(the_list):
+    # type: (List[List[int]]) -> List[int]
+    maxes = the_list[0]
+    for sublist in the_list[1:]:
+        for index, item in enumerate(sublist):
+            maxes[index] = max(maxes[index], item)
+    return maxes
+
+
+class NestedTensor(object):
+    def __init__(self, tensors, mask: Optional[Tensor]):
+        self.tensors = tensors
+        self.mask = mask
+
+    def to(self, device):
+        # type: (Device) -> NestedTensor # noqa
+        cast_tensor = self.tensors.to(device)
+        mask = self.mask
+        if mask is not None:
+            assert mask is not None
+            cast_mask = mask.to(device)
+        else:
+            cast_mask = None
+        return NestedTensor(cast_tensor, cast_mask)
+
+    def decompose(self):
+        return self.tensors, self.mask
+
+    def __repr__(self):
+        return str(self.tensors)
+
+
+def nested_tensor_from_tensor_list(tensor_list: List[Tensor]):
+    # TODO make this more general
+    if tensor_list[0].ndim == 3:
+        if torchvision._is_tracing():
+            # nested_tensor_from_tensor_list() does not export well to ONNX
+            # call _onnx_nested_tensor_from_tensor_list() instead
+            return _onnx_nested_tensor_from_tensor_list(tensor_list)
+
+        # TODO make it support different-sized images
+        max_size = _max_by_axis([list(img.shape) for img in tensor_list])
+        # min_size = tuple(min(s) for s in zip(*[img.shape for img in tensor_list]))
+        batch_shape = [len(tensor_list)] + max_size
+        b, c, h, w = batch_shape
+        dtype = tensor_list[0].dtype
+        device = tensor_list[0].device
+        tensor = torch.zeros(batch_shape, dtype=dtype, device=device)
+        mask = torch.ones((b, h, w), dtype=torch.bool, device=device)
+        for img, pad_img, m in zip(tensor_list, tensor, mask):
+            pad_img[: img.shape[0], : img.shape[1], : img.shape[2]].copy_(img)
+            m[: img.shape[1], :img.shape[2]] = False
+    else:
+        raise ValueError('not supported')
+    return NestedTensor(tensor, mask)
+
+
+# _onnx_nested_tensor_from_tensor_list() is an implementation of
+# nested_tensor_from_tensor_list() that is supported by ONNX tracing.
+@torch.jit.unused
+def _onnx_nested_tensor_from_tensor_list(tensor_list: List[Tensor]) -> NestedTensor:
+    max_size = []
+    for i in range(tensor_list[0].dim()):
+        max_size_i = torch.max(torch.stack([img.shape[i] for img in tensor_list]).to(torch.float32)).to(torch.int64)
+        max_size.append(max_size_i)
+    max_size = tuple(max_size)
+
+    # work around for
+    # pad_img[: img.shape[0], : img.shape[1], : img.shape[2]].copy_(img)
+    # m[: img.shape[1], :img.shape[2]] = False
+    # which is not yet supported in onnx
+    padded_imgs = []
+    padded_masks = []
+    for img in tensor_list:
+        padding = [(s1 - s2) for s1, s2 in zip(max_size, tuple(img.shape))]
+        padded_img = torch.nn.functional.pad(img, (0, padding[2], 0, padding[1], 0, padding[0]))
+        padded_imgs.append(padded_img)
+
+        m = torch.zeros_like(img[0], dtype=torch.int, device=img.device)
+        padded_mask = torch.nn.functional.pad(m, (0, padding[2], 0, padding[1]), "constant", 1)
+        padded_masks.append(padded_mask.to(torch.bool))
+
+    tensor = torch.stack(padded_imgs)
+    mask = torch.stack(padded_masks)
+
+    return NestedTensor(tensor, mask=mask)
+
+
+def setup_for_distributed(is_master):
+    """
+    This function disables printing when not in master process
+    """
+    import builtins as __builtin__
+    builtin_print = __builtin__.print
+
+    def print(*args, **kwargs):
+        force = kwargs.pop('force', False)
+        if is_master or force:
+            builtin_print(*args, **kwargs)
+
+    __builtin__.print = print
+
+
+def is_dist_avail_and_initialized():
+    if not dist.is_available():
+        return False
+    if not dist.is_initialized():
+        return False
+    return True
+
+
+def get_world_size():
+    if not is_dist_avail_and_initialized():
+        return 1
+    return dist.get_world_size()
+
+
+def get_rank():
+    if not is_dist_avail_and_initialized():
+        return 0
+    return dist.get_rank()
+
+
+def is_main_process():
+    return get_rank() == 0
+
+
+def save_on_master(*args, **kwargs):
+    if is_main_process():
+        torch.save(*args, **kwargs)
+
+
+def init_distributed_mode(args):
+    if 'RANK' in os.environ and 'WORLD_SIZE' in os.environ:
+        args.rank = int(os.environ["RANK"])
+        args.world_size = int(os.environ['WORLD_SIZE'])
+        args.gpu = int(os.environ['LOCAL_RANK'])
+    elif 'SLURM_PROCID' in os.environ:
+        args.rank = int(os.environ['SLURM_PROCID'])
+        args.gpu = args.rank % torch.cuda.device_count()
+    else:
+        print('Not using distributed mode')
+        args.distributed = False
+        return
+
+    args.distributed = True
+
+    torch.cuda.set_device(args.gpu)
+    args.dist_backend = 'nccl'
+    print('| distributed init (rank {}): {}'.format(
+        args.rank, args.dist_url), flush=True)
+    torch.distributed.init_process_group(backend=args.dist_backend, init_method=args.dist_url,
+                                         world_size=args.world_size, rank=args.rank)
+    torch.distributed.barrier()
+    setup_for_distributed(args.rank == 0)
+
+
+@torch.no_grad()
+def accuracy(output, target, topk=(1,)):
+    """Computes the precision@k for the specified values of k"""
+    if target.numel() == 0:
+        return [torch.zeros([], device=output.device)]
+    maxk = max(topk)
+    batch_size = target.size(0)
+
+    _, pred = output.topk(maxk, 1, True, True)
+    pred = pred.t()
+    correct = pred.eq(target.view(1, -1).expand_as(pred))
+
+    res = []
+    for k in topk:
+        correct_k = correct[:k].view(-1).float().sum(0)
+        res.append(correct_k.mul_(100.0 / batch_size))
+    return res
+
+
+def interpolate(input, size=None, scale_factor=None, mode="nearest", align_corners=None):
+    # type: (Tensor, Optional[List[int]], Optional[float], str, Optional[bool]) -> Tensor
+    """
+    Equivalent to nn.functional.interpolate, but with support for empty batch sizes.
+    This will eventually be supported natively by PyTorch, and this
+    class can go away.
+    """
+    if version.parse(torchvision.__version__) < version.parse('0.7'):
+        if input.numel() > 0:
+            return torch.nn.functional.interpolate(
+                input, size, scale_factor, mode, align_corners
+            )
+
+        output_shape = _output_size(2, input, size, scale_factor)
+        output_shape = list(input.shape[:-2]) + list(output_shape)
+        return _new_empty_tensor(input, output_shape)
+    else:
+        return torchvision.ops.misc.interpolate(input, size, scale_factor, mode, align_corners)
diff --git a/act/detr/util/plot_utils.py b/act/detr/util/plot_utils.py
new file mode 100644
index 0000000..0f24bed
--- /dev/null
+++ b/act/detr/util/plot_utils.py
@@ -0,0 +1,107 @@
+"""
+Plotting utilities to visualize training logs.
+"""
+import torch
+import pandas as pd
+import numpy as np
+import seaborn as sns
+import matplotlib.pyplot as plt
+
+from pathlib import Path, PurePath
+
+
+def plot_logs(logs, fields=('class_error', 'loss_bbox_unscaled', 'mAP'), ewm_col=0, log_name='log.txt'):
+    '''
+    Function to plot specific fields from training log(s). Plots both training and test results.
+
+    :: Inputs - logs = list containing Path objects, each pointing to individual dir with a log file
+              - fields = which results to plot from each log file - plots both training and test for each field.
+              - ewm_col = optional, which column to use as the exponential weighted smoothing of the plots
+              - log_name = optional, name of log file if different than default 'log.txt'.
+
+    :: Outputs - matplotlib plots of results in fields, color coded for each log file.
+               - solid lines are training results, dashed lines are test results.
+
+    '''
+    func_name = "plot_utils.py::plot_logs"
+
+    # verify logs is a list of Paths (list[Paths]) or single Pathlib object Path,
+    # convert single Path to list to avoid 'not iterable' error
+
+    if not isinstance(logs, list):
+        if isinstance(logs, PurePath):
+            logs = [logs]
+            print(f"{func_name} info: logs param expects a list argument, converted to list[Path].")
+        else:
+            raise ValueError(f"{func_name} - invalid argument for logs parameter.\n \
+            Expect list[Path] or single Path obj, received {type(logs)}")
+
+    # Quality checks - verify valid dir(s), that every item in list is Path object, and that log_name exists in each dir
+    for i, dir in enumerate(logs):
+        if not isinstance(dir, PurePath):
+            raise ValueError(f"{func_name} - non-Path object in logs argument of {type(dir)}: \n{dir}")
+        if not dir.exists():
+            raise ValueError(f"{func_name} - invalid directory in logs argument:\n{dir}")
+        # verify log_name exists
+        fn = Path(dir / log_name)
+        if not fn.exists():
+            print(f"-> missing {log_name}.  Have you gotten to Epoch 1 in training?")
+            print(f"--> full path of missing log file: {fn}")
+            return
+
+    # load log file(s) and plot
+    dfs = [pd.read_json(Path(p) / log_name, lines=True) for p in logs]
+
+    fig, axs = plt.subplots(ncols=len(fields), figsize=(16, 5))
+
+    for df, color in zip(dfs, sns.color_palette(n_colors=len(logs))):
+        for j, field in enumerate(fields):
+            if field == 'mAP':
+                coco_eval = pd.DataFrame(
+                    np.stack(df.test_coco_eval_bbox.dropna().values)[:, 1]
+                ).ewm(com=ewm_col).mean()
+                axs[j].plot(coco_eval, c=color)
+            else:
+                df.interpolate().ewm(com=ewm_col).mean().plot(
+                    y=[f'train_{field}', f'test_{field}'],
+                    ax=axs[j],
+                    color=[color] * 2,
+                    style=['-', '--']
+                )
+    for ax, field in zip(axs, fields):
+        ax.legend([Path(p).name for p in logs])
+        ax.set_title(field)
+
+
+def plot_precision_recall(files, naming_scheme='iter'):
+    if naming_scheme == 'exp_id':
+        # name becomes exp_id
+        names = [f.parts[-3] for f in files]
+    elif naming_scheme == 'iter':
+        names = [f.stem for f in files]
+    else:
+        raise ValueError(f'not supported {naming_scheme}')
+    fig, axs = plt.subplots(ncols=2, figsize=(16, 5))
+    for f, color, name in zip(files, sns.color_palette("Blues", n_colors=len(files)), names):
+        data = torch.load(f)
+        # precision is n_iou, n_points, n_cat, n_area, max_det
+        precision = data['precision']
+        recall = data['params'].recThrs
+        scores = data['scores']
+        # take precision for all classes, all areas and 100 detections
+        precision = precision[0, :, :, 0, -1].mean(1)
+        scores = scores[0, :, :, 0, -1].mean(1)
+        prec = precision.mean()
+        rec = data['recall'][0, :, 0, -1].mean()
+        print(f'{naming_scheme} {name}: mAP@50={prec * 100: 05.1f}, ' +
+              f'score={scores.mean():0.3f}, ' +
+              f'f1={2 * prec * rec / (prec + rec + 1e-8):0.3f}'
+              )
+        axs[0].plot(recall, precision, c=color)
+        axs[1].plot(recall, scores, c=color)
+
+    axs[0].set_title('Precision / Recall')
+    axs[0].legend(names)
+    axs[1].set_title('Scores / Recall')
+    axs[1].legend(names)
+    return fig, axs
diff --git a/act/imitate_episodes.py b/act/imitate_episodes.py
new file mode 100644
index 0000000..f771972
--- /dev/null
+++ b/act/imitate_episodes.py
@@ -0,0 +1,367 @@
+import torch
+import numpy as np
+import os
+import pickle
+import argparse
+import matplotlib.pyplot as plt
+from copy import deepcopy
+from tqdm import tqdm
+from einops import rearrange
+
+# from .constants import DT
+# from .constants import PUPPET_GRIPPER_JOINT_OPEN
+from utils import load_data # data functions
+from utils import compute_dict_mean, set_seed, detach_dict, parse_id, find_all_ckpt # helper functions
+from policy import ACTPolicy, CNNMLPPolicy
+# from .visualize_episodes import save_videos
+import wandb
+
+# from sim_env import BOX_POSE
+# from constants import SIM_TASK_CONFIGS
+import IPython
+e = IPython.embed
+import time
+from itertools import repeat
+
+def repeater(data_loader):
+    epoch = 0
+    for loader in repeat(data_loader):
+        for data in loader:
+            yield data
+        print(f'Epoch {epoch} done')
+        epoch += 1
+
+from pathlib import Path
+
+
+def main(args):
+    set_seed(1)
+    # command line parameters
+    is_eval = args['eval']
+    policy_class = args['policy_class']
+    onscreen_render = args['onscreen_render']
+    # task_name = args['task_name']
+    batch_size_train = args['batch_size']
+    batch_size_val = args['batch_size']
+    num_epochs = args['num_epochs']
+
+    # get task parameters
+    # is_sim = task_name[:4] == 'sim_'
+    task_dir, task_name = parse_id(RECORD_DIR, args['taskid'])
+    dataset_dir = (Path(task_dir) / 'processed').resolve()
+    ckpt_dir = (LOG_DIR / task_name / args['exptid']).resolve()
+    print("*"*20)
+    print(f"Task name: {task_name}")
+    print("*"*20)
+
+    # print(f"Checkpoint dir: {ckpt_dir}")
+    # task_config = SIM_TASK_CONFIGS[task_name]
+    # dataset_dir = task_config['dataset_dir']
+    # ckpt_dir = task_config['ckpt_dir']
+    # num_episodes = task_config['num_episodes']
+    # episode_len = task_config['episode_len']
+    camera_names = ['left', 'right']
+
+    # fixed parameters
+    state_dim = 26
+    action_dim = 28
+    lr_backbone = 1e-5
+    backbone = 'dino_v2'
+    if policy_class == 'ACT':
+        enc_layers = 4
+        dec_layers = 7
+        nheads = 8
+        policy_config = {'lr': args['lr'],
+                         'num_queries': args['chunk_size'],
+                         'kl_weight': args['kl_weight'],
+                         'hidden_dim': args['hidden_dim'],
+                         'dim_feedforward': args['dim_feedforward'],
+                         'lr_backbone': lr_backbone,
+                         'backbone': backbone,
+                         'enc_layers': enc_layers,
+                         'dec_layers': dec_layers,
+                         'nheads': nheads,
+                         'camera_names': camera_names,
+                         'state_dim': state_dim,
+                         'action_dim': action_dim,
+                         'qpos_noise_std': args['qpos_noise_std'],
+                         }
+    elif policy_class == 'CNNMLP':
+        policy_config = {'lr': args['lr'], 'lr_backbone': lr_backbone, 'backbone' : backbone, 'num_queries': 1,
+                         'camera_names': camera_names,}
+    else:
+        raise NotImplementedError
+
+    config = {
+        'num_epochs': num_epochs,
+        'ckpt_dir': ckpt_dir,
+        # 'episode_len': episode_len,
+        'state_dim': state_dim,
+        'action_dim': action_dim,
+        'lr': args['lr'],
+        'policy_class': policy_class,
+        'onscreen_render': onscreen_render,
+        'policy_config': policy_config,
+        # 'task_name': task_name,
+        'seed': args['seed'],
+        'temporal_agg': args['temporal_agg'],
+        'camera_names': camera_names,
+        # 'real_robot': not is_sim
+        'resumeid': args['resumeid'],
+        'resume_ckpt': args['resume_ckpt'],
+        'task_name': task_name,
+        'exptid': args['exptid'],
+    }
+    mode = "disabled" if args["no_wandb"] or args["save_jit"] else "online"
+    wandb.init(project="television", name=args['exptid'], group=task_name, entity="cxx", mode=mode, dir="../data/logs")
+    wandb.config.update(config)
+    train_dataloader, val_dataloader, stats, _ = load_data(dataset_dir, camera_names, batch_size_train, batch_size_val)
+
+    # save dataset stats
+    if not os.path.isdir(ckpt_dir):
+        os.makedirs(ckpt_dir)
+    stats_path = os.path.join(ckpt_dir, f'dataset_stats.pkl')
+    with open(stats_path, 'wb') as f:
+        pickle.dump(stats, f)
+
+    if args['save_jit']:
+        save_jit(config)
+        return
+
+    best_ckpt_info = train_bc(train_dataloader, val_dataloader, config)
+    best_epoch, min_val_loss, best_state_dict = best_ckpt_info
+
+    # save best checkpoint
+    ckpt_path = os.path.join(ckpt_dir, f'policy_best.ckpt')
+    torch.save(best_state_dict, ckpt_path)
+    print(f'Best ckpt, val loss {min_val_loss:.6f} @ epoch{best_epoch}')
+    wandb.finish()
+
+def make_policy(policy_class, policy_config):
+    if policy_class == 'ACT':
+        policy = ACTPolicy(policy_config)
+    elif policy_class == 'CNNMLP':
+        policy = CNNMLPPolicy(policy_config)
+    else:
+        raise NotImplementedError
+    return policy
+
+
+def make_optimizer(policy_class, policy):
+    if policy_class == 'ACT':
+        optimizer = policy.configure_optimizers()
+    elif policy_class == 'CNNMLP':
+        optimizer = policy.configure_optimizers()
+    else:
+        raise NotImplementedError
+    return optimizer
+
+
+def get_image(ts, camera_names):
+    curr_images = []
+    for cam_name in camera_names:
+        curr_image = rearrange(ts.observation['images'][cam_name], 'h w c -> c h w')
+        curr_images.append(curr_image)
+    curr_image = np.stack(curr_images, axis=0)
+    curr_image = torch.from_numpy(curr_image / 255.0).float().cuda().unsqueeze(0)
+    return curr_image
+
+
+def forward_pass(data, policy):
+    image_data, qpos_data, action_data, is_pad = data
+    image_data, qpos_data, action_data, is_pad = image_data.cuda(), qpos_data.cuda(), action_data.cuda(), is_pad.cuda()
+    return policy(qpos_data, image_data, action_data, is_pad) # TODO remove None
+
+
+
+def train_bc(train_dataloader, val_dataloader, config):
+    num_epochs = config['num_epochs']
+    ckpt_dir = config['ckpt_dir']
+    seed = config['seed']
+    policy_class = config['policy_class']
+    policy_config = config['policy_config']
+
+    set_seed(seed)
+
+    policy = make_policy(policy_class, policy_config)
+    policy.cuda()
+    optimizer = make_optimizer(policy_class, policy)
+
+    if config['resumeid']:
+        exp_dir, exp_name = parse_id((LOG_DIR / config['task_name']).resolve(), config['resumeid'])
+        policy, _, _ = load_ckpt(policy, exp_dir, config['resume_ckpt'])
+        # if config['resume_ckpt']:
+        #     ckpt_name = f"policy_epoch_{config['resume_ckpt']}_seed_0.ckpt"
+        # else:
+        #     ckpt_name, _ = find_all_ckpt(exp_dir)#f"policy_last.ckpt"
+        # resume_path = (Path(exp_dir) / ckpt_name).resolve()
+        # print(f"Resuming from {resume_path}")
+        # checkpoint = torch.load(resume_path)
+        # policy.load_state_dict(checkpoint)
+
+    # train_history = []
+    # validation_history = []
+    min_val_loss = np.inf
+    best_ckpt_info = None
+
+    train_dataloader = repeater(train_dataloader)
+    for epoch in tqdm(range(num_epochs)):
+        print(f'\nEpoch {epoch}')
+        if epoch % 500 == 0:
+        # validation
+            with torch.inference_mode():
+                policy.eval()
+                validation_dicts = []
+                for batch_idx, data in enumerate(val_dataloader):
+                    forward_dict = forward_pass(data, policy)
+                    validation_dicts.append(forward_dict)
+                    if batch_idx > 20:
+                        break
+
+                validation_summary = compute_dict_mean(validation_dicts)
+                
+                epoch_val_loss = validation_summary['loss']
+                if epoch_val_loss < min_val_loss:
+                    min_val_loss = epoch_val_loss
+                    best_ckpt_info = (epoch, min_val_loss, deepcopy(policy.state_dict()))
+            for k in list(validation_summary.keys()):
+                validation_summary[f'val/{k}'] = validation_summary.pop(k)            
+            wandb.log(validation_summary, step=epoch)
+            print(f'Val loss:   {epoch_val_loss:.5f}')
+            summary_string = ''
+            for k, v in validation_summary.items():
+                summary_string += f'{k}: {v.item():.3f} '
+            print(summary_string)
+
+        # training
+        policy.train()
+        optimizer.zero_grad()
+        
+        data = next(train_dataloader)
+        forward_dict = forward_pass(data, policy)
+        # backward
+        loss = forward_dict['loss']
+        loss.backward()
+        optimizer.step()
+        optimizer.zero_grad()
+        
+        epoch_summary = detach_dict(forward_dict)
+
+        # epoch_summary = compute_dict_mean(train_history[(batch_idx+1)*epoch:(batch_idx+1)*(epoch+1)])
+        epoch_train_loss = epoch_summary['loss']
+        print(f'Train loss: {epoch_train_loss:.5f}')
+        summary_string = ''
+        for k, v in epoch_summary.items():
+            summary_string += f'{k}: {v.item():.3f} '
+        print(summary_string)
+        wandb.log(epoch_summary, step=epoch)
+
+        if epoch % 1000 == 0 and epoch >= 1000:
+            ckpt_path = os.path.join(ckpt_dir, f'policy_epoch_{epoch}_seed_{seed}.ckpt')
+            torch.save(policy.state_dict(), ckpt_path)
+            # plot_history(train_history, validation_history, epoch, ckpt_dir, seed)
+
+    ckpt_path = os.path.join(ckpt_dir, f'policy_last.ckpt')
+    torch.save(policy.state_dict(), ckpt_path)
+
+    best_epoch, min_val_loss, best_state_dict = best_ckpt_info
+    ckpt_path = os.path.join(ckpt_dir, f'policy_epoch_{best_epoch}_seed_{seed}.ckpt')
+    torch.save(best_state_dict, ckpt_path)
+    print(f'Training finished:\nSeed {seed}, val loss {min_val_loss:.6f} at epoch {best_epoch}')
+
+    # save training curves
+    # plot_history(train_history, validation_history, num_epochs, ckpt_dir, seed)
+
+    return best_ckpt_info
+
+
+def plot_history(train_history, validation_history, num_epochs, ckpt_dir, seed):
+    # save training curves
+    for key in train_history[0]:
+        plot_path = os.path.join(ckpt_dir, f'train_val_{key}_seed_{seed}.png')
+        plt.figure()
+        train_values = [summary[key].item() for summary in train_history]
+        val_values = [summary[key].item() for summary in validation_history]
+        plt.plot(np.linspace(0, num_epochs-1, len(train_history)), train_values, label='train')
+        plt.plot(np.linspace(0, num_epochs-1, len(validation_history)), val_values, label='validation')
+        # plt.ylim([-0.1, 1])
+        plt.tight_layout()
+        plt.legend()
+        plt.title(key)
+        plt.savefig(plot_path)
+    print(f'Saved plots to {ckpt_dir}')
+
+def load_ckpt(policy, exp_dir, ckpt_name):
+    if ckpt_name:
+        epoch = ckpt_name
+        ckpt_name = f"policy_epoch_{ckpt_name}_seed_0.ckpt"
+    else:
+        ckpt_name, epoch = find_all_ckpt(exp_dir)#f"policy_last.ckpt"
+    resume_path = (Path(exp_dir) / ckpt_name).resolve()
+    print("*"*20)
+    print(f"Resuming from {resume_path}")
+    print("*"*20)
+    policy.load_state_dict(torch.load(resume_path))
+    return policy, ckpt_name, epoch
+
+def save_jit(config):
+    # ckpt_dir = config['ckpt_dir']
+    policy_class = config['policy_class']
+    policy_config = config['policy_config']
+
+    exp_dir, exp_name = parse_id((LOG_DIR / config['task_name']).resolve(), config['exptid'])
+
+    policy = make_policy(policy_class, policy_config)
+    policy.cuda()
+    
+    policy, ckpt_name, epoch = load_ckpt(policy, exp_dir, config['resume_ckpt'])
+
+    policy.eval()
+    image_data = torch.rand((1, 2, 3, 480, 640), device='cuda')
+    qpos_data = torch.rand((1, config['state_dim']), device='cuda')
+    input_data = (qpos_data, image_data)
+
+    traced_policy = torch.jit.trace(policy, input_data)
+    save_path = os.path.join(exp_dir, f"traced_jit_{epoch}.pt")
+    traced_policy.save(save_path)
+    print("Saved traced actor at ", save_path)
+
+    new_policy = torch.jit.load(save_path)
+    
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--eval', action='store_true')
+    parser.add_argument('--onscreen_render', action='store_true')
+    parser.add_argument('--policy_class', action='store', type=str, help='policy_class, capitalize', required=True)
+    # parser.add_argument('--task_name', action='store', type=str, help='task_name', required=True)
+    parser.add_argument('--batch_size', action='store', type=int, help='batch_size', required=True)
+    parser.add_argument('--seed', action='store', type=int, help='seed', required=True)
+    parser.add_argument('--num_epochs', action='store', type=int, help='num_epochs', required=True)
+    parser.add_argument('--lr', action='store', type=float, help='lr', required=True)
+    parser.add_argument('--qpos_noise_std', action='store', default=0, type=float, help='lr', required=False)
+
+    # for ACT
+    parser.add_argument('--kl_weight', action='store', type=int, help='KL Weight', required=False)
+    parser.add_argument('--chunk_size', action='store', type=int, help='chunk_size', required=False)
+    parser.add_argument('--hidden_dim', action='store', type=int, help='hidden_dim', required=False)
+    parser.add_argument('--dim_feedforward', action='store', type=int, help='dim_feedforward', required=False)
+    parser.add_argument('--temporal_agg', action='store_true')
+    parser.add_argument('--save_jit', action='store_true')
+    parser.add_argument('--no_wandb', action='store_true')
+    parser.add_argument('--resumeid', action='store', default="", type=str, help='resume id', required=False)
+    parser.add_argument('--resume_ckpt', action='store', default="", type=str, help='resume ckpt', required=False)
+    parser.add_argument('--taskid', action='store', type=str, help='task id', required=True)
+    parser.add_argument('--exptid', action='store', type=str, help='experiment id', required=True)
+    parser.add_argument('--source', choices=['self', 'ssd'], default='self')
+    args = vars(parser.parse_args())
+
+    if args['source'] == 'self':
+        current_dir = Path(__file__).parent.resolve()
+    else:
+        current_dir = Path("/media/cxx/Extreme Pro/human2robot/data/").resolve()
+    DATA_DIR = (current_dir.parent / 'data/').resolve()
+    RECORD_DIR = (DATA_DIR / 'recordings/').resolve()
+    LOG_DIR = (DATA_DIR / 'logs/').resolve()
+    # print(f"\nDATA dir: {DATA_DIR}")
+
+    main(args)
diff --git a/act/policy.py b/act/policy.py
new file mode 100644
index 0000000..ef6061d
--- /dev/null
+++ b/act/policy.py
@@ -0,0 +1,115 @@
+import torch.nn as nn
+from torch.nn import functional as F
+from torchvision.transforms import v2
+import torch
+
+from detr.main import build_ACT_model_and_optimizer, build_CNNMLP_model_and_optimizer
+import IPython
+e = IPython.embed
+
+class ACTPolicy(nn.Module):
+    def __init__(self, args_override):
+        super().__init__()
+        model, optimizer = build_ACT_model_and_optimizer(args_override)
+        self.model = model # CVAE decoder
+        self.optimizer = optimizer
+        self.kl_weight = args_override['kl_weight']
+        self.qpos_noise_std = args_override['qpos_noise_std']
+        print(f'KL Weight {self.kl_weight}')
+
+    def __call__(self, qpos, image, actions=None, is_pad=None):
+        env_state = None
+        # normalize = transforms.Normalize(mean=[0.485, 0.456, 0.406],
+        #                                  std=[0.229, 0.224, 0.225])
+        patch_h = 16
+        patch_w = 22
+        if actions is not None: # training time
+            # transform = v2.Compose([
+            #     v2.ColorJitter(brightness=0.5, contrast=0.5, saturation=0.5, hue=0.5),
+            #     v2.RandomPerspective(distortion_scale=0.5),
+            #     v2.RandomAffine(degrees=10, translate=(0.1,0.1), scale=(0.9,1.1)),
+            #     v2.GaussianBlur(kernel_size=(9,9), sigma=(0.1,2.0)),
+            #     v2.Normalize(
+            #         mean=[0.485, 0.456, 0.406],
+            #         std=[0.229, 0.224, 0.225])
+            # ])
+            transform = v2.Compose([
+                v2.ColorJitter(brightness=0.5, contrast=0.5, saturation=0.5, hue=0.5),
+                v2.RandomPerspective(distortion_scale=0.5),
+                v2.RandomAffine(degrees=10, translate=(0.1,0.1), scale=(0.9,1.1)),
+                v2.GaussianBlur(kernel_size=(9,9), sigma=(0.1,2.0)),
+                v2.Resize((patch_h * 14, patch_w * 14)),
+                # v2.CenterCrop((patch_h * 14, patch_w * 14)),
+                v2.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)),
+            ])
+            qpos += (self.qpos_noise_std**0.5)*torch.randn_like(qpos)
+        else: # inference time
+            transform = v2.Compose([
+                v2.Resize((patch_h * 14, patch_w * 14)),
+                # v2.CenterCrop((patch_h * 14, patch_w * 14)),
+                v2.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225))
+            ])
+            
+        image = transform(image)
+        if actions is not None: # training time
+            actions = actions[:, :self.model.num_queries]
+            is_pad = is_pad[:, :self.model.num_queries]
+
+            a_hat, is_pad_hat, (mu, logvar) = self.model(qpos, image, env_state, actions, is_pad)
+            total_kld, dim_wise_kld, mean_kld = kl_divergence(mu, logvar)
+            loss_dict = dict()
+            all_l1 = F.l1_loss(actions, a_hat, reduction='none')
+            l1 = (all_l1 * ~is_pad.unsqueeze(-1)).mean()
+            loss_dict['l1'] = l1
+            loss_dict['kl'] = total_kld[0]
+            loss_dict['loss'] = loss_dict['l1'] + loss_dict['kl'] * self.kl_weight
+            return loss_dict
+        else: # inference time
+            a_hat, _, (_, _) = self.model(qpos, image, env_state) # no action, sample from prior
+            return a_hat
+
+    def configure_optimizers(self):
+        return self.optimizer
+
+
+class CNNMLPPolicy(nn.Module):
+    def __init__(self, args_override):
+        super().__init__()
+        model, optimizer = build_CNNMLP_model_and_optimizer(args_override)
+        self.model = model # decoder
+        self.optimizer = optimizer
+
+    def __call__(self, qpos, image, actions=None, is_pad=None):
+        env_state = None # TODO
+        normalize = transforms.Normalize(mean=[0.485, 0.456, 0.406],
+                                         std=[0.229, 0.224, 0.225])
+        image = normalize(image)
+        if actions is not None: # training time
+            actions = actions[:, 0]
+            a_hat = self.model(qpos, image, env_state, actions)
+            mse = F.mse_loss(actions, a_hat)
+            loss_dict = dict()
+            loss_dict['mse'] = mse
+            loss_dict['loss'] = loss_dict['mse']
+            return loss_dict
+        else: # inference time
+            a_hat = self.model(qpos, image, env_state) # no action, sample from prior
+            return a_hat
+
+    def configure_optimizers(self):
+        return self.optimizer
+
+def kl_divergence(mu, logvar):
+    batch_size = mu.size(0)
+    assert batch_size != 0
+    if mu.data.ndimension() == 4:
+        mu = mu.view(mu.size(0), mu.size(1))
+    if logvar.data.ndimension() == 4:
+        logvar = logvar.view(logvar.size(0), logvar.size(1))
+
+    klds = -0.5 * (1 + logvar - mu.pow(2) - logvar.exp())
+    total_kld = klds.sum(1).mean(0, True)
+    dimension_wise_kld = klds.mean(0)
+    mean_kld = klds.mean(1).mean(0, True)
+
+    return total_kld, dimension_wise_kld, mean_kld
diff --git a/act/utils.py b/act/utils.py
new file mode 100644
index 0000000..f4de4ab
--- /dev/null
+++ b/act/utils.py
@@ -0,0 +1,286 @@
+import numpy as np
+import torch
+import os
+import h5py
+from torch.utils.data import TensorDataset, DataLoader
+import time 
+import IPython
+e = IPython.embed
+from pathlib import Path
+
+class EpisodicDataset(torch.utils.data.Dataset):
+    def __init__(self, episode_ids, dataset_dir, camera_names, norm_stats, episode_len, history_stack=0):
+        super(EpisodicDataset).__init__()
+        self.episode_ids = episode_ids
+        self.dataset_dir = dataset_dir
+        self.camera_names = camera_names
+        self.norm_stats = norm_stats
+        self.is_sim = None
+        self.max_pad_len = 200
+        action_str = 'qpos_action'
+
+        self.history_stack = history_stack
+
+        self.dataset_paths = []
+        self.roots = []
+        self.is_sims = []
+        self.original_action_shapes = []
+
+        self.states = []
+        self.image_dict = dict()
+        for cam_name in self.camera_names:
+            self.image_dict[cam_name] = []
+        self.actions = []
+
+        for i, episode_id in enumerate(self.episode_ids):
+            self.dataset_paths.append(os.path.join(self.dataset_dir, f'processed_episode_{episode_id}.hdf5'))
+            root = h5py.File(self.dataset_paths[i], 'r')
+            self.roots.append(root)
+            self.is_sims.append(root.attrs['sim'])
+            self.original_action_shapes.append(root[action_str].shape)
+
+            self.states.append(np.array(root['observation.state']))
+            for cam_name in self.camera_names:
+                self.image_dict[cam_name].append(root[f'observation.image.{cam_name}'])
+            self.actions.append(np.array(root[action_str]))
+
+        self.is_sim = self.is_sims[0]
+
+        self.episode_len = episode_len
+        self.cumulative_len = np.cumsum(self.episode_len)
+
+        # self.__getitem__(0) # initialize self.is_sim
+
+    # def __len__(self):
+    #     return len(self.episode_ids)
+
+    def _locate_transition(self, index):
+        assert index < self.cumulative_len[-1]
+        episode_index = np.argmax(self.cumulative_len > index) # argmax returns first True index
+        start_ts = index - (self.cumulative_len[episode_index] - self.episode_len[episode_index])
+        return episode_index, start_ts
+    
+    def __getitem__(self, ts_index):
+        sample_full_episode = False # hardcode
+
+        index, start_ts = self._locate_transition(ts_index)
+
+        original_action_shape = self.original_action_shapes[index]
+        episode_len = original_action_shape[0]
+
+        if sample_full_episode:
+            start_ts = 0
+        else:
+            start_ts = np.random.choice(episode_len)
+
+        # get observation at start_ts only
+        qpos = self.states[index][start_ts]
+        # qvel = root['/observations/qvel'][start_ts]
+
+        if self.history_stack > 0:
+            last_indices = np.maximum(0, np.arange(start_ts-self.history_stack, start_ts)).astype(int)
+            last_action = self.actions[index][last_indices, :]
+
+        image_dict = dict()
+        for cam_name in self.camera_names:
+            image_dict[cam_name] = self.image_dict[cam_name][index][start_ts]
+        # get all actions after and including start_ts
+        all_time_action = self.actions[index][:]
+
+        all_time_action_padded = np.zeros((self.max_pad_len+original_action_shape[0], original_action_shape[1]), dtype=np.float32)
+        all_time_action_padded[:episode_len] = all_time_action
+        all_time_action_padded[episode_len:] = all_time_action[-1]
+        
+        padded_action = all_time_action_padded[start_ts:start_ts+self.max_pad_len] 
+        real_len = episode_len - start_ts
+
+        is_pad = np.zeros(self.max_pad_len)
+        is_pad[real_len:] = 1
+
+        # new axis for different cameras
+        all_cam_images = []
+        for cam_name in self.camera_names:
+            all_cam_images.append(image_dict[cam_name])
+        all_cam_images = np.stack(all_cam_images, axis=0)
+
+        # construct observations
+        image_data = torch.from_numpy(all_cam_images)
+        qpos_data = torch.from_numpy(qpos).float()
+        action_data = torch.from_numpy(padded_action).float()
+        is_pad = torch.from_numpy(is_pad).bool()
+        if self.history_stack > 0:
+            last_action_data = torch.from_numpy(last_action).float()
+
+        # normalize image and change dtype to float
+        image_data = image_data / 255.0
+        action_data = (action_data - self.norm_stats["action_mean"]) / self.norm_stats["action_std"]
+        qpos_data = (qpos_data - self.norm_stats["qpos_mean"]) / self.norm_stats["qpos_std"]
+        if self.history_stack > 0:
+            last_action_data = (last_action_data - self.norm_stats['action_mean']) / self.norm_stats['action_std']
+            qpos_data = torch.cat((qpos_data, last_action_data.flatten()))
+        # print(f"qpos_data: {qpos_data.shape}, action_data: {action_data.shape}, image_data: {image_data.shape}, is_pad: {is_pad.shape}")
+        return image_data, qpos_data, action_data, is_pad
+
+
+def get_norm_stats(dataset_dir, num_episodes):
+    action_str = 'qpos_action'
+    all_qpos_data = []
+    all_action_data = []
+    all_episode_len = []
+    for episode_idx in range(num_episodes):
+        dataset_path = os.path.join(dataset_dir, f'processed_episode_{episode_idx}.hdf5')
+        with h5py.File(dataset_path, 'r') as root:
+            qpos = root['observation.state'][()]
+            action = root[action_str][()]
+        all_qpos_data.append(torch.from_numpy(qpos))
+        all_action_data.append(torch.from_numpy(action))
+        all_episode_len.append(len(qpos))
+    all_qpos_data = torch.cat(all_qpos_data)
+    all_action_data = torch.cat(all_action_data)
+    all_action_data = all_action_data
+
+    # normalize action data
+    action_mean = all_action_data.mean(dim=0, keepdim=True)  # (episode, timstep, action_dim)
+    action_std = all_action_data.std(dim=0, keepdim=True)
+    action_std = torch.clip(action_std, 1e-2, np.inf) # clipping
+
+    # normalize qpos data
+    qpos_mean = all_qpos_data.mean(dim=0, keepdim=True)
+    qpos_std = all_qpos_data.std(dim=0, keepdim=True)
+    qpos_std = torch.clip(qpos_std, 1e-2, np.inf) # clipping
+
+    stats = {"action_mean": action_mean.numpy().squeeze(), "action_std": action_std.numpy().squeeze(),
+             "qpos_mean": qpos_mean.numpy().squeeze(), "qpos_std": qpos_std.numpy().squeeze(),
+             "example_qpos": qpos}
+
+    return stats, all_episode_len
+
+def find_all_processed_episodes(path):
+    episodes = [f for f in os.listdir(path)]
+    return episodes
+
+def BatchSampler(batch_size, episode_len_l, sample_weights=None):
+    sample_probs = np.array(sample_weights) / np.sum(sample_weights) if sample_weights is not None else None
+    sum_dataset_len_l = np.cumsum([0] + [np.sum(episode_len) for episode_len in episode_len_l])
+    while True:
+        batch = []
+        for _ in range(batch_size):
+            episode_idx = np.random.choice(len(episode_len_l), p=sample_probs)
+            step_idx = np.random.randint(sum_dataset_len_l[episode_idx], sum_dataset_len_l[episode_idx + 1])
+            batch.append(step_idx)
+        yield batch
+
+def load_data(dataset_dir, camera_names, batch_size_train, batch_size_val):
+    print(f'\nData from: {dataset_dir}\n')
+
+    all_eps = find_all_processed_episodes(dataset_dir)
+    num_episodes = len(all_eps)
+    
+    # obtain train test split
+    train_ratio = 0.99
+    shuffled_indices = np.random.permutation(num_episodes)
+    train_indices = shuffled_indices[:int(train_ratio * num_episodes)]
+    val_indices = shuffled_indices[int(train_ratio * num_episodes):]
+    print(f"Train episodes: {len(train_indices)}, Val episodes: {len(val_indices)}")
+    # obtain normalization stats for qpos and action
+    norm_stats, all_episode_len = get_norm_stats(dataset_dir, num_episodes)
+
+    train_episode_len_l = [all_episode_len[i] for i in train_indices]
+    val_episode_len_l = [all_episode_len[i] for i in val_indices]
+    batch_sampler_train = BatchSampler(batch_size_train, train_episode_len_l)
+    batch_sampler_val = BatchSampler(batch_size_val, val_episode_len_l, None)
+
+    # construct dataset and dataloader
+    train_dataset = EpisodicDataset(train_indices, dataset_dir, camera_names, norm_stats, train_episode_len_l)
+    val_dataset = EpisodicDataset(val_indices, dataset_dir, camera_names, norm_stats, val_episode_len_l)
+    train_dataloader = DataLoader(train_dataset, batch_sampler=batch_sampler_train, pin_memory=True, num_workers=24, prefetch_factor=2)
+    val_dataloader = DataLoader(val_dataset, batch_sampler=batch_sampler_val, pin_memory=True, num_workers=16, prefetch_factor=2)
+
+    return train_dataloader, val_dataloader, norm_stats, train_dataset.is_sim
+
+def sample_box_pose():
+    x_range = [0.0, 0.2]
+    y_range = [0.4, 0.6]
+    z_range = [0.05, 0.05]
+
+    ranges = np.vstack([x_range, y_range, z_range])
+    cube_position = np.random.uniform(ranges[:, 0], ranges[:, 1])
+
+    cube_quat = np.array([1, 0, 0, 0])
+    return np.concatenate([cube_position, cube_quat])
+
+def sample_insertion_pose():
+    # Peg
+    x_range = [0.1, 0.2]
+    y_range = [0.4, 0.6]
+    z_range = [0.05, 0.05]
+
+    ranges = np.vstack([x_range, y_range, z_range])
+    peg_position = np.random.uniform(ranges[:, 0], ranges[:, 1])
+
+    peg_quat = np.array([1, 0, 0, 0])
+    peg_pose = np.concatenate([peg_position, peg_quat])
+
+    # Socket
+    x_range = [-0.2, -0.1]
+    y_range = [0.4, 0.6]
+    z_range = [0.05, 0.05]
+
+    ranges = np.vstack([x_range, y_range, z_range])
+    socket_position = np.random.uniform(ranges[:, 0], ranges[:, 1])
+
+    socket_quat = np.array([1, 0, 0, 0])
+    socket_pose = np.concatenate([socket_position, socket_quat])
+
+    return peg_pose, socket_pose
+
+### helper functions
+
+def compute_dict_mean(epoch_dicts):
+    result = {k: None for k in epoch_dicts[0]}
+    num_items = len(epoch_dicts)
+    for k in result:
+        value_sum = 0
+        for epoch_dict in epoch_dicts:
+            value_sum += epoch_dict[k]
+        result[k] = value_sum / num_items
+    return result
+
+def detach_dict(d):
+    new_d = dict()
+    for k, v in d.items():
+        new_d[k] = v.detach()
+    return new_d
+
+def set_seed(seed):
+    torch.manual_seed(seed)
+    np.random.seed(seed)
+
+def parse_id(base_dir, prefix):
+    base_path = Path(base_dir)
+    # Ensure the base path exists and is a directory
+    if not base_path.exists() or not base_path.is_dir():
+        raise ValueError(f"The provided base directory does not exist or is not a directory: \n{base_path}")
+
+    # Loop through all subdirectories of the base path
+    for subfolder in base_path.iterdir():
+        if subfolder.is_dir() and subfolder.name.startswith(prefix):
+            return str(subfolder), subfolder.name
+    
+    # If no matching subfolder is found
+    return None, None
+
+def find_all_ckpt(base_dir, prefix="policy_epoch_"):
+    base_path = Path(base_dir)
+    # Ensure the base path exists and is a directory
+    if not base_path.exists() or not base_path.is_dir():
+        raise ValueError("The provided base directory does not exist or is not a directory.")
+
+    ckpt_files = []
+    for file in base_path.iterdir():
+        if file.is_file() and file.name.startswith(prefix):
+            ckpt_files.append(file.name)
+    # find latest ckpt
+    ckpt_files = sorted(ckpt_files, key=lambda x: int(x.split(prefix)[-1].split('_')[0]), reverse=True)
+    epoch = int(ckpt_files[0].split(prefix)[-1].split('_')[0])
+    return ckpt_files[0], epoch
\ No newline at end of file
diff --git a/assets/H1_5/README.md b/assets/H1_5/README.md
new file mode 100644
index 0000000..b9c139b
--- /dev/null
+++ b/assets/H1_5/README.md
@@ -0,0 +1,79 @@
+# Unitree H1 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a streamlined robot description (URDF & MJCF) for the [Unitree H1](https://www.unitree.com/h1/), developed by [Unitree Robotics](https://www.unitree.com/).
+
+<p align="center">
+  <img src="h1_5.png" width="500"/>
+</p>
+
+Unitree H1 have 51 DOFs:
+
+```text
+root [⚓] => /pelvis/
+    left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
+        left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
+            left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
+                left_knee_joint [⚙+Y] => /left_knee_link/
+                    left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
+                        left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
+    right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
+        right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
+            right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
+                right_knee_joint [⚙+Y] => /right_knee_link/
+                    right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
+                        right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
+    torso_joint [⚙+Z] => /torso_link/
+        left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
+            left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
+                left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
+                    left_elbow_pitch_joint [⚙+Y] => /left_elbow_pitch_link/
+                        left_elbow_roll_joint [⚙+X] => /left_elbow_roll_link/
+                            left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/
+                                left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/
+                                    L_base_link_joint [⚓] => /L_hand_base_link/
+                                        L_thumb_proximal_yaw_joint [⚙+Z] => /L_thumb_proximal_base/
+                                            L_thumb_proximal_pitch_joint [⚙-Z] => /L_thumb_proximal/
+                                                L_thumb_intermediate_joint [⚙-Z] => /L_thumb_intermediate/
+                                                    L_thumb_distal_joint [⚙-Z] => /L_thumb_distal/
+                                        L_index_proximal_joint [⚙-Z] => /L_index_proximal/
+                                            L_index_intermediate_joint [⚙-Z] => /L_index_intermediate/
+                                        L_middle_proximal_joint [⚙-Z] => /L_middle_proximal/
+                                            L_middle_intermediate_joint [⚙-Z] => /L_middle_intermediate/
+                                        L_ring_proximal_joint [⚙-Z] => /L_ring_proximal/
+                                            L_ring_intermediate_joint [⚙-Z] => /L_ring_intermediate/
+                                        L_pinky_proximal_joint [⚙-Z] => /L_pinky_proximal/
+                                            L_pinky_intermediate_joint [⚙-Z] => /L_pinky_intermediate/
+        right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
+            right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
+                right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
+                    right_elbow_pitch_joint [⚙+Y] => /right_elbow_pitch_link/
+                        right_elbow_roll_joint [⚙+X] => /right_elbow_roll_link/
+                            right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/
+                                right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/
+                                    R_base_link_joint [⚓] => /R_hand_base_link/
+                                        R_thumb_proximal_yaw_joint [⚙-Z] => /R_thumb_proximal_base/
+                                            R_thumb_proximal_pitch_joint [⚙+Z] => /R_thumb_proximal/
+                                                R_thumb_intermediate_joint [⚙+Z] => /R_thumb_intermediate/
+                                                    R_thumb_distal_joint [⚙+Z] => /R_thumb_distal/
+                                        R_index_proximal_joint [⚙+Z] => /R_index_proximal/
+                                            R_index_intermediate_joint [⚙+Z] => /R_index_intermediate/
+                                        R_middle_proximal_joint [⚙+Z] => /R_middle_proximal/
+                                            R_middle_intermediate_joint [⚙+Z] => /R_middle_intermediate/
+                                        R_ring_proximal_joint [⚙+Z] => /R_ring_proximal/
+                                            R_ring_intermediate_joint [⚙+Z] => /R_ring_intermediate/
+                                        R_pinky_proximal_joint [⚙+Z] => /R_pinky_proximal/
+                                            R_pinky_intermediate_joint [⚙+Z] => /R_pinky_intermediate/
+```
+
+## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
+
+1. Open MuJoCo Viewer
+
+   ```bash
+   pip install mujoco
+   python -m mujoco.viewer
+   ```
+
+2. Drag and drop the MJCF model file (`scene.xml`) to the MuJoCo Viewer.
diff --git a/assets/H1_5/h1_5.urdf b/assets/H1_5/h1_5.urdf
new file mode 100644
index 0000000..789729c
--- /dev/null
+++ b/assets/H1_5/h1_5.urdf
@@ -0,0 +1,1623 @@
+<robot name="h1_5">
+
+  <mujoco>
+    <compiler meshdir="meshes" discardvisual="false"/>
+  </mujoco>
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world"/>
+    <child link="pelvis"/>
+  </joint> -->
+
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="-0.0004 3.7E-05 -0.046864" rpy="0 0 0"/>
+      <mass value="5.983"/>
+      <inertia ixx="49168.411E-06" ixy="-19.869E-06" ixz="-48.460E-06" iyy="9025.844E-06" iyz="3.431E-06" izz="53155.891E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/pelvis.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- L Leg -->
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="0 -0.026197 0.006647" rpy="0 0 0"/>
+      <mass value="2.829"/>
+      <inertia ixx="4553.605E-06" ixy="0.005E-06" ixz="0.817E-06" iyy="5688.730E-06" iyz="-345.157E-06" izz="3548.907E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0"/>
+      <geometry>
+        <cylinder radius="0.01" length="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0 0.0875 -0.1632" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="left_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-0.43" upper="0.43" effort="200" velocity="23"/>
+  </joint>
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="-0.00781 -0.004724 -0.000063" rpy="0 0 0"/>
+      <mass value="2.920"/>
+      <inertia ixx="5594.7E-06" ixy="143.308E-06" ixz="-11.847E-06" iyy="3862.581E-06" iyz="-9.607E-06" izz="4450.563E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.02" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.0755 0" rpy="0 0 0"/>
+    <parent link="left_hip_yaw_link"/>
+    <child link="left_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14" upper="2.5" effort="200" velocity="23"/>
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.004171 -0.008576 -0.194509" rpy="0 0 0"/>
+      <mass value="4.962"/>
+      <inertia ixx="46305.869E-06" ixy="-322.626E-06" ixz="-1199.703E-06" iyy="47955.402E-06" iyz="288.147E-06" izz="8914.518E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.06 0" rpy="1.5707963267948966192313216916398 0 0"/>
+      <geometry>
+        <cylinder radius="0.02" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="left_hip_pitch_link"/>
+    <child link="left_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.43" upper="3.14" effort="200" velocity="23"/>
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.000179 0.000121 -0.168936" rpy="0 0 0"/>
+      <mass value="3.839"/>
+      <inertia ixx="39002.363e-6" ixy="-72.364e-6" ixz="-794.506e-6" iyy="39042.376e-6" iyz="-18.663e-6" izz="5029.829e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.02" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
+    <parent link="left_hip_roll_link"/>
+    <child link="left_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.26" upper="2.05" effort="300" velocity="14"/>
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.000294 0 -0.010794" rpy="0 0 0"/>
+      <mass value="0.102"/>
+      <inertia ixx="0.000023944" ixy="0" ixz="0.000000121" iyy="0.000021837" iyz="0" izz="0.000013414"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
+    <parent link="left_knee_link"/>
+    <child link="left_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.897334" upper="0.523598" effort="60" velocity="9"/>
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.029589 0 -0.015973" rpy="0 0 0"/>
+      <mass value="0.747"/>
+      <inertia ixx="648.830e-6" ixy="0" ixz="158.380e-6" iyy="3435.339e-6" iyz="0" izz="3583.259e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_roll_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.02" rpy="0 0 0"/>
+    <parent link="left_ankle_pitch_link"/>
+    <child link="left_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.261799" upper="0.261799" effort="40" velocity="9"/>
+  </joint>
+
+  <!-- R Leg -->
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="0 0.026197 0.006647" rpy="0 0 0"/>
+      <mass value="2.829"/>
+      <inertia ixx="4553.605E-06" ixy="-0.005E-06" ixz="0.817E-06" iyy="5688.730E-06" iyz="345.157E-06" izz="3548.907E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0"/>
+      <geometry>
+        <cylinder radius="0.01" length="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0 -0.0875 -0.1632" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="right_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-0.43" upper="0.43" effort="200" velocity="23"/>
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="-0.00781 0.004724 -0.000063" rpy="0 0 0"/>
+      <mass value="2.920"/>
+      <inertia ixx="5594.7E-06" ixy="-143.308E-06" ixz="-11.847E-06" iyy="3862.581E-06" iyz="9.607E-06" izz="4450.563E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.02" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.0755 0" rpy="0 0 0"/>
+    <parent link="right_hip_yaw_link"/>
+    <child link="right_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14" upper="2.5" effort="200" velocity="23"/>
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.004171 0.008576 -0.194509" rpy="0 0 0"/>
+      <mass value="4.962"/>
+      <inertia ixx="46305.869E-06" ixy="322.626E-06" ixz="-1199.703E-06" iyy="47955.402E-06" iyz="-288.147E-06" izz="8914.518E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.06 0" rpy="1.5707963267948966192313216916398 0 0"/>
+      <geometry>
+        <cylinder radius="0.02" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="right_hip_pitch_link"/>
+    <child link="right_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-3.14" upper="0.43" effort="200" velocity="23"/>
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.000179 -0.000121 -0.168936" rpy="0 0 0"/>
+      <mass value="3.839"/>
+      <inertia ixx="39002.363e-6" ixy="72.364e-6" ixz="-794.506e-6" iyy="39042.376e-6" iyz="18.663e-6" izz="5029.829e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.02" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
+    <parent link="right_hip_roll_link"/>
+    <child link="right_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.26" upper="2.05" effort="300" velocity="14"/>
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.000294 0 -0.010794" rpy="0 0 0"/>
+      <mass value="0.102"/>
+      <inertia ixx="0.000023944" ixy="0" ixz="0.000000121" iyy="0.000021837" iyz="0" izz="0.000013414"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
+    <parent link="right_knee_link"/>
+    <child link="right_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.897334" upper="0.523598" effort="60" velocity="9"/>
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.029589 0 -0.015973" rpy="0 0 0"/>
+      <mass value="0.747"/>
+      <inertia ixx="648.830e-6" ixy="0" ixz="158.380e-6" iyy="3435.339e-6" iyz="0" izz="3583.259e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_roll_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.02" rpy="0 0 0"/>
+    <parent link="right_ankle_pitch_link"/>
+    <child link="right_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.261799" upper="0.261799" effort="40" velocity="9"/>
+  </joint>
+
+  <!-- Torso -->
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000489 0.002797 0.20484" rpy="0 0 0"/>
+      <mass value="17.789"/>
+      <inertia ixx="0.4873" ixy="-0.00053763" ixz="0.0020276" iyy="0.40963" iyz="-0.00074582" izz="0.12785"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/torso_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.15" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.08 0.16 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="torso_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.35" upper="2.35" effort="200" velocity="23"/>
+  </joint>
+
+  <!-- L arm -->
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0.003053 0.06042 -0.0059" rpy="0 0 0"/>
+      <mass value="1.327"/>
+      <inertia ixx="0.00058661" ixy="-2.0157E-05" ixz="2.985E-06" iyy="0.0003989" iyz="2.238E-05" izz="0.00052936"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0 0.14806 0.42333" rpy="0.2618 0 0"/>
+    <parent link="torso_link"/>
+    <child link="left_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14" upper="1.57" effort="40" velocity="9"/>
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.030932 -1E-06 -0.10609" rpy="0 0 0"/>
+      <mass value="1.393"/>
+      <inertia ixx="0.0018408" ixy="3.98E-07" ixz="-0.00048324" iyy="0.001934638" iyz="1.61E-07" izz="0.000617733"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="0.0342 0.061999 -0.0060011" rpy="-0.2618 0 0"/>
+    <parent link="left_shoulder_pitch_link"/>
+    <child link="left_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.38" upper="3.4" effort="40" velocity="9"/>
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.004583 0.001128 -0.001128" rpy="0 0 0"/>
+      <mass value="1.505"/>
+      <inertia ixx="0.004199" ixy="-1.7786E-05" ixz="0.00018372" iyy="0.0043139" iyz="9.278E-05" izz="0.00065755"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="-0.0342 0 -0.1456" rpy="0 0 0"/>
+    <parent link="left_shoulder_roll_link"/>
+    <child link="left_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.01" upper="2.66" effort="18" velocity="20"/>
+  </joint>
+  <link name="left_elbow_pitch_link">
+    <inertial>
+      <origin xyz="0.077092 -0.028751 -0.009714 " rpy="0 0 0"/>
+      <mass value="0.691"/>
+      <inertia ixx="0.000318491" ixy="0.000224554" ixz="6.62076E-05" iyy="0.000861224" iyz="-2.3329E-05" izz="0.000897899"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_elbow_pitch_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_elbow_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_pitch_joint" type="revolute">
+    <origin xyz="0.006 0.0329 -0.182" rpy="0 0 0"/>
+    <parent link="left_shoulder_yaw_link"/>
+    <child link="left_elbow_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.53" upper="1.6" effort="18" velocity="20"/>
+  </joint>
+
+  <link name="left_elbow_roll_link">
+    <inertial>
+      <origin xyz="0.035281 -0.002320 0.000337" rpy="0 0 0"/>
+      <mass value="0.683"/>
+      <inertia ixx="0.000313275" ixy="0.000016521" ixz="-0.000002501" iyy="0.000310412" iyz="0.000005435" izz="0.000345998"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_elbow_roll_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/left_elbow_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_roll_joint" type="revolute">
+    <origin xyz="0.121 -0.0329 -0.011" rpy="0 0 0"/>
+    <parent link="left_elbow_pitch_link"/>
+    <child link="left_elbow_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.967" upper="2.967" effort="19" velocity="31.4"/>
+  </joint>
+
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.020395 0.000036 -0.002973" rpy="0 0 0"/>
+      <mass value="0.484"/>
+      <inertia ixx="0.000071364" ixy="0.000000308" ixz="0.000001485" iyy="0.000069915" iyz="-0.000000088" izz="0.000070702"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.085 0 0" rpy="0 0 0"/>
+    <parent link="left_elbow_roll_link"/>
+    <child link="left_wrist_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.471" upper="0.349" effort="19" velocity="31.4"/>
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.027967 0.000096 0.000739" rpy="0 0 0"/>
+      <mass value="0.124"/>
+      <inertia ixx="137.3e-6" ixy="-0.171e-6" ixz="2.942e-6" iyy="169.998e-6" iyz="-0.025e-6" izz="84.808e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wrist_yaw_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wrist_yaw_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.020 0 0" rpy="0 0 0"/>
+    <parent link="left_wrist_pitch_link"/>
+    <child link="left_wrist_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.012" upper="1.012" effort="19" velocity="31.4"/>
+  </joint>
+
+  <!-- R arm -->
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0.003053 -0.06042 -0.0059" rpy="0 0 0"/>
+      <mass value="1.327"/>
+      <inertia ixx="0.00058661" ixy="2.0157E-05" ixz="2.985E-06" iyy="0.0003989" iyz="-2.238E-05" izz="0.00052936"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0 -0.14806 0.42333" rpy="-0.2618 0 0"/>
+    <parent link="torso_link"/>
+    <child link="right_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.57" upper="3.14" effort="40" velocity="9"/>
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.030932 1E-06 -0.10609" rpy="0 0 0"/>
+      <mass value="1.393"/>
+      <inertia ixx="0.0018408" ixy="-3.98E-07" ixz="-0.00048324" iyy="0.001934638" iyz="-1.61E-07" izz="0.000617733"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="0.0342 -0.061999 -0.0060011" rpy="0.2618 0 0"/>
+    <parent link="right_shoulder_pitch_link"/>
+    <child link="right_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-3.4" upper="0.38" effort="40" velocity="9"/>
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.004583 -0.001128 -0.001128" rpy="0 0 0"/>
+      <mass value="1.505"/>
+      <inertia ixx="0.004199" ixy="1.7786E-05" ixz="0.00018372" iyy="0.0043139" iyz="-9.278E-05" izz="0.00065755"/>
+
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_yaw_joint" type="revolute">
+    <origin xyz="-0.0342 0 -0.1456" rpy="0 0 0"/>
+    <parent link="right_shoulder_roll_link"/>
+    <child link="right_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.66" upper="3.01" effort="18" velocity="20"/>
+  </joint>
+  <link name="right_elbow_pitch_link">
+    <inertial>
+      <origin xyz="0.077092 0.028751 -0.009714 " rpy="0 0 0"/>
+      <mass value="0.691"/>
+      <inertia ixx="0.000318491" ixy="-0.000224554" ixz="6.62076E-05" iyy="0.000861224" iyz="2.3329E-05" izz="0.000897899"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_elbow_pitch_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_elbow_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_elbow_pitch_joint" type="revolute">
+    <origin xyz="0.006 -0.0329 -0.182" rpy="0 0 0"/>
+    <parent link="right_shoulder_yaw_link"/>
+    <child link="right_elbow_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.6" upper="2.53" effort="18" velocity="20"/>
+  </joint>
+
+  <link name="right_elbow_roll_link">
+    <inertial>
+      <origin xyz="0.035281 -0.002320 0.000337" rpy="0 0 0"/>
+      <mass value="0.683"/>
+      <inertia ixx="0.000313275" ixy="0.000016521" ixz="-0.000002501" iyy="0.000310412" iyz="0.000005435" izz="0.000345998"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_elbow_roll_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/right_elbow_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_elbow_roll_joint" type="revolute">
+    <origin xyz="0.121 0.0329 -0.011" rpy="0 0 0"/>
+    <parent link="right_elbow_pitch_link"/>
+    <child link="right_elbow_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.967" upper="2.967" effort="19" velocity="31.4"/>
+  </joint>
+
+  <link name="right_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.020395 0.000036 -0.002973" rpy="0 0 0"/>
+      <mass value="0.484"/>
+      <inertia ixx="0.000071364" ixy="0.000000308" ixz="0.000001485" iyy="0.000069915" iyz="-0.000000088" izz="0.000070702"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.085 0 0" rpy="0 0 0"/>
+    <parent link="right_elbow_roll_link"/>
+    <child link="right_wrist_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.471" upper="0.349" effort="19" velocity="31.4"/>
+  </joint>
+  <link name="right_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.027967 -0.000096 0.000739" rpy="0 0 0"/>
+      <mass value="0.124"/>
+      <inertia ixx="137.3e-6" ixy="0.171e-6" ixz="2.942e-6" iyy="169.998e-6" iyz="0.025e-6" izz="84.808e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wrist_yaw_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wrist_yaw_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.020 0 0" rpy="0 0 0"/>
+    <parent link="right_wrist_pitch_link"/>
+    <child link="right_wrist_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.012" upper="1.012" effort="19" velocity="31.4"/>
+  </joint>
+
+  <!-- LOGO -->
+  <link name="logo_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/logo_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="logo_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="logo_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+
+  <!-- IMU -->
+  <link name="imu_link"></link>
+  <joint name="imu_joint" type="fixed">
+    <origin xyz="-0.04233868314 0.00166 0.152067" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="imu_link"/>
+  </joint>
+
+  <!-- L Gripper -->
+  <joint name="L_base_link_joint" type="fixed">
+    <origin xyz="0.054 0 0" rpy="0 0 1.5707963267948966192313216916398"/>
+    <parent link="left_wrist_yaw_link"/>
+    <child link="L_hand_base_link"/>
+  </joint>
+  <link name="L_hand_base_link">
+    <inertial>
+      <origin xyz="-0.002551 -0.066047 -0.0019357" rpy="0 0 0"/>
+      <mass value="0.14143"/>
+      <inertia ixx="0.0001234" ixy="2.1995E-06" ixz="-1.7694E-06" iyy="8.3835E-05" iyz="1.5968E-06" izz="7.7231E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/L_hand_base_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/L_hand_base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_thumb_proximal_base">
+    <inertial>
+      <origin xyz="0.0048817 0.00038782 -0.00722" rpy="0 0 0"/>
+      <mass value="0.0018869"/>
+      <inertia ixx="5.5158E-08" ixy="-1.1803E-08" ixz="-4.6743E-09" iyy="8.2164E-08" iyz="-1.3521E-09" izz="6.7434E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link11_L.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link11_L.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="L_thumb_proximal_yaw_joint" type="revolute">
+    <origin xyz="-0.01696 -0.0691 0.02045" rpy="1.5708 -1.5708 0"/>
+    <parent link="L_hand_base_link"/>
+    <child link="L_thumb_proximal_base"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-0.1" upper="1.3" effort="1" velocity="0.5"/>
+  </joint>
+  <link name="L_thumb_proximal">
+    <inertial>
+      <origin xyz="0.021936 -0.01279 -0.0080386" rpy="0 0 0"/>
+      <mass value="0.0066101"/>
+      <inertia ixx="1.5693E-06" ixy="7.8339E-07" ixz="8.5959E-10" iyy="1.7356E-06" iyz="1.0378E-09" izz="2.787E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link12_L.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link12_L.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="L_thumb_proximal_pitch_joint" type="revolute">
+    <origin xyz="0.0099867 0.0098242 -0.0089" rpy="-1.5708 0 0.16939"/>
+    <parent link="L_thumb_proximal_base"/>
+    <child link="L_thumb_proximal"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="-0.1" upper="0.6" effort="1" velocity="0.5"/>
+  </joint>
+  <link name="L_thumb_intermediate">
+    <inertial>
+      <origin xyz="0.0095531 0.0016282 -0.0072002" rpy="0 0 0"/>
+      <mass value="0.0037844"/>
+      <inertia ixx="3.6981E-07" ixy="9.8603E-08" ixz="-2.8173E-12" iyy="3.2395E-07" iyz="-2.8028E-12" izz="4.6532E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link13_L.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link13_L.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="L_thumb_intermediate_joint" type="revolute">
+    <origin xyz="0.04407 -0.034553 -0.0008" rpy="0 0 0"/>
+    <parent link="L_thumb_proximal"/>
+    <child link="L_thumb_intermediate"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="0" upper="0.8" effort="1" velocity="0.5"/>
+    <mimic joint="L_thumb_proximal_pitch_joint" multiplier="1.6" offset="0"/>
+  </joint>
+  <link name="L_thumb_distal">
+    <inertial>
+      <origin xyz="0.0092888 -0.004953 -0.0060033" rpy="0 0 0"/>
+      <mass value="0.003344"/>
+      <inertia ixx="1.3632E-07" ixy="5.6787E-08" ixz="-9.1939E-11" iyy="1.4052E-07" iyz="1.2145E-10" izz="2.0026E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link14_L.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link14_L.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="L_thumb_distal_joint" type="revolute">
+    <origin xyz="0.020248 -0.010156 -0.0012" rpy="0 0 0"/>
+    <parent link="L_thumb_intermediate"/>
+    <child link="L_thumb_distal"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="0" upper="1.2" effort="1" velocity="0.5"/>
+    <mimic joint="L_thumb_proximal_pitch_joint" multiplier="2.4" offset="0"/>
+  </joint>
+  <link name="L_index_proximal">
+    <inertial>
+      <origin xyz="0.0012971 -0.011934 -0.0059998" rpy="0 0 0"/>
+      <mass value="0.0042405"/>
+      <inertia ixx="6.6215E-07" ixy="1.8442E-08" ixz="1.3746E-12" iyy="2.1167E-07" iyz="-1.4773E-11" izz="6.9402E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link15_L.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link15_L.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="L_index_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.13653 0.032268" rpy="-0.034907 0 0"/>
+    <parent link="L_hand_base_link"/>
+    <child link="L_index_proximal"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+  </joint>
+  <link name="L_index_intermediate">
+    <inertial>
+      <origin xyz="0.0021753 -0.019567 -0.005" rpy="0 0 0"/>
+      <mass value="0.0045682"/>
+      <inertia ixx="7.6284E-07" ixy="-8.063E-08" ixz="3.6797E-13" iyy="9.4308E-08" iyz="1.5743E-13" izz="7.8176E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link16_L.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link16_L.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="L_index_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 -0.032041 -0.001" rpy="0 0 0"/>
+    <parent link="L_index_proximal"/>
+    <child link="L_index_intermediate"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+    <mimic joint="L_index_proximal_joint" multiplier="1" offset="0"/>
+  </joint>
+  <link name="L_middle_proximal">
+    <inertial>
+      <origin xyz="0.0012971 -0.011934 -0.0059999" rpy="0 0 0"/>
+      <mass value="0.0042405"/>
+      <inertia ixx="6.6215E-07" ixy="1.8442E-08" ixz="1.2299E-12" iyy="2.1167E-07" iyz="-1.4484E-11" izz="6.9402E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link17_L.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link17_L.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="L_middle_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.1371 0.01295" rpy="0 0 0"/>
+    <parent link="L_hand_base_link"/>
+    <child link="L_middle_proximal"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+  </joint>
+  <link name="L_middle_intermediate">
+    <inertial>
+      <origin xyz="0.001921 -0.020796 -0.0049999" rpy="0 0 0"/>
+      <mass value="0.0050397"/>
+      <inertia ixx="9.5823E-07" ixy="-1.1425E-07" ixz="-2.4186E-12" iyy="1.0646E-07" iyz="3.6974E-12" izz="9.8385E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link18_L.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link18_L.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="L_middle_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 -0.032041 -0.001" rpy="0 0 0"/>
+    <parent link="L_middle_proximal"/>
+    <child link="L_middle_intermediate"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+    <mimic joint="L_middle_proximal_joint" multiplier="1" offset="0"/>
+  </joint>
+  <link name="L_ring_proximal">
+    <inertial>
+      <origin xyz="0.0012971 -0.011934 -0.0059999" rpy="0 0 0"/>
+      <mass value="0.0042405"/>
+      <inertia ixx="6.6215E-07" ixy="1.8442E-08" ixz="9.6052E-13" iyy="2.1167E-07" iyz="-1.4124E-11" izz="6.9402E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link19_L.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link19_L.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="L_ring_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.13691 -0.0062872" rpy="0.05236 0 0"/>
+    <parent link="L_hand_base_link"/>
+    <child link="L_ring_proximal"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+  </joint>
+  <link name="L_ring_intermediate">
+    <inertial>
+      <origin xyz="0.0021753 -0.019567 -0.005" rpy="0 0 0"/>
+      <mass value="0.0045682"/>
+      <inertia ixx="7.6285E-07" ixy="-8.0631E-08" ixz="3.3472E-14" iyy="9.4308E-08" iyz="-4.4773E-13" izz="7.8176E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link20_L.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link20_L.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="L_ring_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 -0.032041 -0.001" rpy="0 0 0"/>
+    <parent link="L_ring_proximal"/>
+    <child link="L_ring_intermediate"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+    <mimic joint="L_ring_proximal_joint" multiplier="1" offset="0"/>
+  </joint>
+  <link name="L_pinky_proximal">
+    <inertial>
+      <origin xyz="0.0012971 -0.011934 -0.0059999" rpy="0 0 0"/>
+      <mass value="0.0042405"/>
+      <inertia ixx="6.6215E-07" ixy="1.8442E-08" ixz="1.0279E-12" iyy="2.1167E-07" iyz="-1.4277E-11" izz="6.9402E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link21_L.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link21_L.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="L_pinky_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.13571 -0.025488" rpy="0.10472 0 0"/>
+    <parent link="L_hand_base_link"/>
+    <child link="L_pinky_proximal"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+  </joint>
+  <link name="L_pinky_intermediate">
+    <inertial>
+      <origin xyz="0.0024788 -0.016208 -0.0050001" rpy="0 0 0"/>
+      <mass value="0.0036036"/>
+      <inertia ixx="4.3923E-07" ixy="-4.1355E-08" ixz="1.2263E-12" iyy="7.0315E-08" iyz="3.1311E-12" izz="4.4881E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link22_L.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link22_L.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="L_pinky_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 -0.032041 -0.001" rpy="0 0 0"/>
+    <parent link="L_pinky_proximal"/>
+    <child link="L_pinky_intermediate"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+    <mimic joint="L_pinky_proximal_joint" multiplier="1" offset="0"/>
+  </joint>
+
+  <!-- R Gripper -->
+  <joint name="R_base_link_joint" type="fixed">
+    <origin xyz="0.054 0 0" rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398"/>
+    <parent link="right_wrist_yaw_link"/>
+    <child link="R_hand_base_link"/>
+  </joint>
+  <link name="R_hand_base_link">
+    <inertial>
+      <origin xyz="-0.0025264 -0.066047 0.0019598" rpy="0 0 0"/>
+      <mass value="0.14143"/>
+      <inertia ixx="0.00012281" ixy="2.1711E-06" ixz="1.7709E-06" iyy="8.3832E-05" iyz="-1.6551E-06" izz="7.6663E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/R_hand_base_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/R_hand_base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_thumb_proximal_base">
+    <inertial>
+      <origin xyz="-0.0048064 0.0009382 -0.00757" rpy="0 0 0"/>
+      <mass value="0.0018869"/>
+      <inertia ixx="5.816E-08" ixy="1.4539E-08" ixz="4.491E-09" iyy="7.9161E-08" iyz="-1.8727E-09" izz="6.7433E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link11_R.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link11_R.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="R_thumb_proximal_yaw_joint" type="revolute">
+    <origin xyz="-0.01696 -0.0691 -0.02045" rpy="1.5708 -1.5708 0"/>
+    <parent link="R_hand_base_link"/>
+    <child link="R_thumb_proximal_base"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="-0.1" upper="1.3" effort="1" velocity="0.5"/>
+  </joint>
+  <link name="R_thumb_proximal">
+    <inertial>
+      <origin xyz="0.021932 0.012785 -0.0080386" rpy="0 0 0"/>
+      <mass value="0.0066075"/>
+      <inertia ixx="1.5686E-06" ixy="-7.8296E-07" ixz="8.9143E-10" iyy="1.7353E-06" iyz="-1.0191E-09" izz="2.786E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link12_R.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link12_R.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="R_thumb_proximal_pitch_joint" type="revolute">
+    <origin xyz="-0.0088099 0.010892 -0.00925" rpy="1.5708 0 2.8587"/>
+    <parent link="R_thumb_proximal_base"/>
+    <child link="R_thumb_proximal"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-0.1" upper="0.6" effort="1" velocity="0.5"/>
+  </joint>
+  <link name="R_thumb_intermediate">
+    <inertial>
+      <origin xyz="0.0095544 -0.0016282 -0.0071997" rpy="0 0 0"/>
+      <mass value="0.0037847"/>
+      <inertia ixx="3.6981E-07" ixy="-9.8581E-08" ixz="-4.7469E-12" iyy="3.2394E-07" iyz="1.0939E-12" izz="4.6531E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link13_R.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link13_R.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="R_thumb_intermediate_joint" type="revolute">
+    <origin xyz="0.04407 0.034553 -0.0008" rpy="0 0 0"/>
+    <parent link="R_thumb_proximal"/>
+    <child link="R_thumb_intermediate"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="0.8" effort="1" velocity="0.5"/>
+    <mimic joint="R_thumb_proximal_pitch_joint" multiplier="1.6" offset="0"/>
+  </joint>
+  <link name="R_thumb_distal">
+    <inertial>
+      <origin xyz="0.0092888 0.0049529 -0.0060033" rpy="0 0 0"/>
+      <mass value="0.0033441"/>
+      <inertia ixx="1.3632E-07" ixy="-5.6788E-08" ixz="-9.2764E-11" iyy="1.4052E-07" iyz="-1.2283E-10" izz="2.0026E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link14_R.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link14_R.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="R_thumb_distal_joint" type="revolute">
+    <origin xyz="0.020248 0.010156 -0.0012" rpy="0 0 0"/>
+    <parent link="R_thumb_intermediate"/>
+    <child link="R_thumb_distal"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="1.2" effort="1" velocity="0.5"/>
+    <mimic joint="R_thumb_proximal_pitch_joint" multiplier="2.4" offset="0"/>
+  </joint>
+  <link name="R_index_proximal">
+    <inertial>
+      <origin xyz="0.0012259 0.011942 -0.0060001" rpy="0 0 0"/>
+      <mass value="0.0042403"/>
+      <inertia ixx="6.6232E-07" ixy="-1.5775E-08" ixz="1.8515E-12" iyy="2.1146E-07" iyz="-5.0828E-12" izz="6.9398E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link15_R.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link15_R.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="R_index_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.13653 -0.032268" rpy="-3.1067 0 0"/>
+    <parent link="R_hand_base_link"/>
+    <child link="R_index_proximal"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+  </joint>
+  <link name="R_index_intermediate">
+    <inertial>
+      <origin xyz="0.0019697 0.019589 -0.005" rpy="0 0 0"/>
+      <mass value="0.0045683"/>
+      <inertia ixx="7.6111E-07" ixy="8.7637E-08" ixz="-3.7751E-13" iyy="9.6076E-08" iyz="9.9444E-13" izz="7.8179E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link16_R.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link16_R.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="R_index_intermediate_joint" type="revolute">
+    <origin xyz="-0.0026138 0.032026 -0.001" rpy="0 0 0"/>
+    <parent link="R_index_proximal"/>
+    <child link="R_index_intermediate"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+    <mimic joint="R_index_proximal_joint" multiplier="1" offset="0"/>
+  </joint>
+  <link name="R_middle_proximal">
+    <inertial>
+      <origin xyz="0.001297 0.011934 -0.0060001" rpy="0 0 0"/>
+      <mass value="0.0042403"/>
+      <inertia ixx="6.6211E-07" ixy="-1.8461E-08" ixz="1.8002E-12" iyy="2.1167E-07" iyz="-6.6808E-12" izz="6.9397E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link17_R.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link17_R.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="R_middle_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.1371 -0.01295" rpy="-3.1416 0 0"/>
+    <parent link="R_hand_base_link"/>
+    <child link="R_middle_proximal"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+  </joint>
+  <link name="R_middle_intermediate">
+    <inertial>
+      <origin xyz="0.001921 0.020796 -0.005" rpy="0 0 0"/>
+      <mass value="0.0050396"/>
+      <inertia ixx="9.5822E-07" ixy="1.1425E-07" ixz="-2.4791E-12" iyy="1.0646E-07" iyz="5.9173E-12" izz="9.8384E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link18_R.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link18_R.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="R_middle_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0"/>
+    <parent link="R_middle_proximal"/>
+    <child link="R_middle_intermediate"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+    <mimic joint="R_middle_proximal_joint" multiplier="1" offset="0"/>
+  </joint>
+  <link name="R_ring_proximal">
+    <inertial>
+      <origin xyz="0.001297 0.011934 -0.0060002" rpy="0 0 0"/>
+      <mass value="0.0042403"/>
+      <inertia ixx="6.6211E-07" ixy="-1.8461E-08" ixz="1.5793E-12" iyy="2.1167E-07" iyz="-6.6868E-12" izz="6.9397E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link19_R.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link19_R.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="R_ring_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.13691 0.0062872" rpy="3.0892 0 0"/>
+    <parent link="R_hand_base_link"/>
+    <child link="R_ring_proximal"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+  </joint>
+  <link name="R_ring_intermediate">
+    <inertial>
+      <origin xyz="0.0021753 0.019567 -0.005" rpy="0 0 0"/>
+      <mass value="0.0045683"/>
+      <inertia ixx="7.6286E-07" ixy="8.0635E-08" ixz="-6.1562E-13" iyy="9.431E-08" iyz="5.8619E-13" izz="7.8177E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link20_R.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link20_R.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="R_ring_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0"/>
+    <parent link="R_ring_proximal"/>
+    <child link="R_ring_intermediate"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+    <mimic joint="R_ring_proximal_joint" multiplier="1" offset="0"/>
+  </joint>
+  <link name="R_pinky_proximal">
+    <inertial>
+      <origin xyz="0.001297 0.011934 -0.0060001" rpy="0 0 0"/>
+      <mass value="0.0042403"/>
+      <inertia ixx="6.6211E-07" ixy="-1.8461E-08" ixz="1.6907E-12" iyy="2.1167E-07" iyz="-6.9334E-12" izz="6.9397E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link21_R.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link21_R.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="R_pinky_proximal_joint" type="revolute">
+    <origin xyz="0.00028533 -0.13571 0.025488" rpy="3.0369 0 0"/>
+    <parent link="R_hand_base_link"/>
+    <child link="R_pinky_proximal"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+  </joint>
+  <link name="R_pinky_intermediate">
+    <inertial>
+      <origin xyz="0.0024748 0.016203 -0.0050031" rpy="0 0 0"/>
+      <mass value="0.0035996"/>
+      <inertia ixx="4.3913E-07" ixy="4.1418E-08" ixz="3.7168E-11" iyy="7.0247E-08" iyz="5.8613E-11" izz="4.4867E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link22_R.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/link22_R.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="R_pinky_intermediate_joint" type="revolute">
+    <origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0"/>
+    <parent link="R_pinky_proximal"/>
+    <child link="R_pinky_intermediate"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
+    <mimic joint="R_pinky_proximal_joint" multiplier="1" offset="0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/assets/H1_5/h1_5.xml b/assets/H1_5/h1_5.xml
new file mode 100644
index 0000000..d946402
--- /dev/null
+++ b/assets/H1_5/h1_5.xml
@@ -0,0 +1,438 @@
+<mujoco model="h1_5">
+  <compiler angle="radian" meshdir="meshes/" autolimits="true"/>
+  <statistic meansize="0.112107" extent="1.95557" center="0.0256948 1.86841e-05 -0.178443"/>
+  <asset>
+    <mesh name="pelvis" file="pelvis.STL"/>
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_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_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_yaw_link" file="right_hip_yaw_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_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="torso_link" file="torso_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_pitch_link" file="left_elbow_pitch_link.STL"/>
+    <mesh name="left_elbow_roll_link" file="left_elbow_roll_link.STL"/>
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
+    <mesh name="wrist_yaw_link" file="wrist_yaw_link.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_pitch_link" file="right_elbow_pitch_link.STL"/>
+    <mesh name="right_elbow_roll_link" file="right_elbow_roll_link.STL"/>
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
+    <mesh name="logo_link" file="logo_link.STL"/>
+    <mesh name="L_hand_base_link" file="L_hand_base_link.STL"/>
+    <mesh name="link11_L" file="link11_L.STL"/>
+    <mesh name="link12_L" file="link12_L.STL"/>
+    <mesh name="link13_L" file="link13_L.STL"/>
+    <mesh name="link14_L" file="link14_L.STL"/>
+    <mesh name="link15_L" file="link15_L.STL"/>
+    <mesh name="link16_L" file="link16_L.STL"/>
+    <mesh name="link17_L" file="link17_L.STL"/>
+    <mesh name="link18_L" file="link18_L.STL"/>
+    <mesh name="link19_L" file="link19_L.STL"/>
+    <mesh name="link20_L" file="link20_L.STL"/>
+    <mesh name="link21_L" file="link21_L.STL"/>
+    <mesh name="link22_L" file="link22_L.STL"/>
+    <mesh name="R_hand_base_link" file="R_hand_base_link.STL"/>
+    <mesh name="link11_R" file="link11_R.STL"/>
+    <mesh name="link12_R" file="link12_R.STL"/>
+    <mesh name="link13_R" file="link13_R.STL"/>
+    <mesh name="link14_R" file="link14_R.STL"/>
+    <mesh name="link15_R" file="link15_R.STL"/>
+    <mesh name="link16_R" file="link16_R.STL"/>
+    <mesh name="link17_R" file="link17_R.STL"/>
+    <mesh name="link18_R" file="link18_R.STL"/>
+    <mesh name="link19_R" file="link19_R.STL"/>
+    <mesh name="link20_R" file="link20_R.STL"/>
+    <mesh name="link21_R" file="link21_R.STL"/>
+    <mesh name="link22_R" file="link22_R.STL"/>
+  </asset>
+  <worldbody>
+    <body name="pelvis" pos="0 0 1.03">
+      <inertial pos="-0.0004 3.7e-05 -0.046864" quat="0.497097 0.496809 -0.503132 0.502925" mass="5.983" diaginertia="0.0531565 0.0491678 0.00902583"/>
+      <joint name="floating_base_joint" type="free"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="pelvis"/>
+      <geom size="0.05" rgba="0.1 0.1 0.1 1"/>
+      <body name="left_hip_yaw_link" pos="0 0.0875 -0.1632">
+        <inertial pos="0 -0.026197 0.006647" quat="0.704899 -0.0553755 0.0548434 0.705013" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
+        <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_yaw_link"/>
+        <geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+        <body name="left_hip_pitch_link" pos="0 0.0755 0">
+          <inertial pos="-0.00781 -0.004724 -6.3e-05" quat="0.701575 0.711394 0.0330266 0.0249149" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
+          <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_pitch_link"/>
+          <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+          <body name="left_hip_roll_link">
+            <inertial pos="0.004171 -0.008576 -0.194509" quat="0.634842 0.0146079 0.0074063 0.772469" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
+            <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.43 3.14"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_roll_link"/>
+            <geom size="0.02 0.005" pos="0 0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+            <body name="left_knee_link" pos="0 0 -0.4">
+              <inertial pos="0.000179 0.000121 -0.168936" quat="0.416585 0.0104983 0.00514003 0.909021" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_knee_link"/>
+              <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+              <body name="left_ankle_pitch_link" pos="0 0 -0.4">
+                <inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
+                <body name="left_ankle_roll_link" pos="0 0 -0.02">
+                  <inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
+                  <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_yaw_link" pos="0 -0.0875 -0.1632">
+        <inertial pos="0 0.026197 0.006647" quat="0.705013 0.0548434 -0.0553755 0.704899" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
+        <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_yaw_link"/>
+        <geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+        <body name="right_hip_pitch_link" pos="0 -0.0755 0">
+          <inertial pos="-0.00781 0.004724 -6.3e-05" quat="0.711394 0.701575 -0.0249149 -0.0330266" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
+          <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_pitch_link"/>
+          <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+          <body name="right_hip_roll_link">
+            <inertial pos="0.004171 0.008576 -0.194509" quat="0.772469 0.0074063 0.0146079 0.634842" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
+            <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.14 0.43"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_roll_link"/>
+            <geom size="0.02 0.005" pos="0 -0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+            <body name="right_knee_link" pos="0 0 -0.4">
+              <inertial pos="0.000179 -0.000121 -0.168936" quat="0.909021 0.00514003 0.0104983 0.416585" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_knee_link"/>
+              <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+              <body name="right_ankle_pitch_link" pos="0 0 -0.4">
+                <inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
+                <body name="right_ankle_roll_link" pos="0 0 -0.02">
+                  <inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
+                  <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="torso_link">
+        <inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789" diaginertia="0.487315 0.409628 0.127837"/>
+        <joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-2.35 2.35"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="torso_link"/>
+        <geom size="0.04 0.08 0.05" pos="0 0 0.15" type="box" rgba="0.1 0.1 0.1 1"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="logo_link"/>
+        <site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
+        <body name="left_shoulder_pitch_link" pos="0 0.14806 0.42333" quat="0.991445 0.130526 0 0">
+          <inertial pos="0.003053 0.06042 -0.0059" quat="0.761799 0.645681 -0.0378496 -0.0363943" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
+          <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
+          <body name="left_shoulder_roll_link" pos="0.0342 0.061999 -0.0060011" quat="0.991445 -0.130526 0 0">
+            <inertial pos="-0.030932 -1e-06 -0.10609" quat="0.986055 0.000456937 0.166408 0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
+            <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.38 3.4"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
+            <body name="left_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
+              <inertial pos="0.004583 0.001128 -0.001128" quat="0.663644 -0.0108866 -0.0267235 0.747492" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
+              <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.01 2.66"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
+              <body name="left_elbow_pitch_link" pos="0.006 0.0329 -0.182">
+                <inertial pos="0.077092 -0.028751 -0.009714" quat="0.544921 0.610781 0.423352 0.388305" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
+                <joint name="left_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.53 1.6"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_pitch_link"/>
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_pitch_link"/>
+                <body name="left_elbow_roll_link" pos="0.121 -0.0329 -0.011">
+                  <inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
+                  <joint name="left_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.967 2.967"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_roll_link"/>
+                  <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_roll_link"/>
+                  <body name="left_wrist_pitch_link" pos="0.085 0 0">
+                    <inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
+                    <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.471 0.349"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
+                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
+                    <body name="left_wrist_yaw_link" pos="0.02 0 0">
+                      <inertial pos="0.0770303 -0.00131441 -0.00068617" quat="0.499919 0.510625 0.506813 0.482165" mass="0.26543" diaginertia="0.000854397 0.000723298 0.00022115"/>
+                      <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.012 1.012"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
+                      <geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+                      <geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+                      <body name="L_thumb_proximal_base" pos="0.1231 -0.01696 0.02045" quat="-2.59735e-06 0.707107 0 0.707107">
+                        <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08"/>
+                        <joint name="L_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_L"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_L"/>
+                        <body name="L_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
+                          <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07"/>
+                          <joint name="L_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 0.6"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_L"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_L"/>
+                          <body name="L_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+                            <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07"/>
+                            <joint name="L_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_L"/>
+                            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_L"/>
+                            <body name="L_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+                              <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08"/>
+                              <joint name="L_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_L"/>
+                              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_L"/>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                      <body name="L_index_proximal" pos="0.19053 0.00028533 0.032268" quat="0.706999 -0.0123409 -0.0123409 0.706999">
+                        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+                        <joint name="L_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_L"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_L"/>
+                        <body name="L_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+                          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08"/>
+                          <joint name="L_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_L"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_L"/>
+                        </body>
+                      </body>
+                      <body name="L_middle_proximal" pos="0.1911 0.00028533 0.01295" quat="0.707107 0 0 0.707107">
+                        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+                        <joint name="L_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_L"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_L"/>
+                        <body name="L_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+                          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/>
+                          <joint name="L_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_L"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_L"/>
+                        </body>
+                      </body>
+                      <body name="L_ring_proximal" pos="0.19091 0.00028533 -0.0062872" quat="0.706864 0.0185099 0.0185099 0.706864">
+                        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+                        <joint name="L_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_L"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_L"/>
+                        <body name="L_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+                          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/>
+                          <joint name="L_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_L"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_L"/>
+                        </body>
+                      </body>
+                      <body name="L_pinky_proximal" pos="0.18971 0.00028533 -0.025488" quat="0.706138 0.0370072 0.0370072 0.706138">
+                        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+                        <joint name="L_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_L"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_L"/>
+                        <body name="L_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+                          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/>
+                          <joint name="L_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_L"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_L"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="right_shoulder_pitch_link" pos="0 -0.14806 0.42333" quat="0.991445 -0.130526 0 0">
+          <inertial pos="0.003053 -0.06042 -0.0059" quat="0.645681 0.761799 0.0363943 0.0378496" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
+          <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.57 3.14"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
+          <body name="right_shoulder_roll_link" pos="0.0342 -0.061999 -0.0060011" quat="0.991445 0.130526 0 0">
+            <inertial pos="-0.030932 1e-06 -0.10609" quat="0.986055 -0.000456937 0.166408 -0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
+            <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.4 0.38"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
+            <body name="right_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
+              <inertial pos="0.004583 -0.001128 -0.001128" quat="0.747492 -0.0267235 -0.0108866 0.663644" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
+              <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.66 3.01"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
+              <body name="right_elbow_pitch_link" pos="0.006 -0.0329 -0.182">
+                <inertial pos="0.077092 0.028751 -0.009714" quat="0.388305 0.423352 0.610781 0.544921" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
+                <joint name="right_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.6 2.53"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_pitch_link"/>
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_pitch_link"/>
+                <body name="right_elbow_roll_link" pos="0.121 0.0329 -0.011">
+                  <inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
+                  <joint name="right_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.967 2.967"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_roll_link"/>
+                  <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_roll_link"/>
+                  <body name="right_wrist_pitch_link" pos="0.085 0 0">
+                    <inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
+                    <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.471 0.349"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
+                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
+                    <body name="right_wrist_yaw_link" pos="0.02 0 0">
+                      <inertial pos="0.0770303 0.0013013 -0.000699011" quat="0.482149 0.506915 0.510629 0.499827" mass="0.26543" diaginertia="0.00085381 0.000722728 0.000221145"/>
+                      <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.012 1.012"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
+                      <geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+                      <geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+                      <body name="R_thumb_proximal_base" pos="0.1231 0.01696 0.02045" quat="-0.707107 -2.59735e-06 -0.707107 0">
+                        <inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596" mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08"/>
+                        <joint name="R_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_R"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_R"/>
+                        <body name="R_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
+                          <inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07"/>
+                          <joint name="R_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.1 0.6"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_R"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_R"/>
+                          <body name="R_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
+                            <inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07"/>
+                            <joint name="R_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_R"/>
+                            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_R"/>
+                            <body name="R_thumb_distal" pos="0.020248 0.010156 -0.0012">
+                              <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08"/>
+                              <joint name="R_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2"/>
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_R"/>
+                              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_R"/>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                      <body name="R_index_proximal" pos="0.19053 -0.00028533 0.032268" quat="0.706999 0.0123358 -0.0123358 -0.706999">
+                        <inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07"/>
+                        <joint name="R_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_R"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_R"/>
+                        <body name="R_index_intermediate" pos="-0.0026138 0.032026 -0.001">
+                          <inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08"/>
+                          <joint name="R_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_R"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_R"/>
+                        </body>
+                      </body>
+                      <body name="R_middle_proximal" pos="0.1911 -0.00028533 0.01295" quat="0.707107 -2.59735e-06 2.59735e-06 -0.707107">
+                        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+                        <joint name="R_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_R"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_R"/>
+                        <body name="R_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
+                          <inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08"/>
+                          <joint name="R_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_R"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_R"/>
+                        </body>
+                      </body>
+                      <body name="R_ring_proximal" pos="0.19091 -0.00028533 -0.0062872" quat="-0.706864 0.0185215 -0.0185215 0.706864">
+                        <inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+                        <joint name="R_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_R"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_R"/>
+                        <body name="R_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
+                          <inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08"/>
+                          <joint name="R_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_R"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_R"/>
+                        </body>
+                      </body>
+                      <body name="R_pinky_proximal" pos="0.18971 -0.00028533 -0.025488" quat="-0.706138 0.0369975 -0.0369975 0.706138">
+                        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+                        <joint name="R_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_R"/>
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_R"/>
+                        <body name="R_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
+                          <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08"/>
+                          <joint name="R_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_R"/>
+                          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_R"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+
+  <actuator>
+    <motor name="left_hip_yaw_joint"      joint="left_hip_yaw_joint"      ctrlrange="-200 200"/>
+    <motor name="left_hip_pitch_joint"    joint="left_hip_pitch_joint"    ctrlrange="-200 200"/>
+    <motor name="left_hip_roll_joint"     joint="left_hip_roll_joint"     ctrlrange="-200 200"/>
+    <motor name="left_knee_joint"         joint="left_knee_joint"         ctrlrange="-300 300"/>
+    <motor name="left_ankle_pitch_joint"  joint="left_ankle_pitch_joint"  ctrlrange="-60 60"/>
+    <motor name="left_ankle_roll_joint"   joint="left_ankle_roll_joint"   ctrlrange="-40 40"/>
+    <motor name="right_hip_yaw_joint"     joint="right_hip_yaw_joint"     ctrlrange="-200 200"/>
+    <motor name="right_hip_pitch_joint"   joint="right_hip_pitch_joint"   ctrlrange="-200 200"/>
+    <motor name="right_hip_roll_joint"    joint="right_hip_roll_joint"    ctrlrange="-200 200"/>
+    <motor name="right_knee_joint"        joint="right_knee_joint"        ctrlrange="-300 300"/>
+    <motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" ctrlrange="-60 60"/>
+    <motor name="right_ankle_roll_joint"  joint="right_ankle_roll_joint"  ctrlrange="-40 40"/>
+    <motor name="torso_joint" joint="torso_joint" ctrlrange="-200 200"/>
+    <motor name="left_shoulder_pitch_joint"  joint="left_shoulder_pitch_joint"  ctrlrange="-40 40"/>
+    <motor name="left_shoulder_roll_joint"   joint="left_shoulder_roll_joint"   ctrlrange="-40 40"/>
+    <motor name="left_shoulder_yaw_joint"    joint="left_shoulder_yaw_joint"    ctrlrange="-18 18"/>
+    <motor name="left_elbow_pitch_joint"     joint="left_elbow_pitch_joint"     ctrlrange="-18 18"/>
+    <motor name="left_elbow_roll_joint"      joint="left_elbow_roll_joint"      ctrlrange="-19 19"/>
+    <motor name="left_wrist_pitch_joint"     joint="left_wrist_pitch_joint"     ctrlrange="-19 19"/>
+    <motor name="left_wrist_yaw_joint"       joint="left_wrist_yaw_joint"       ctrlrange="-19 19"/>
+    <motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint" ctrlrange="-40 40"/>
+    <motor name="right_shoulder_roll_joint"  joint="right_shoulder_roll_joint"  ctrlrange="-40 40"/>
+    <motor name="right_shoulder_yaw_joint"   joint="right_shoulder_yaw_joint"   ctrlrange="-18 18"/>
+    <motor name="right_elbow_pitch_joint"    joint="right_elbow_pitch_joint"    ctrlrange="-18 18"/>
+    <motor name="right_elbow_roll_joint"     joint="right_elbow_roll_joint"     ctrlrange="-19 19"/>
+    <motor name="right_wrist_pitch_joint"    joint="right_wrist_pitch_joint"    ctrlrange="-19 19"/>
+    <motor name="right_wrist_yaw_joint"      joint="right_wrist_yaw_joint"      ctrlrange="-19 19"/>
+    <motor name="L_index_proximal_joint"       joint="L_index_proximal_joint"       ctrlrange="-1 1"/>
+    <motor name="L_index_intermediate_joint"   joint="L_index_intermediate_joint"   ctrlrange="-1 1"/>
+    <motor name="L_middle_proximal_joint"      joint="L_middle_proximal_joint"      ctrlrange="-1 1"/>
+    <motor name="L_middle_intermediate_joint"  joint="L_middle_intermediate_joint"  ctrlrange="-1 1"/>
+    <motor name="L_ring_proximal_joint"        joint="L_ring_proximal_joint"        ctrlrange="-1 1"/>
+    <motor name="L_ring_intermediate_joint"    joint="L_ring_intermediate_joint"    ctrlrange="-1 1"/>
+    <motor name="L_pinky_proximal_joint"       joint="L_pinky_proximal_joint"       ctrlrange="-1 1"/>
+    <motor name="L_pinky_intermediate_joint"   joint="L_pinky_intermediate_joint"   ctrlrange="-1 1"/>
+    <motor name="L_thumb_proximal_yaw_joint"   joint="L_thumb_proximal_yaw_joint"   ctrlrange="-1 1"/>
+    <motor name="L_thumb_proximal_pitch_joint" joint="L_thumb_proximal_pitch_joint" ctrlrange="-1 1"/>
+    <motor name="L_thumb_intermediate_joint"   joint="L_thumb_intermediate_joint"   ctrlrange="-1 1"/>
+    <motor name="L_thumb_distal_joint"         joint="L_thumb_distal_joint"         ctrlrange="-1 1"/>
+    <motor name="R_index_proximal_joint"       joint="R_index_proximal_joint"       ctrlrange="-1 1"/>
+    <motor name="R_index_intermediate_joint"   joint="R_index_intermediate_joint"   ctrlrange="-1 1"/>
+    <motor name="R_middle_proximal_joint"      joint="R_middle_proximal_joint"      ctrlrange="-1 1"/>
+    <motor name="R_middle_intermediate_joint"  joint="R_middle_intermediate_joint"  ctrlrange="-1 1"/>
+    <motor name="R_ring_proximal_joint"        joint="R_ring_proximal_joint"        ctrlrange="-1 1"/>
+    <motor name="R_ring_intermediate_joint"    joint="R_ring_intermediate_joint"    ctrlrange="-1 1"/>
+    <motor name="R_pinky_proximal_joint"       joint="R_pinky_proximal_joint"       ctrlrange="-1 1"/>
+    <motor name="R_pinky_intermediate_joint"   joint="R_pinky_intermediate_joint"   ctrlrange="-1 1"/>
+    <motor name="R_thumb_proximal_yaw_joint"   joint="R_thumb_proximal_yaw_joint"   ctrlrange="-1 1"/>
+    <motor name="R_thumb_proximal_pitch_joint" joint="R_thumb_proximal_pitch_joint" ctrlrange="-1 1"/>
+    <motor name="R_thumb_intermediate_joint"   joint="R_thumb_intermediate_joint"   ctrlrange="-1 1"/>
+    <motor name="R_thumb_distal_joint"         joint="R_thumb_distal_joint"         ctrlrange="-1 1"/>
+  </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>
+</mujoco>
\ No newline at end of file
diff --git a/assets/H1_5/meshes/L_hand_base_link.STL b/assets/H1_5/meshes/L_hand_base_link.STL
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diff --git a/assets/H1_5/meshes/L_pinky_intermediate.STL b/assets/H1_5/meshes/L_pinky_intermediate.STL
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index 0000000..6b9cdad
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diff --git a/assets/H1_5/meshes/L_pinky_proximal.STL b/assets/H1_5/meshes/L_pinky_proximal.STL
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index 0000000..ccb63bf
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diff --git a/assets/H1_5/meshes/L_ring_intermediate.STL b/assets/H1_5/meshes/L_ring_intermediate.STL
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index 0000000..23c4efa
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index 0000000..c3cabb9
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diff --git a/assets/H1_5/meshes/L_thumb_distal.STL b/assets/H1_5/meshes/L_thumb_distal.STL
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index 0000000..291a14f
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diff --git a/assets/H1_5/meshes/L_thumb_intermediate.STL b/assets/H1_5/meshes/L_thumb_intermediate.STL
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index 0000000..03a3425
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diff --git a/assets/H1_5/meshes/L_thumb_proximal_base.STL b/assets/H1_5/meshes/L_thumb_proximal_base.STL
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diff --git a/assets/H1_5/meshes/R_hand_base_link.STL b/assets/H1_5/meshes/R_hand_base_link.STL
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index 0000000..3478a98
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diff --git a/assets/H1_5/meshes/R_index_intermediate.STL b/assets/H1_5/meshes/R_index_intermediate.STL
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diff --git a/assets/H1_5/scene.xml b/assets/H1_5/scene.xml
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index 0000000..fad346e
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+++ b/assets/H1_5/scene.xml
@@ -0,0 +1,22 @@
+<mujoco model="h1 scene">
+  <include file="h1_5.xml"/>
+
+  <statistic center="1.0 0.7 1.5" 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>
\ No newline at end of file
diff --git a/assets/h1_inspire/CMakeLists.txt b/assets/h1_inspire/CMakeLists.txt
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+++ b/assets/h1_inspire/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(h1_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir launch meshes urdf)
+  install(DIRECTORY ${dir}/
+          DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
diff --git a/assets/h1_inspire/README.md b/assets/h1_inspire/README.md
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index 0000000..2454b8b
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+++ b/assets/h1_inspire/README.md
@@ -0,0 +1,85 @@
+# Unitree H1 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a streamlined robot description (URDF & MJCF) for the [H1 Humanoid
+Robot](https://www.unitree.com/h1), developed by [Unitree Robotics](https://www.unitree.com/).
+
+The file `urdf/h1.urdf` is description for H1.
+
+<p align="center">
+  <img src="doc/H1.png" width="500"/>
+</p>
+
+H1 has 51 joints. The structure of the model:
+
+```graphql
+root [⚓] => /pelvis/
+    left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
+        left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
+            left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
+                left_knee_joint [⚙+Y] => /left_knee_link/
+                    left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
+                        left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
+    right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
+        right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
+            right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
+                right_knee_joint [⚙+Y] => /right_knee_link/
+                    right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
+                        right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
+    torso_joint [⚙+Z] => /torso_link/
+        left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
+            left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
+                left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
+                    left_elbow_pitch_joint [⚙+Y] => /left_elbow_pitch_link/
+                        left_elbow_roll_joint [⚙+X] => /left_elbow_roll_link/
+                            left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/
+                                left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/
+                                    L_base_link_joint [⚓] => /L_hand_base_link/
+                                        L_thumb_proximal_yaw_joint [⚙+Z] => /L_thumb_proximal_base/
+                                            L_thumb_proximal_pitch_joint [⚙-Z] => /L_thumb_proximal/
+                                                L_thumb_intermediate_joint [⚙-Z] => /L_thumb_intermediate/
+                                                    L_thumb_distal_joint [⚙-Z] => /L_thumb_distal/
+                                        L_index_proximal_joint [⚙-Z] => /L_index_proximal/
+                                            L_index_intermediate_joint [⚙-Z] => /L_index_intermediate/
+                                        L_middle_proximal_joint [⚙-Z] => /L_middle_proximal/
+                                            L_middle_intermediate_joint [⚙-Z] => /L_middle_intermediate/
+                                        L_ring_proximal_joint [⚙-Z] => /L_ring_proximal/
+                                            L_ring_intermediate_joint [⚙-Z] => /L_ring_intermediate/
+                                        L_pinky_proximal_joint [⚙-Z] => /L_pinky_proximal/
+                                            L_pinky_intermediate_joint [⚙-Z] => /L_pinky_intermediate/
+        right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
+            right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
+                right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
+                    right_elbow_pitch_joint [⚙+Y] => /right_elbow_pitch_link/
+                        right_elbow_roll_joint [⚙+X] => /right_elbow_roll_link/
+                            right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/
+                                right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/
+                                    R_base_link_joint [⚓] => /R_hand_base_link/
+                                        R_thumb_proximal_yaw_joint [⚙-Z] => /R_thumb_proximal_base/
+                                            R_thumb_proximal_pitch_joint [⚙+Z] => /R_thumb_proximal/
+                                                R_thumb_intermediate_joint [⚙+Z] => /R_thumb_intermediate/
+                                                    R_thumb_distal_joint [⚙+Z] => /R_thumb_distal/
+                                        R_index_proximal_joint [⚙+Z] => /R_index_proximal/
+                                            R_index_intermediate_joint [⚙+Z] => /R_index_intermediate/
+                                        R_middle_proximal_joint [⚙+Z] => /R_middle_proximal/
+                                            R_middle_intermediate_joint [⚙+Z] => /R_middle_intermediate/
+                                        R_ring_proximal_joint [⚙+Z] => /R_ring_proximal/
+                                            R_ring_intermediate_joint [⚙+Z] => /R_ring_intermediate/
+                                        R_pinky_proximal_joint [⚙+Z] => /R_pinky_proximal/
+                                            R_pinky_intermediate_joint [⚙+Z] => /R_pinky_intermediate/
+```
+
+## Usages
+
+### RViz
+
+```bash
+roslaunch h1_description display.launch
+```
+
+### Gazebo
+
+```bash
+roslaunch h1_description gazebo.launch
+```
diff --git a/assets/h1_inspire/launch/check_joint.rviz b/assets/h1_inspire/launch/check_joint.rviz
new file mode 100644
index 0000000..1eaf8e9
--- /dev/null
+++ b/assets/h1_inspire/launch/check_joint.rviz
@@ -0,0 +1,239 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 719
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        pelvis:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        hip_rotation_link_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        hip_abduction_link_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        hip_flexion_link_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        knee_link_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ankle_link_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link Tree Style: Links in Alphabetic Order
+        hip_rotation_link_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        hip_abduction_link_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        hip_flexion_link_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        knee_link_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ankle_link_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        pelvis:
+          Value: true
+        hip_rotation_link_left:
+          Value: true
+        hip_abduction_link_left:
+          Value: true
+        hip_flexion_link_left:
+          Value: true
+        knee_link_left:
+          Value: true
+        ankle_link_left:
+          Value: true
+        hip_rotation_link_right:
+          Value: true
+        hip_abduction_link_right:
+          Value: true
+        hip_flexion_link_right:
+          Value: true
+        knee_link_right:
+          Value: true
+        ankle_link_right:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        pelvis:
+          hip_rotation_link_left:
+            hip_abduction_link_left:
+              hip_flexion_link_left:
+                knee_link_left:
+                  ankle_link_left:
+                    {}
+          hip_rotation_link_right:
+            hip_abduction_link_right:
+              hip_flexion_link_right:
+                knee_link_right:
+                  ankle_link_right:
+                    {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: pelvis
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.6701574325561523
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0.11145864427089691
+        Y: 0.10033124685287476
+        Z: -0.35909000039100647
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5303982496261597
+      Target Frame: <Fixed Frame>
+      Yaw: 0.8653979301452637
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074c0000003efc0100000002fb0000000800540069006d006501000000000000074c000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004db0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1868
+  X: 52
+  Y: 27
diff --git a/assets/h1_inspire/launch/display.launch b/assets/h1_inspire/launch/display.launch
new file mode 100644
index 0000000..4ae0a24
--- /dev/null
+++ b/assets/h1_inspire/launch/display.launch
@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find h1_description)/urdf/h1.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find h1_description)/launch/check_joint.rviz" />
+</launch>
diff --git a/assets/h1_inspire/launch/gazebo.launch b/assets/h1_inspire/launch/gazebo.launch
new file mode 100644
index 0000000..175edc9
--- /dev/null
+++ b/assets/h1_inspire/launch/gazebo.launch
@@ -0,0 +1,12 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="paused" value="true" />
+  </include>
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find h1_description)/urdf/h1.urdf -urdf -z 1.05 -model h1_description"
+    output="screen" />
+</launch>
\ No newline at end of file
diff --git a/assets/h1_inspire/meshes/L_hand_base_link.STL b/assets/h1_inspire/meshes/L_hand_base_link.STL
new file mode 100644
index 0000000..a2f67ee
Binary files /dev/null and b/assets/h1_inspire/meshes/L_hand_base_link.STL differ
diff --git a/assets/h1_inspire/meshes/L_hand_base_link.STL.convex.stl b/assets/h1_inspire/meshes/L_hand_base_link.STL.convex.stl
new file mode 100644
index 0000000..554d9e0
--- /dev/null
+++ b/assets/h1_inspire/meshes/L_hand_base_link.STL.convex.stl
@@ -0,0 +1,1474 @@
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diff --git a/assets/h1_inspire/meshes/Link12_L.STL b/assets/h1_inspire/meshes/Link12_L.STL
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new file mode 100644
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index 0000000..b77a3e3
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diff --git a/assets/h1_inspire/meshes/Link13_L.STL b/assets/h1_inspire/meshes/Link13_L.STL
new file mode 100644
index 0000000..03a3425
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diff --git a/assets/h1_inspire/meshes/Link13_L.STL.convex.stl b/assets/h1_inspire/meshes/Link13_L.STL.convex.stl
new file mode 100644
index 0000000..cdb22cd
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diff --git a/assets/h1_inspire/meshes/Link13_R.STL b/assets/h1_inspire/meshes/Link13_R.STL
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new file mode 100644
index 0000000..ef56b3d
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new file mode 100644
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diff --git a/assets/h1_inspire/meshes/Link14_R.STL b/assets/h1_inspire/meshes/Link14_R.STL
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diff --git a/assets/h1_inspire/meshes/Link14_R.STL.convex.stl b/assets/h1_inspire/meshes/Link14_R.STL.convex.stl
new file mode 100644
index 0000000..6c5bab6
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diff --git a/assets/h1_inspire/meshes/Link15_L.STL b/assets/h1_inspire/meshes/Link15_L.STL
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new file mode 100644
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new file mode 100644
index 0000000..3b1d036
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new file mode 100644
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diff --git a/assets/h1_inspire/meshes/Link16_R.STL b/assets/h1_inspire/meshes/Link16_R.STL
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index 0000000..0cf0f8d
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diff --git a/assets/h1_inspire/meshes/Link16_R.STL.convex.stl b/assets/h1_inspire/meshes/Link16_R.STL.convex.stl
new file mode 100644
index 0000000..2991589
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diff --git a/assets/h1_inspire/meshes/Link17_L.STL b/assets/h1_inspire/meshes/Link17_L.STL
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new file mode 100644
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diff --git a/assets/h1_inspire/meshes/Link17_R.STL b/assets/h1_inspire/meshes/Link17_R.STL
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new file mode 100644
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diff --git a/assets/h1_inspire/meshes/Link18_L.STL b/assets/h1_inspire/meshes/Link18_L.STL
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diff --git a/assets/h1_inspire/meshes/Link19_R.STL b/assets/h1_inspire/meshes/Link19_R.STL
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diff --git a/assets/h1_inspire/meshes/Link19_R.STL.convex.stl b/assets/h1_inspire/meshes/Link19_R.STL.convex.stl
new file mode 100644
index 0000000..d2327d5
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diff --git a/assets/h1_inspire/meshes/Link20_L.STL b/assets/h1_inspire/meshes/Link20_L.STL
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diff --git a/assets/h1_inspire/meshes/Link20_L.STL.convex.stl b/assets/h1_inspire/meshes/Link20_L.STL.convex.stl
new file mode 100644
index 0000000..7cc68a4
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diff --git a/assets/h1_inspire/meshes/Link20_R.STL b/assets/h1_inspire/meshes/Link20_R.STL
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diff --git a/assets/h1_inspire/meshes/Link20_R.STL.convex.stl b/assets/h1_inspire/meshes/Link20_R.STL.convex.stl
new file mode 100644
index 0000000..a957587
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diff --git a/assets/h1_inspire/meshes/Link21_L.STL b/assets/h1_inspire/meshes/Link21_L.STL
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diff --git a/assets/h1_inspire/meshes/Link21_L.STL.convex.stl b/assets/h1_inspire/meshes/Link21_L.STL.convex.stl
new file mode 100644
index 0000000..800f2f7
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diff --git a/assets/h1_inspire/meshes/Link21_R.STL b/assets/h1_inspire/meshes/Link21_R.STL
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diff --git a/assets/h1_inspire/meshes/Link21_R.STL.convex.stl b/assets/h1_inspire/meshes/Link21_R.STL.convex.stl
new file mode 100644
index 0000000..d2327d5
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diff --git a/assets/h1_inspire/meshes/Link22_L.STL b/assets/h1_inspire/meshes/Link22_L.STL
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diff --git a/assets/h1_inspire/meshes/Link22_L.STL.convex.stl b/assets/h1_inspire/meshes/Link22_L.STL.convex.stl
new file mode 100644
index 0000000..8b3908e
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diff --git a/assets/h1_inspire/meshes/Link22_R.STL b/assets/h1_inspire/meshes/Link22_R.STL
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diff --git a/assets/h1_inspire/meshes/Link22_R.STL.convex.stl b/assets/h1_inspire/meshes/Link22_R.STL.convex.stl
new file mode 100644
index 0000000..f3bd51b
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diff --git a/assets/h1_inspire/meshes/R_hand_base_link.STL b/assets/h1_inspire/meshes/R_hand_base_link.STL
new file mode 100644
index 0000000..3478a98
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diff --git a/assets/h1_inspire/meshes/R_hand_base_link.STL.convex.stl b/assets/h1_inspire/meshes/R_hand_base_link.STL.convex.stl
new file mode 100644
index 0000000..fb48c12
--- /dev/null
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diff --git a/assets/h1_inspire/meshes/left_ankle_pitch_link.STL b/assets/h1_inspire/meshes/left_ankle_pitch_link.STL
new file mode 100644
index 0000000..827fb2c
Binary files /dev/null and b/assets/h1_inspire/meshes/left_ankle_pitch_link.STL differ
diff --git a/assets/h1_inspire/meshes/left_ankle_pitch_link.STL.convex.stl b/assets/h1_inspire/meshes/left_ankle_pitch_link.STL.convex.stl
new file mode 100644
index 0000000..af9981d
--- /dev/null
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diff --git a/assets/h1_inspire/meshes/left_ankle_roll_link.STL b/assets/h1_inspire/meshes/left_ankle_roll_link.STL
new file mode 100644
index 0000000..83e7de1
Binary files /dev/null and b/assets/h1_inspire/meshes/left_ankle_roll_link.STL differ
diff --git a/assets/h1_inspire/meshes/left_ankle_roll_link.STL.convex.stl b/assets/h1_inspire/meshes/left_ankle_roll_link.STL.convex.stl
new file mode 100644
index 0000000..a69d989
--- /dev/null
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diff --git a/assets/h1_inspire/meshes/left_elbow_pitch_link.STL b/assets/h1_inspire/meshes/left_elbow_pitch_link.STL
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index 0000000..47ae65c
Binary files /dev/null and b/assets/h1_inspire/meshes/left_elbow_pitch_link.STL differ
diff --git a/assets/h1_inspire/meshes/left_elbow_pitch_link.STL.convex.stl b/assets/h1_inspire/meshes/left_elbow_pitch_link.STL.convex.stl
new file mode 100644
index 0000000..797f69f
--- /dev/null
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diff --git a/assets/h1_inspire/meshes/left_elbow_roll_link.STL b/assets/h1_inspire/meshes/left_elbow_roll_link.STL
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index 0000000..112437b
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diff --git a/assets/h1_inspire/meshes/left_elbow_roll_link.STL.convex.stl b/assets/h1_inspire/meshes/left_elbow_roll_link.STL.convex.stl
new file mode 100644
index 0000000..280b9cb
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diff --git a/assets/h1_inspire/meshes/left_hip_pitch_link.STL b/assets/h1_inspire/meshes/left_hip_pitch_link.STL
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diff --git a/assets/h1_inspire/meshes/left_hip_roll_link.STL b/assets/h1_inspire/meshes/left_hip_roll_link.STL
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diff --git a/assets/h1_inspire/meshes/left_hip_yaw_link.STL b/assets/h1_inspire/meshes/left_hip_yaw_link.STL
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diff --git a/assets/h1_inspire/meshes/left_knee_link.STL b/assets/h1_inspire/meshes/left_knee_link.STL
new file mode 100644
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diff --git a/assets/h1_inspire/meshes/left_shoulder_pitch_link.STL b/assets/h1_inspire/meshes/left_shoulder_pitch_link.STL
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diff --git a/assets/h1_inspire/meshes/left_shoulder_roll_link.STL b/assets/h1_inspire/meshes/left_shoulder_roll_link.STL
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diff --git a/assets/h1_inspire/meshes/left_shoulder_yaw_link.STL b/assets/h1_inspire/meshes/left_shoulder_yaw_link.STL
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diff --git a/assets/h1_inspire/meshes/left_wrist_pitch_link.STL b/assets/h1_inspire/meshes/left_wrist_pitch_link.STL
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diff --git a/assets/h1_inspire/meshes/left_wrist_pitch_link.STL.convex.stl b/assets/h1_inspire/meshes/left_wrist_pitch_link.STL.convex.stl
new file mode 100644
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diff --git a/assets/h1_inspire/meshes/right_elbow_pitch_link.STL b/assets/h1_inspire/meshes/right_elbow_pitch_link.STL
new file mode 100644
index 0000000..360fb7f
Binary files /dev/null and b/assets/h1_inspire/meshes/right_elbow_pitch_link.STL differ
diff --git a/assets/h1_inspire/meshes/right_elbow_pitch_link.STL.convex.stl b/assets/h1_inspire/meshes/right_elbow_pitch_link.STL.convex.stl
new file mode 100644
index 0000000..5656f6b
--- /dev/null
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diff --git a/assets/h1_inspire/meshes/right_elbow_roll_link.STL b/assets/h1_inspire/meshes/right_elbow_roll_link.STL
new file mode 100644
index 0000000..5f7f228
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diff --git a/assets/h1_inspire/meshes/right_elbow_roll_link.STL.convex.stl b/assets/h1_inspire/meshes/right_elbow_roll_link.STL.convex.stl
new file mode 100644
index 0000000..213ba5f
--- /dev/null
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diff --git a/assets/h1_inspire/meshes/right_hip_pitch_link.STL b/assets/h1_inspire/meshes/right_hip_pitch_link.STL
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diff --git a/assets/h1_inspire/meshes/right_hip_roll_link.STL b/assets/h1_inspire/meshes/right_hip_roll_link.STL
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diff --git a/assets/h1_inspire/meshes/right_hip_yaw_link.STL b/assets/h1_inspire/meshes/right_hip_yaw_link.STL
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diff --git a/assets/h1_inspire/meshes/right_knee_link.STL b/assets/h1_inspire/meshes/right_knee_link.STL
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diff --git a/assets/h1_inspire/meshes/right_shoulder_pitch_link.STL b/assets/h1_inspire/meshes/right_shoulder_pitch_link.STL
new file mode 100644
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diff --git a/assets/h1_inspire/meshes/right_shoulder_roll_link.STL b/assets/h1_inspire/meshes/right_shoulder_roll_link.STL
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diff --git a/assets/h1_inspire/meshes/right_wrist_pitch_link.STL b/assets/h1_inspire/meshes/right_wrist_pitch_link.STL
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diff --git a/assets/h1_inspire/meshes/right_wrist_pitch_link.STL.convex.stl b/assets/h1_inspire/meshes/right_wrist_pitch_link.STL.convex.stl
new file mode 100644
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diff --git a/assets/h1_inspire/meshes/torso_link.STL b/assets/h1_inspire/meshes/torso_link.STL
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diff --git a/assets/h1_inspire/meshes/wrist_yaw_link.STL b/assets/h1_inspire/meshes/wrist_yaw_link.STL
new file mode 100644
index 0000000..eaff5db
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diff --git a/assets/h1_inspire/meshes/wrist_yaw_link.STL.convex.stl b/assets/h1_inspire/meshes/wrist_yaw_link.STL.convex.stl
new file mode 100644
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+ facet normal 0 0 0
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+ facet normal 0 0 0
+  outer loop
+  vertex 0.0474999957 0.00798748527 -0.0171292163
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diff --git a/assets/h1_inspire/package.xml b/assets/h1_inspire/package.xml
new file mode 100644
index 0000000..b1e40a8
--- /dev/null
+++ b/assets/h1_inspire/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>h1_description</name>
+  <version>1.0.0</version>
+  <description>The Unitree H1 Description Package</description>
+
+  <maintainer email="TODO@email.com" />
+  <license>TODO</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+
+</package>
\ No newline at end of file
diff --git a/assets/h1_inspire/urdf/h1_inspire.urdf b/assets/h1_inspire/urdf/h1_inspire.urdf
new file mode 100644
index 0000000..ac62a92
--- /dev/null
+++ b/assets/h1_inspire/urdf/h1_inspire.urdf
@@ -0,0 +1,3128 @@
+<robot
+  name="h1">
+
+  <mujoco>
+    <compiler meshdir="../meshes" discardvisual="false" />
+  </mujoco>
+
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world" />
+    <child link="pelvis" />
+  </joint> -->
+
+  <link
+    name="pelvis">
+    <inertial>
+      <origin
+        xyz="-0.0002 4E-05 -0.04522"
+        rpy="0 0 0" />
+      <mass
+        value="5.39" />
+      <inertia
+        ixx="0.044582"
+        ixy="8.7034E-05"
+        ixz="-1.9893E-05"
+        iyy="0.0082464"
+        iyz="4.021E-06"
+        izz="0.049021" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/pelvis.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="left_hip_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.04923 0.0001 0.0072"
+        rpy="0 0 0" />
+      <mass
+        value="2.244" />
+      <inertia
+        ixx="0.0025731"
+        ixy="9.159E-06"
+        ixz="-0.00051948"
+        iyy="0.0030444"
+        iyz="1.949E-06"
+        izz="0.0022883" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hip_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.0875 -0.1742"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="left_hip_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_hip_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.0058 -0.00319 -9E-05"
+        rpy="0 0 0" />
+      <mass
+        value="2.232" />
+      <inertia
+        ixx="0.0020603"
+        ixy="3.2115E-05"
+        ixz="2.878E-06"
+        iyy="0.0022482"
+        iyz="-7.813E-06"
+        izz="0.0024323" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hip_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.02" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.039468 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_yaw_link" />
+    <child
+      link="left_hip_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00746 -0.02346 -0.08193"
+        rpy="0 0 0" />
+      <mass
+        value="4.152" />
+      <inertia
+        ixx="0.082618"
+        ixy="-0.00066654"
+        ixz="0.0040725"
+        iyy="0.081579"
+        iyz="0.0072024"
+        izz="0.0060081" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hip_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.11536 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_roll_link" />
+    <child
+      link="left_hip_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="2.53"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_knee_link">
+    <inertial>
+      <origin
+        xyz="0.000923 -0.000420 -0.183981"
+        rpy="0 0 0" />
+      <mass
+        value="3.768" />
+      <inertia
+        ixx="0.033551704"
+        ixy="0.000057076"
+        ixz="-0.000458991"
+        iyy="0.033553784"
+        iyz="0.000011410"
+        izz="0.004711191" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_knee_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_knee_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_pitch_link" />
+    <child
+      link="left_knee_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.26"
+      upper="2.05"
+      effort="300"
+      velocity="14" />
+  </joint>
+  <link
+    name="left_ankle_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.000294 0 -0.010794"
+        rpy="0 0 0" />
+      <mass
+        value="0.102" />
+      <inertia
+        ixx="0.000023944"
+        ixy="0"
+        ixz="0.000000121"
+        iyy="0.000021837"
+        iyz="0"
+        izz="0.000013414" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ankle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="left_knee_link" />
+    <child
+      link="left_ankle_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.897334"
+      upper="0.523598"
+      effort="60"
+      velocity="9" />
+  </joint>
+  <link
+    name="left_ankle_roll_link">
+    <inertial>
+      <origin
+        xyz="0.033731 0.000501 -0.018756"
+        rpy="0 0 0" />
+      <mass
+        value="1.768" />
+      <inertia
+        ixx="0.001966846"
+        ixy="-0.000029758"
+        ixz="0.000516762"
+        iyy="0.011985262"
+        iyz="-0.000007289"
+        izz="0.012856540" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ankle_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.02"
+      rpy="0 0 0" />
+    <parent
+      link="left_ankle_pitch_link" />
+    <child
+      link="left_ankle_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.261799"
+      upper="0.261799"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <!--  -->
+  <!--  -->
+  <!--  -->
+  <link
+    name="right_hip_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.04923 -0.0001 0.0072"
+        rpy="0 0 0" />
+      <mass
+        value="2.244" />
+      <inertia
+        ixx="0.0025731"
+        ixy="-9.159E-06"
+        ixz="-0.00051948"
+        iyy="0.0030444"
+        iyz="-1.949E-06"
+        izz="0.0022883" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hip_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.0875 -0.1742"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="right_hip_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_hip_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.0058 0.00319 -9E-05"
+        rpy="0 0 0" />
+      <mass
+        value="2.232" />
+      <inertia
+        ixx="0.0020603"
+        ixy="-3.2115E-05"
+        ixz="2.878E-06"
+        iyy="0.0022482"
+        iyz="7.813E-06"
+        izz="0.0024323" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hip_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.02" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.039468 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_yaw_link" />
+    <child
+      link="right_hip_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00746 0.02346 -0.08193"
+        rpy="0 0 0" />
+      <mass
+        value="4.152" />
+      <inertia
+        ixx="0.082618"
+        ixy="0.00066654"
+        ixz="0.0040725"
+        iyy="0.081579"
+        iyz="-0.0072024"
+        izz="0.0060081" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hip_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.11536 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_roll_link" />
+    <child
+      link="right_hip_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="2.53"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_knee_link">
+    <inertial>
+      <origin
+        xyz="0.000923 0.000420 -0.183981"
+        rpy="0 0 0" />
+      <mass
+        value="3.768" />
+      <inertia
+        ixx="0.033551704"
+        ixy="-0.000057076"
+        ixz="-0.000458991"
+        iyy="0.033553784"
+        iyz="-0.000011410"
+        izz="0.004711191" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_knee_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_knee_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_pitch_link" />
+    <child
+      link="right_knee_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.26"
+      upper="2.05"
+      effort="300"
+      velocity="14" />
+  </joint>
+  <link
+    name="right_ankle_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.000294 0 -0.010794"
+        rpy="0 0 0" />
+      <mass
+        value="0.102" />
+      <inertia
+        ixx="0.000023944"
+        ixy="0"
+        ixz="0.000000121"
+        iyy="0.000021837"
+        iyz="0"
+        izz="0.000013414" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ankle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="right_knee_link" />
+    <child
+      link="right_ankle_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.897334"
+      upper="0.523598"
+      effort="60"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_ankle_roll_link">
+    <inertial>
+      <origin
+        xyz="0.033731 -0.000501 -0.018756"
+        rpy="0 0 0" />
+      <mass
+        value="1.768" />
+      <inertia
+        ixx="0.001966846"
+        ixy="0.000029758"
+        ixz="0.000516762"
+        iyy="0.011985262"
+        iyz="0.000007289"
+        izz="0.012856540" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ankle_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.02"
+      rpy="0 0 0" />
+    <parent
+      link="right_ankle_pitch_link" />
+    <child
+      link="right_ankle_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.261799"
+      upper="0.261799"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <!--  -->
+  <!--  -->
+  <!--  -->
+  <link
+    name="torso_link">
+    <inertial>
+      <origin
+        xyz="0.000489 0.002797 0.20484"
+        rpy="0 0 0" />
+      <mass
+        value="17.789" />
+      <inertia
+        ixx="0.4873"
+        ixy="-0.00053763"
+        ixz="0.0020276"
+        iyy="0.40963"
+        iyz="-0.00074582"
+        izz="0.12785" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/torso_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.15" rpy="0 0 0" />
+      <geometry>
+        <box size="0.08 0.16 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="torso_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="torso_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.35"
+      upper="2.35"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_shoulder_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.005045 0.053657 -0.015715"
+        rpy="0 0 0" />
+      <mass
+        value="1.033" />
+      <inertia
+        ixx="0.0012985"
+        ixy="-1.7333E-05"
+        ixz="8.683E-06"
+        iyy="0.00087279"
+        iyz="3.9656E-05"
+        izz="0.00097338" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shoulder_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.05  0" rpy="1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.04"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0055 0.15535 0.42999"
+      rpy="0.43633 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="left_shoulder_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.44"
+      upper="1.44"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="left_shoulder_roll_link">
+    <inertial>
+      <origin
+        xyz="0.000679 0.00115 -0.094076"
+        rpy="0 0 0" />
+      <mass
+        value="0.793" />
+      <inertia
+        ixx="0.0015742"
+        ixy="2.298E-06"
+        ixz="-7.2265E-05"
+        iyy="0.0016973"
+        iyz="-6.3691E-05"
+        izz="0.0010183" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shoulder_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.04" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_roll_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0055 0.0565 -0.0165"
+      rpy="-0.43633 0 0" />
+    <parent
+      link="left_shoulder_pitch_link" />
+    <child
+      link="left_shoulder_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.17"
+      upper="3.11"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="left_shoulder_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.01365 0.002767 -0.16266"
+        rpy="0 0 0" />
+      <mass
+        value="0.839" />
+      <inertia
+        ixx="0.003664"
+        ixy="-1.0671E-05"
+        ixz="0.00034733"
+        iyy="0.0040789"
+        iyz="7.0213E-05"
+        izz="0.00066383" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.11" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.1343"
+      rpy="0 0 0" />
+    <parent
+      link="left_shoulder_roll_link" />
+    <child
+      link="left_shoulder_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.3"
+      upper="1.3"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="left_elbow_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.075854 0.0002 -0.013485"
+        rpy="0 0 0" />
+      <mass
+        value="0.676" />
+      <inertia
+        ixx="0.000314529"
+        ixy="-0.000011375"
+        ixz="0.000084762"
+        iyy="0.000890865"
+        iyz="0.000000578"
+        izz="0.000906729" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_elbow_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/left_elbow_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_elbow_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0185 0 -0.198"
+      rpy="0 0 0" />
+    <parent
+      link="left_shoulder_yaw_link" />
+    <child
+      link="left_elbow_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.25"
+      upper="1.57"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <!--  -->
+  <link
+    name="left_elbow_roll_link">
+    <inertial>
+      <origin
+        xyz="0.035281 -0.002320 0.000337"
+        rpy="0 0 0" />
+      <mass
+        value="0.683" />
+      <inertia
+        ixx="0.000313275"
+        ixy="0.000016521"
+        ixz="-0.000002501"
+        iyy="0.000310412"
+        iyz="0.000005435"
+        izz="0.000345998" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_elbow_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/left_elbow_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_elbow_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.121 0 -0.015"
+      rpy="0 0 0" />
+    <parent
+      link="left_elbow_pitch_link" />
+    <child
+      link="left_elbow_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+
+  <link
+    name="left_wrist_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.020395 0.000036 -0.002973"
+        rpy="0 0 0" />
+      <mass
+        value="0.484" />
+      <inertia
+        ixx="0.000071364"
+        ixy="0.000000308"
+        ixz="0.000001485"
+        iyy="0.000069915"
+        iyz="-0.000000088"
+        izz="0.000070702" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_wrist_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/left_wrist_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wrist_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.085 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_elbow_roll_link" />
+    <child
+      link="left_wrist_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.471"
+      upper="0.349"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+  <!--  -->
+  <link
+    name="left_wrist_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.026090 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.086" />
+      <inertia
+        ixx="0.000073879"
+        ixy="0"
+        ixz="0"
+        iyy="0.000068528"
+        iyz="0"
+        izz="0.000041945" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/wrist_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/wrist_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wrist_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.020 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_wrist_pitch_link" />
+    <child
+      link="left_wrist_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.012"
+      upper="1.012"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+    <joint 
+      name="L_base_link_joint" 
+      type="fixed">
+      <origin
+      xyz="0.0365 0 0"
+      rpy="0 0 1.5707963267948966192313216916398" />
+      <parent link="left_wrist_yaw_link"/>
+      <child link="L_hand_base_link"/>
+    </joint>
+
+    <link name="L_hand_base_link">
+      <inertial>
+        <origin
+          xyz="-0.002551 -0.066047 -0.0019357"
+          rpy="0 0 0" />
+        <mass
+          value="0.14143" />
+        <inertia
+          ixx="0.0001234"
+          ixy="2.1995E-06"
+          ixz="-1.7694E-06"
+          iyy="8.3835E-05"
+          iyz="1.5968E-06"
+          izz="7.7231E-05" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/L_hand_base_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/L_hand_base_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="L_thumb_proximal_base">
+      <inertial>
+        <origin
+          xyz="0.0048817 0.00038782 -0.00722"
+          rpy="0 0 0" />
+        <mass
+          value="0.0018869" />
+        <inertia
+          ixx="5.5158E-08"
+          ixy="-1.1803E-08"
+          ixz="-4.6743E-09"
+          iyy="8.2164E-08"
+          iyz="-1.3521E-09"
+          izz="6.7434E-08" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link11_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link11_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_yaw_joint"
+      type="revolute">
+      <origin
+        xyz="-0.01696 -0.0691 0.02045"
+        rpy="1.5708 -1.5708 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_thumb_proximal_base" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        lower="-0.1"
+        upper="1.3"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_proximal">
+      <inertial>
+        <origin
+          xyz="0.021936 -0.01279 -0.0080386"
+          rpy="0 0 0" />
+        <mass
+          value="0.0066101" />
+        <inertia
+          ixx="1.5693E-06"
+          ixy="7.8339E-07"
+          ixz="8.5959E-10"
+          iyy="1.7356E-06"
+          iyz="1.0378E-09"
+          izz="2.787E-06" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link12_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link12_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_pitch_joint"
+      type="revolute">
+      <origin
+        xyz="0.0099867 0.0098242 -0.0089"
+        rpy="-1.5708 0 0.16939" />
+      <parent
+        link="L_thumb_proximal_base" />
+      <child
+        link="L_thumb_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0.0"
+        upper="0.5"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0095531 0.0016282 -0.0072002"
+          rpy="0 0 0" />
+        <mass
+          value="0.0037844" />
+        <inertia
+          ixx="3.6981E-07"
+          ixy="9.8603E-08"
+          ixz="-2.8173E-12"
+          iyy="3.2395E-07"
+          iyz="-2.8028E-12"
+          izz="4.6532E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link13_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link13_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="0.04407 -0.034553 -0.0008"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_proximal" />
+      <child
+        link="L_thumb_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="0.8"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_thumb_proximal_pitch_joint"
+        multiplier="1.6"
+        offset="0" />
+    </joint>
+
+    <link name="L_thumb_distal">
+      <inertial>
+        <origin
+          xyz="0.0092888 -0.004953 -0.0060033"
+          rpy="0 0 0" />
+        <mass
+          value="0.003344" />
+        <inertia
+          ixx="1.3632E-07"
+          ixy="5.6787E-08"
+          ixz="-9.1939E-11"
+          iyy="1.4052E-07"
+          iyz="1.2145E-10"
+          izz="2.0026E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link14_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link14_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_distal_joint"
+      type="revolute">
+      <origin
+        xyz="0.020248 -0.010156 -0.0012"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_intermediate" />
+      <child
+        link="L_thumb_distal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.2"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_thumb_proximal_pitch_joint"
+        multiplier="2.4"
+        offset="0" />
+    </joint>
+
+    <link name="L_index_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059998"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.3746E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4773E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link15_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link15_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_index_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13653 0.032268"
+        rpy="-0.034907 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_index_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_index_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6284E-07"
+          ixy="-8.063E-08"
+          ixz="3.6797E-13"
+          iyy="9.4308E-08"
+          iyz="1.5743E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link16_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link16_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_index_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_index_proximal" />
+      <child
+        link="L_index_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_index_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_middle_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.2299E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4484E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link17_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link17_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_middle_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.1371 0.01295"
+        rpy="0 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_middle_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_middle_intermediate">
+      <inertial>
+        <origin
+          xyz="0.001921 -0.020796 -0.0049999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0050397" />
+        <inertia
+          ixx="9.5823E-07"
+          ixy="-1.1425E-07"
+          ixz="-2.4186E-12"
+          iyy="1.0646E-07"
+          iyz="3.6974E-12"
+          izz="9.8385E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link18_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link18_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+    
+    <joint
+      name="L_middle_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_middle_proximal" />
+      <child
+        link="L_middle_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_middle_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_ring_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="9.6052E-13"
+          iyy="2.1167E-07"
+          iyz="-1.4124E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link19_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link19_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13691 -0.0062872"
+        rpy="0.05236 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_ring_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_ring_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6285E-07"
+          ixy="-8.0631E-08"
+          ixz="3.3472E-14"
+          iyy="9.4308E-08"
+          iyz="-4.4773E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link20_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link20_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_ring_proximal" />
+      <child
+        link="L_ring_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_ring_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_pinky_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.0279E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4277E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link21_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link21_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13571 -0.025488"
+        rpy="0.10472 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_pinky_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_pinky_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0024788 -0.016208 -0.0050001"
+          rpy="0 0 0" />
+        <mass
+          value="0.0036036" />
+        <inertia
+          ixx="4.3923E-07"
+          ixy="-4.1355E-08"
+          ixz="1.2263E-12"
+          iyy="7.0315E-08"
+          iyz="3.1311E-12"
+          izz="4.4881E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link22_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link22_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_pinky_proximal" />
+      <child
+        link="L_pinky_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_pinky_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+  <link
+    name="right_shoulder_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.005045 -0.053657 -0.015715"
+        rpy="0 0 0" />
+      <mass
+        value="1.033" />
+      <inertia
+        ixx="0.0012985"
+        ixy="1.7333E-05"
+        ixz="8.683E-06"
+        iyy="0.00087279"
+        iyz="-3.9656E-05"
+        izz="0.00097338" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shoulder_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.05  0" rpy="-1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.04"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0055 -0.15535 0.42999"
+      rpy="-0.43633 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="right_shoulder_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.44"
+      upper="1.44"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_shoulder_roll_link">
+    <inertial>
+      <origin
+        xyz="0.000679 -0.00115 -0.094076"
+        rpy="0 0 0" />
+      <mass
+        value="0.793" />
+      <inertia
+        ixx="0.0015742"
+        ixy="-2.298E-06"
+        ixz="-7.2265E-05"
+        iyy="0.0016973"
+        iyz="6.3691E-05"
+        izz="0.0010183" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shoulder_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.04" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_roll_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0055 -0.0565 -0.0165"
+      rpy="0.43633 0 0" />
+    <parent
+      link="right_shoulder_pitch_link" />
+    <child
+      link="right_shoulder_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.11"
+      upper="0.17"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_shoulder_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.01365 -0.002767 -0.16266"
+        rpy="0 0 0" />
+      <mass
+        value="0.839" />
+      <inertia
+        ixx="0.003664"
+        ixy="1.0671E-05"
+        ixz="0.00034733"
+        iyy="0.0040789"
+        iyz="-7.0213E-05"
+        izz="0.00066383" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.11" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.1343"
+      rpy="0 0 0" />
+    <parent
+      link="right_shoulder_roll_link" />
+    <child
+      link="right_shoulder_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.3"
+      upper="1.3"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="right_elbow_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.075854 0.0002 -0.013485"
+        rpy="0 0 0" />
+      <mass
+        value="0.676" />
+      <inertia
+        ixx="0.000314529"
+        ixy="-0.000011375"
+        ixz="0.000084762"
+        iyy="0.000890865"
+        iyz="0.000000578"
+        izz="0.000906729" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_elbow_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/right_elbow_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_elbow_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0185 0 -0.198"
+      rpy="0 0 0" />
+    <parent
+      link="right_shoulder_yaw_link" />
+    <child
+      link="right_elbow_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.25"
+      upper="1.57"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <!--  -->
+  <link
+    name="right_elbow_roll_link">
+    <inertial>
+      <origin
+        xyz="0.035281 -0.002320 0.000337"
+        rpy="0 0 0" />
+      <mass
+        value="0.683" />
+      <inertia
+        ixx="0.000313275"
+        ixy="0.000016521"
+        ixz="-0.000002501"
+        iyy="0.000310412"
+        iyz="0.000005435"
+        izz="0.000345998" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_elbow_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/right_elbow_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_elbow_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.121 0 -0.015"
+      rpy="0 0 0" />
+    <parent
+      link="right_elbow_pitch_link" />
+    <child
+      link="right_elbow_roll_link" />
+    <axis
+      xyz="1 0 0" />
+      <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+
+  <link
+    name="right_wrist_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.020395 0.000036 -0.002973"
+        rpy="0 0 0" />
+      <mass
+        value="0.484" />
+      <inertia
+        ixx="0.000071364"
+        ixy="0.000000308"
+        ixz="0.000001485"
+        iyy="0.000069915"
+        iyz="-0.000000088"
+        izz="0.000070702" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_wrist_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/right_wrist_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wrist_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.085 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_elbow_roll_link" />
+    <child
+      link="right_wrist_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+      <limit
+      lower="-0.471"
+      upper="0.349"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+  <!--  -->
+  <link
+    name="right_wrist_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.026090 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.086" />
+      <inertia
+        ixx="0.000073879"
+        ixy="0"
+        ixz="0"
+        iyy="0.000068528"
+        iyz="0"
+        izz="0.000041945" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/wrist_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/wrist_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wrist_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.020 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_wrist_pitch_link" />
+    <child
+      link="right_wrist_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.012"
+      upper="1.012"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+
+    <joint 
+      name="R_base_link_joint" 
+      type="fixed">
+      <origin
+      xyz="0.0365 0 0"
+      rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398" />
+      <parent link="right_wrist_yaw_link"/>
+      <child link="R_hand_base_link"/>
+    </joint>
+
+  <link name="R_hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.0025264 -0.066047 0.0019598"
+        rpy="0 0 0" />
+      <mass
+        value="0.14143" />
+      <inertia
+        ixx="0.00012281"
+        ixy="2.1711E-06"
+        ixz="1.7709E-06"
+        iyy="8.3832E-05"
+        iyz="-1.6551E-06"
+        izz="7.6663E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/R_hand_base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/R_hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="R_thumb_proximal_base">
+    <inertial>
+      <origin
+        xyz="-0.0048064 0.0009382 -0.00757"
+        rpy="0 0 0" />
+      <mass
+        value="0.0018869" />
+      <inertia
+        ixx="5.816E-08"
+        ixy="1.4539E-08"
+        ixz="4.491E-09"
+        iyy="7.9161E-08"
+        iyz="-1.8727E-09"
+        izz="6.7433E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link11_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link11_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.01696 -0.0691 -0.02045"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_thumb_proximal_base" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.1"
+      upper="1.3"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.021932 0.012785 -0.0080386"
+        rpy="0 0 0" />
+      <mass
+        value="0.0066075" />
+      <inertia
+        ixx="1.5686E-06"
+        ixy="-7.8296E-07"
+        ixz="8.9143E-10"
+        iyy="1.7353E-06"
+        iyz="-1.0191E-09"
+        izz="2.786E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link12_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link12_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0088099 0.010892 -0.00925"
+      rpy="1.5708 0 2.8587" />
+    <parent
+      link="R_thumb_proximal_base" />
+    <child
+      link="R_thumb_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0.0"
+      upper="0.5"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0095544 -0.0016282 -0.0071997"
+        rpy="0 0 0" />
+      <mass
+        value="0.0037847" />
+      <inertia
+        ixx="3.6981E-07"
+        ixy="-9.8581E-08"
+        ixz="-4.7469E-12"
+        iyy="3.2394E-07"
+        iyz="1.0939E-12"
+        izz="4.6531E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link13_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link13_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.04407 0.034553 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_proximal" />
+    <child
+      link="R_thumb_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.8"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_thumb_proximal_pitch_joint"
+      multiplier="1.6"
+      offset="0" />
+  </joint>
+
+  <link name="R_thumb_distal">
+    <inertial>
+      <origin
+        xyz="0.0092888 0.0049529 -0.0060033"
+        rpy="0 0 0" />
+      <mass
+        value="0.0033441" />
+      <inertia
+        ixx="1.3632E-07"
+        ixy="-5.6788E-08"
+        ixz="-9.2764E-11"
+        iyy="1.4052E-07"
+        iyz="-1.2283E-10"
+        izz="2.0026E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link14_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link14_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_distal_joint"
+    type="revolute">
+    <origin
+      xyz="0.020248 0.010156 -0.0012"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_intermediate" />
+    <child
+      link="R_thumb_distal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.2"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_thumb_proximal_pitch_joint"
+      multiplier="2.4"
+      offset="0" />
+  </joint>
+
+  <link name="R_index_proximal">
+    <inertial>
+      <origin
+        xyz="0.0012259 0.011942 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6232E-07"
+        ixy="-1.5775E-08"
+        ixz="1.8515E-12"
+        iyy="2.1146E-07"
+        iyz="-5.0828E-12"
+        izz="6.9398E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link15_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link15_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13653 -0.032268"
+      rpy="-3.1067 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_index_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_index_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0019697 0.019589 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6111E-07"
+        ixy="8.7637E-08"
+        ixz="-3.7751E-13"
+        iyy="9.6076E-08"
+        iyz="9.9444E-13"
+        izz="7.8179E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link16_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link16_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0026138 0.032026 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_index_proximal" />
+    <child
+      link="R_index_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_index_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_middle_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.8002E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6808E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link17_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link17_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.1371 -0.01295"
+      rpy="-3.1416 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_middle_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_middle_intermediate">
+    <inertial>
+      <origin
+        xyz="0.001921 0.020796 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0050396" />
+      <inertia
+        ixx="9.5822E-07"
+        ixy="1.1425E-07"
+        ixz="-2.4791E-12"
+        iyy="1.0646E-07"
+        iyz="5.9173E-12"
+        izz="9.8384E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link18_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link18_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_middle_proximal" />
+    <child
+      link="R_middle_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_middle_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_ring_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060002"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.5793E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6868E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link19_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link19_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13691 0.0062872"
+      rpy="3.0892 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_ring_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_ring_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0021753 0.019567 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6286E-07"
+        ixy="8.0635E-08"
+        ixz="-6.1562E-13"
+        iyy="9.431E-08"
+        iyz="5.8619E-13"
+        izz="7.8177E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link20_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link20_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_ring_proximal" />
+    <child
+      link="R_ring_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_ring_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_pinky_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.6907E-12"
+        iyy="2.1167E-07"
+        iyz="-6.9334E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link21_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link21_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13571 0.025488"
+      rpy="3.0369 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_pinky_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_pinky_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0024748 0.016203 -0.0050031"
+        rpy="0 0 0" />
+      <mass
+        value="0.0035996" />
+      <inertia
+        ixx="4.3913E-07"
+        ixy="4.1418E-08"
+        ixz="3.7168E-11"
+        iyy="7.0247E-08"
+        iyz="5.8613E-11"
+        izz="4.4867E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link22_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link22_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_pinky_proximal" />
+    <child
+      link="R_pinky_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_pinky_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+  <link
+    name="logo_link">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/logo_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+
+  </link>
+  <joint
+    name="logo_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="logo_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link name="L_thumb_tip"/>
+  <joint name="L_thumb_tip_joint" type="fixed">
+    <parent link="L_thumb_distal"/>
+    <child link="L_thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.015 -0.013 -0.004"/>
+  </joint>
+
+  <link name="L_index_tip"/>
+  <joint name="L_index_tip_joint" type="fixed">
+    <parent link="L_index_intermediate"/>
+    <child link="L_index_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 -0.04 -0.004"/>
+  </joint>
+
+  <link name="L_middle_tip"/>
+  <joint name="L_middle_tip_joint" type="fixed">
+    <parent link="L_middle_intermediate"/>
+    <child link="L_middle_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 -0.045 -0.004"/>
+  </joint>
+
+  <link name="L_ring_tip"/>
+  <joint name="L_ring_tip_joint" type="fixed">
+    <parent link="L_ring_intermediate"/>
+    <child link="L_ring_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 -0.04 -0.004"/>
+  </joint>
+
+  <link name="L_pinky_tip"/>
+  <joint name="L_pinky_tip_joint" type="fixed">
+    <parent link="L_pinky_intermediate"/>
+    <child link="L_pinky_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 -0.032 -0.004"/>
+  </joint>
+
+  <link name="R_thumb_tip"/>
+  <joint name="R_thumb_tip_joint" type="fixed">
+    <parent link="R_thumb_distal"/>
+    <child link="R_thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.015 0.013 -0.004"/>
+  </joint>
+
+  <link name="R_index_tip"/>
+  <joint name="R_index_tip_joint" type="fixed">
+    <parent link="R_index_intermediate"/>
+    <child link="R_index_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 0.04 -0.004"/>
+  </joint>
+
+  <link name="R_middle_tip"/>
+  <joint name="R_middle_tip_joint" type="fixed">
+    <parent link="R_middle_intermediate"/>
+    <child link="R_middle_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 0.045 -0.004"/>
+  </joint>
+
+  <link name="R_ring_tip"/>
+  <joint name="R_ring_tip_joint" type="fixed">
+    <parent link="R_ring_intermediate"/>
+    <child link="R_ring_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 0.04 -0.004"/>
+  </joint>
+
+  <link name="R_pinky_tip"/>
+  <joint name="R_pinky_tip_joint" type="fixed">
+    <parent link="R_pinky_intermediate"/>
+    <child link="R_pinky_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 0.032 -0.004"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/assets/h1_inspire/urdf/h1_inspire_fixed_torso.urdf b/assets/h1_inspire/urdf/h1_inspire_fixed_torso.urdf
new file mode 100644
index 0000000..31ad85a
--- /dev/null
+++ b/assets/h1_inspire/urdf/h1_inspire_fixed_torso.urdf
@@ -0,0 +1,3156 @@
+<robot
+  name="h1">
+
+  <mujoco>
+    <compiler meshdir="../meshes" discardvisual="false" />
+  </mujoco>
+
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world" />
+    <child link="pelvis" />
+  </joint> -->
+
+  <link
+    name="pelvis">
+    <inertial>
+      <origin
+        xyz="-0.0002 4E-05 -0.04522"
+        rpy="0 0 0" />
+      <mass
+        value="5.39" />
+      <inertia
+        ixx="0.044582"
+        ixy="8.7034E-05"
+        ixz="-1.9893E-05"
+        iyy="0.0082464"
+        iyz="4.021E-06"
+        izz="0.049021" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/pelvis.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="left_hip_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.04923 0.0001 0.0072"
+        rpy="0 0 0" />
+      <mass
+        value="2.244" />
+      <inertia
+        ixx="0.0025731"
+        ixy="9.159E-06"
+        ixz="-0.00051948"
+        iyy="0.0030444"
+        iyz="1.949E-06"
+        izz="0.0022883" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hip_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.0875 -0.1742"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="left_hip_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_hip_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.0058 -0.00319 -9E-05"
+        rpy="0 0 0" />
+      <mass
+        value="2.232" />
+      <inertia
+        ixx="0.0020603"
+        ixy="3.2115E-05"
+        ixz="2.878E-06"
+        iyy="0.0022482"
+        iyz="-7.813E-06"
+        izz="0.0024323" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hip_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.02" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.039468 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_yaw_link" />
+    <child
+      link="left_hip_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00746 -0.02346 -0.08193"
+        rpy="0 0 0" />
+      <mass
+        value="4.152" />
+      <inertia
+        ixx="0.082618"
+        ixy="-0.00066654"
+        ixz="0.0040725"
+        iyy="0.081579"
+        iyz="0.0072024"
+        izz="0.0060081" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hip_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.11536 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_roll_link" />
+    <child
+      link="left_hip_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="2.53"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_knee_link">
+    <inertial>
+      <origin
+        xyz="0.000923 -0.000420 -0.183981"
+        rpy="0 0 0" />
+      <mass
+        value="3.768" />
+      <inertia
+        ixx="0.033551704"
+        ixy="0.000057076"
+        ixz="-0.000458991"
+        iyy="0.033553784"
+        iyz="0.000011410"
+        izz="0.004711191" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_knee_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_knee_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_pitch_link" />
+    <child
+      link="left_knee_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.26"
+      upper="2.05"
+      effort="300"
+      velocity="14" />
+  </joint>
+  <link
+    name="left_ankle_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.000294 0 -0.010794"
+        rpy="0 0 0" />
+      <mass
+        value="0.102" />
+      <inertia
+        ixx="0.000023944"
+        ixy="0"
+        ixz="0.000000121"
+        iyy="0.000021837"
+        iyz="0"
+        izz="0.000013414" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ankle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="left_knee_link" />
+    <child
+      link="left_ankle_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.897334"
+      upper="0.523598"
+      effort="60"
+      velocity="9" />
+  </joint>
+  <link
+    name="left_ankle_roll_link">
+    <inertial>
+      <origin
+        xyz="0.033731 0.000501 -0.018756"
+        rpy="0 0 0" />
+      <mass
+        value="1.768" />
+      <inertia
+        ixx="0.001966846"
+        ixy="-0.000029758"
+        ixz="0.000516762"
+        iyy="0.011985262"
+        iyz="-0.000007289"
+        izz="0.012856540" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ankle_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.02"
+      rpy="0 0 0" />
+    <parent
+      link="left_ankle_pitch_link" />
+    <child
+      link="left_ankle_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.261799"
+      upper="0.261799"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <!--  -->
+  <!--  -->
+  <!--  -->
+  <link
+    name="right_hip_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.04923 -0.0001 0.0072"
+        rpy="0 0 0" />
+      <mass
+        value="2.244" />
+      <inertia
+        ixx="0.0025731"
+        ixy="-9.159E-06"
+        ixz="-0.00051948"
+        iyy="0.0030444"
+        iyz="-1.949E-06"
+        izz="0.0022883" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hip_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.0875 -0.1742"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="right_hip_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_hip_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.0058 0.00319 -9E-05"
+        rpy="0 0 0" />
+      <mass
+        value="2.232" />
+      <inertia
+        ixx="0.0020603"
+        ixy="-3.2115E-05"
+        ixz="2.878E-06"
+        iyy="0.0022482"
+        iyz="7.813E-06"
+        izz="0.0024323" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hip_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.02" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.039468 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_yaw_link" />
+    <child
+      link="right_hip_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00746 0.02346 -0.08193"
+        rpy="0 0 0" />
+      <mass
+        value="4.152" />
+      <inertia
+        ixx="0.082618"
+        ixy="0.00066654"
+        ixz="0.0040725"
+        iyy="0.081579"
+        iyz="-0.0072024"
+        izz="0.0060081" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hip_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.11536 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_roll_link" />
+    <child
+      link="right_hip_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="2.53"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_knee_link">
+    <inertial>
+      <origin
+        xyz="0.000923 0.000420 -0.183981"
+        rpy="0 0 0" />
+      <mass
+        value="3.768" />
+      <inertia
+        ixx="0.033551704"
+        ixy="-0.000057076"
+        ixz="-0.000458991"
+        iyy="0.033553784"
+        iyz="-0.000011410"
+        izz="0.004711191" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_knee_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_knee_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_pitch_link" />
+    <child
+      link="right_knee_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.26"
+      upper="2.05"
+      effort="300"
+      velocity="14" />
+  </joint>
+  <link
+    name="right_ankle_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.000294 0 -0.010794"
+        rpy="0 0 0" />
+      <mass
+        value="0.102" />
+      <inertia
+        ixx="0.000023944"
+        ixy="0"
+        ixz="0.000000121"
+        iyy="0.000021837"
+        iyz="0"
+        izz="0.000013414" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ankle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="right_knee_link" />
+    <child
+      link="right_ankle_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.897334"
+      upper="0.523598"
+      effort="60"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_ankle_roll_link">
+    <inertial>
+      <origin
+        xyz="0.033731 -0.000501 -0.018756"
+        rpy="0 0 0" />
+      <mass
+        value="1.768" />
+      <inertia
+        ixx="0.001966846"
+        ixy="0.000029758"
+        ixz="0.000516762"
+        iyy="0.011985262"
+        iyz="0.000007289"
+        izz="0.012856540" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ankle_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.02"
+      rpy="0 0 0" />
+    <parent
+      link="right_ankle_pitch_link" />
+    <child
+      link="right_ankle_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.261799"
+      upper="0.261799"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <!--  -->
+  <!--  -->
+  <!--  -->
+  <link
+    name="torso_link">
+    <inertial>
+      <origin
+        xyz="0.000489 0.002797 0.20484"
+        rpy="0 0 0" />
+      <mass
+        value="17.789" />
+      <inertia
+        ixx="0.4873"
+        ixy="-0.00053763"
+        ixz="0.0020276"
+        iyy="0.40963"
+        iyz="-0.00074582"
+        izz="0.12785" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/torso_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.15" rpy="0 0 0" />
+      <geometry>
+        <box size="0.08 0.16 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="torso_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="torso_link" />
+  </joint>
+  <link
+    name="left_shoulder_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.005045 0.053657 -0.015715"
+        rpy="0 0 0" />
+      <mass
+        value="1.033" />
+      <inertia
+        ixx="0.0012985"
+        ixy="-1.7333E-05"
+        ixz="8.683E-06"
+        iyy="0.00087279"
+        iyz="3.9656E-05"
+        izz="0.00097338" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shoulder_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.05  0" rpy="1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.04"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0055 0.15535 0.42999"
+      rpy="0.43633 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="left_shoulder_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.44"
+      upper="1.44"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="left_shoulder_roll_link">
+    <inertial>
+      <origin
+        xyz="0.000679 0.00115 -0.094076"
+        rpy="0 0 0" />
+      <mass
+        value="0.793" />
+      <inertia
+        ixx="0.0015742"
+        ixy="2.298E-06"
+        ixz="-7.2265E-05"
+        iyy="0.0016973"
+        iyz="-6.3691E-05"
+        izz="0.0010183" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shoulder_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.04" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_roll_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0055 0.0565 -0.0165"
+      rpy="-0.43633 0 0" />
+    <parent
+      link="left_shoulder_pitch_link" />
+    <child
+      link="left_shoulder_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.34"
+      upper="3.11"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="left_shoulder_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.01365 0.002767 -0.16266"
+        rpy="0 0 0" />
+      <mass
+        value="0.839" />
+      <inertia
+        ixx="0.003664"
+        ixy="-1.0671E-05"
+        ixz="0.00034733"
+        iyy="0.0040789"
+        iyz="7.0213E-05"
+        izz="0.00066383" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.11" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.1343"
+      rpy="0 0 0" />
+    <parent
+      link="left_shoulder_roll_link" />
+    <child
+      link="left_shoulder_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.3"
+      upper="1.3"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="left_elbow_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.075854 0.0002 -0.013485"
+        rpy="0 0 0" />
+      <mass
+        value="0.676" />
+      <inertia
+        ixx="0.000314529"
+        ixy="-0.000011375"
+        ixz="0.000084762"
+        iyy="0.000890865"
+        iyz="0.000000578"
+        izz="0.000906729" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_elbow_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/left_elbow_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_elbow_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0185 0 -0.198"
+      rpy="0 0 0" />
+    <parent
+      link="left_shoulder_yaw_link" />
+    <child
+      link="left_elbow_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.25"
+      upper="1.57"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <!--  -->
+  <link
+    name="left_elbow_roll_link">
+    <inertial>
+      <origin
+        xyz="0.035281 -0.002320 0.000337"
+        rpy="0 0 0" />
+      <mass
+        value="0.683" />
+      <inertia
+        ixx="0.000313275"
+        ixy="0.000016521"
+        ixz="-0.000002501"
+        iyy="0.000310412"
+        iyz="0.000005435"
+        izz="0.000345998" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_elbow_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/left_elbow_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_elbow_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.121 0 -0.015"
+      rpy="0 0 0" />
+    <parent
+      link="left_elbow_pitch_link" />
+    <child
+      link="left_elbow_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+
+  <link
+    name="left_wrist_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.020395 0.000036 -0.002973"
+        rpy="0 0 0" />
+      <mass
+        value="0.484" />
+      <inertia
+        ixx="0.000071364"
+        ixy="0.000000308"
+        ixz="0.000001485"
+        iyy="0.000069915"
+        iyz="-0.000000088"
+        izz="0.000070702" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_wrist_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/left_wrist_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wrist_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.085 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_elbow_roll_link" />
+    <child
+      link="left_wrist_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.471"
+      upper="0.349"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+  <!--  -->
+  <link
+    name="left_wrist_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.026090 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.086" />
+      <inertia
+        ixx="0.000073879"
+        ixy="0"
+        ixz="0"
+        iyy="0.000068528"
+        iyz="0"
+        izz="0.000041945" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/wrist_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/wrist_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wrist_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.020 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_wrist_pitch_link" />
+    <child
+      link="left_wrist_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.012"
+      upper="1.012"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+    <joint 
+      name="L_base_link_joint" 
+      type="fixed">
+      <origin
+      xyz="0.0365 0 0"
+      rpy="0 0 1.5707963267948966192313216916398" />
+      <parent link="left_wrist_yaw_link"/>
+      <child link="L_hand_base_link"/>
+    </joint>
+
+    <link name="L_hand_base_link">
+      <inertial>
+        <origin
+          xyz="-0.002551 -0.066047 -0.0019357"
+          rpy="0 0 0" />
+        <mass
+          value="0.14143" />
+        <inertia
+          ixx="0.0001234"
+          ixy="2.1995E-06"
+          ixz="-1.7694E-06"
+          iyy="8.3835E-05"
+          iyz="1.5968E-06"
+          izz="7.7231E-05" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/L_hand_base_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/L_hand_base_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="L_thumb_proximal_base">
+      <inertial>
+        <origin
+          xyz="0.0048817 0.00038782 -0.00722"
+          rpy="0 0 0" />
+        <mass
+          value="0.0018869" />
+        <inertia
+          ixx="5.5158E-08"
+          ixy="-1.1803E-08"
+          ixz="-4.6743E-09"
+          iyy="8.2164E-08"
+          iyz="-1.3521E-09"
+          izz="6.7434E-08" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link11_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link11_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_yaw_joint"
+      type="revolute">
+      <origin
+        xyz="-0.01696 -0.0691 0.02045"
+        rpy="1.5708 -1.5708 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_thumb_proximal_base" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        lower="-0.1"
+        upper="1.3"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_proximal">
+      <inertial>
+        <origin
+          xyz="0.021936 -0.01279 -0.0080386"
+          rpy="0 0 0" />
+        <mass
+          value="0.0066101" />
+        <inertia
+          ixx="1.5693E-06"
+          ixy="7.8339E-07"
+          ixz="8.5959E-10"
+          iyy="1.7356E-06"
+          iyz="1.0378E-09"
+          izz="2.787E-06" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link12_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link12_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_pitch_joint"
+      type="revolute">
+      <origin
+        xyz="0.0099867 0.0098242 -0.0089"
+        rpy="-1.5708 0 0.16939" />
+      <parent
+        link="L_thumb_proximal_base" />
+      <child
+        link="L_thumb_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="-0.1"
+        upper="0.6"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0095531 0.0016282 -0.0072002"
+          rpy="0 0 0" />
+        <mass
+          value="0.0037844" />
+        <inertia
+          ixx="3.6981E-07"
+          ixy="9.8603E-08"
+          ixz="-2.8173E-12"
+          iyy="3.2395E-07"
+          iyz="-2.8028E-12"
+          izz="4.6532E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link13_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link13_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="0.04407 -0.034553 -0.0008"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_proximal" />
+      <child
+        link="L_thumb_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="0.8"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_thumb_proximal_pitch_joint"
+        multiplier="1.6"
+        offset="0" />
+    </joint>
+
+    <link name="L_thumb_distal">
+      <inertial>
+        <origin
+          xyz="0.0092888 -0.004953 -0.0060033"
+          rpy="0 0 0" />
+        <mass
+          value="0.003344" />
+        <inertia
+          ixx="1.3632E-07"
+          ixy="5.6787E-08"
+          ixz="-9.1939E-11"
+          iyy="1.4052E-07"
+          iyz="1.2145E-10"
+          izz="2.0026E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link14_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link14_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_distal_joint"
+      type="revolute">
+      <origin
+        xyz="0.020248 -0.010156 -0.0012"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_intermediate" />
+      <child
+        link="L_thumb_distal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.2"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_thumb_proximal_pitch_joint"
+        multiplier="2.4"
+        offset="0" />
+    </joint>
+
+    <link name="L_index_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059998"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.3746E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4773E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link15_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link15_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_index_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13653 0.032268"
+        rpy="-0.034907 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_index_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_index_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6284E-07"
+          ixy="-8.063E-08"
+          ixz="3.6797E-13"
+          iyy="9.4308E-08"
+          iyz="1.5743E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link16_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link16_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_index_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_index_proximal" />
+      <child
+        link="L_index_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_index_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_middle_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.2299E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4484E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link17_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link17_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_middle_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.1371 0.01295"
+        rpy="0 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_middle_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_middle_intermediate">
+      <inertial>
+        <origin
+          xyz="0.001921 -0.020796 -0.0049999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0050397" />
+        <inertia
+          ixx="9.5823E-07"
+          ixy="-1.1425E-07"
+          ixz="-2.4186E-12"
+          iyy="1.0646E-07"
+          iyz="3.6974E-12"
+          izz="9.8385E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link18_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link18_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+    
+    <joint
+      name="L_middle_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_middle_proximal" />
+      <child
+        link="L_middle_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_middle_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_ring_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="9.6052E-13"
+          iyy="2.1167E-07"
+          iyz="-1.4124E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link19_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link19_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13691 -0.0062872"
+        rpy="0.05236 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_ring_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_ring_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6285E-07"
+          ixy="-8.0631E-08"
+          ixz="3.3472E-14"
+          iyy="9.4308E-08"
+          iyz="-4.4773E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link20_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link20_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_ring_proximal" />
+      <child
+        link="L_ring_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_ring_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_pinky_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.0279E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4277E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link21_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link21_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13571 -0.025488"
+        rpy="0.10472 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_pinky_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_pinky_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0024788 -0.016208 -0.0050001"
+          rpy="0 0 0" />
+        <mass
+          value="0.0036036" />
+        <inertia
+          ixx="4.3923E-07"
+          ixy="-4.1355E-08"
+          ixz="1.2263E-12"
+          iyy="7.0315E-08"
+          iyz="3.1311E-12"
+          izz="4.4881E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link22_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link22_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_pinky_proximal" />
+      <child
+        link="L_pinky_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_pinky_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+  <link
+    name="right_shoulder_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.005045 -0.053657 -0.015715"
+        rpy="0 0 0" />
+      <mass
+        value="1.033" />
+      <inertia
+        ixx="0.0012985"
+        ixy="1.7333E-05"
+        ixz="8.683E-06"
+        iyy="0.00087279"
+        iyz="-3.9656E-05"
+        izz="0.00097338" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shoulder_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.05  0" rpy="-1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.04"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0055 -0.15535 0.42999"
+      rpy="-0.43633 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="right_shoulder_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.44"
+      upper="1.44"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_shoulder_roll_link">
+    <inertial>
+      <origin
+        xyz="0.000679 -0.00115 -0.094076"
+        rpy="0 0 0" />
+      <mass
+        value="0.793" />
+      <inertia
+        ixx="0.0015742"
+        ixy="-2.298E-06"
+        ixz="-7.2265E-05"
+        iyy="0.0016973"
+        iyz="6.3691E-05"
+        izz="0.0010183" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shoulder_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.04" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_roll_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0055 -0.0565 -0.0165"
+      rpy="0.43633 0 0" />
+    <parent
+      link="right_shoulder_pitch_link" />
+    <child
+      link="right_shoulder_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.11"
+      upper="0.34"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_shoulder_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.01365 -0.002767 -0.16266"
+        rpy="0 0 0" />
+      <mass
+        value="0.839" />
+      <inertia
+        ixx="0.003664"
+        ixy="1.0671E-05"
+        ixz="0.00034733"
+        iyy="0.0040789"
+        iyz="-7.0213E-05"
+        izz="0.00066383" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.11" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.1343"
+      rpy="0 0 0" />
+    <parent
+      link="right_shoulder_roll_link" />
+    <child
+      link="right_shoulder_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.3"
+      upper="1.3"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="right_elbow_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.075854 0.0002 -0.013485"
+        rpy="0 0 0" />
+      <mass
+        value="0.676" />
+      <inertia
+        ixx="0.000314529"
+        ixy="-0.000011375"
+        ixz="0.000084762"
+        iyy="0.000890865"
+        iyz="0.000000578"
+        izz="0.000906729" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_elbow_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/right_elbow_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_elbow_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0185 0 -0.198"
+      rpy="0 0 0" />
+    <parent
+      link="right_shoulder_yaw_link" />
+    <child
+      link="right_elbow_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.25"
+      upper="1.57"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <!--  -->
+  <link
+    name="right_elbow_roll_link">
+    <inertial>
+      <origin
+        xyz="0.035281 -0.002320 0.000337"
+        rpy="0 0 0" />
+      <mass
+        value="0.683" />
+      <inertia
+        ixx="0.000313275"
+        ixy="0.000016521"
+        ixz="-0.000002501"
+        iyy="0.000310412"
+        iyz="0.000005435"
+        izz="0.000345998" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_elbow_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/right_elbow_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_elbow_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.121 0 -0.015"
+      rpy="0 0 0" />
+    <parent
+      link="right_elbow_pitch_link" />
+    <child
+      link="right_elbow_roll_link" />
+    <axis
+      xyz="1 0 0" />
+      <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+
+  <link
+    name="right_wrist_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.020395 0.000036 -0.002973"
+        rpy="0 0 0" />
+      <mass
+        value="0.484" />
+      <inertia
+        ixx="0.000071364"
+        ixy="0.000000308"
+        ixz="0.000001485"
+        iyy="0.000069915"
+        iyz="-0.000000088"
+        izz="0.000070702" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_wrist_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/right_wrist_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wrist_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.085 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_elbow_roll_link" />
+    <child
+      link="right_wrist_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+      <limit
+      lower="-0.471"
+      upper="0.349"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+  <!--  -->
+  <link
+    name="right_wrist_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.026090 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.086" />
+      <inertia
+        ixx="0.000073879"
+        ixy="0"
+        ixz="0"
+        iyy="0.000068528"
+        iyz="0"
+        izz="0.000041945" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/wrist_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/wrist_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wrist_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.020 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_wrist_pitch_link" />
+    <child
+      link="right_wrist_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.012"
+      upper="1.012"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+
+    <joint 
+      name="R_base_link_joint" 
+      type="fixed">
+      <origin
+      xyz="0.0365 0 0"
+      rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398" />
+      <parent link="right_wrist_yaw_link"/>
+      <child link="R_hand_base_link"/>
+    </joint>
+
+  <link name="R_hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.0025264 -0.066047 0.0019598"
+        rpy="0 0 0" />
+      <mass
+        value="0.14143" />
+      <inertia
+        ixx="0.00012281"
+        ixy="2.1711E-06"
+        ixz="1.7709E-06"
+        iyy="8.3832E-05"
+        iyz="-1.6551E-06"
+        izz="7.6663E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/R_hand_base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/R_hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="R_thumb_proximal_base">
+    <inertial>
+      <origin
+        xyz="-0.0048064 0.0009382 -0.00757"
+        rpy="0 0 0" />
+      <mass
+        value="0.0018869" />
+      <inertia
+        ixx="5.816E-08"
+        ixy="1.4539E-08"
+        ixz="4.491E-09"
+        iyy="7.9161E-08"
+        iyz="-1.8727E-09"
+        izz="6.7433E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link11_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link11_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.01696 -0.0691 -0.02045"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_thumb_proximal_base" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.1"
+      upper="1.3"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.021932 0.012785 -0.0080386"
+        rpy="0 0 0" />
+      <mass
+        value="0.0066075" />
+      <inertia
+        ixx="1.5686E-06"
+        ixy="-7.8296E-07"
+        ixz="8.9143E-10"
+        iyy="1.7353E-06"
+        iyz="-1.0191E-09"
+        izz="2.786E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link12_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link12_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0088099 0.010892 -0.00925"
+      rpy="1.5708 0 2.8587" />
+    <parent
+      link="R_thumb_proximal_base" />
+    <child
+      link="R_thumb_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.1"
+      upper="0.6"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0095544 -0.0016282 -0.0071997"
+        rpy="0 0 0" />
+      <mass
+        value="0.0037847" />
+      <inertia
+        ixx="3.6981E-07"
+        ixy="-9.8581E-08"
+        ixz="-4.7469E-12"
+        iyy="3.2394E-07"
+        iyz="1.0939E-12"
+        izz="4.6531E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link13_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link13_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.04407 0.034553 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_proximal" />
+    <child
+      link="R_thumb_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.8"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_thumb_proximal_pitch_joint"
+      multiplier="1.6"
+      offset="0" />
+  </joint>
+
+  <link name="R_thumb_distal">
+    <inertial>
+      <origin
+        xyz="0.0092888 0.0049529 -0.0060033"
+        rpy="0 0 0" />
+      <mass
+        value="0.0033441" />
+      <inertia
+        ixx="1.3632E-07"
+        ixy="-5.6788E-08"
+        ixz="-9.2764E-11"
+        iyy="1.4052E-07"
+        iyz="-1.2283E-10"
+        izz="2.0026E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link14_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link14_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_distal_joint"
+    type="revolute">
+    <origin
+      xyz="0.020248 0.010156 -0.0012"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_intermediate" />
+    <child
+      link="R_thumb_distal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.2"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_thumb_proximal_pitch_joint"
+      multiplier="2.4"
+      offset="0" />
+  </joint>
+
+  <link name="R_index_proximal">
+    <inertial>
+      <origin
+        xyz="0.0012259 0.011942 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6232E-07"
+        ixy="-1.5775E-08"
+        ixz="1.8515E-12"
+        iyy="2.1146E-07"
+        iyz="-5.0828E-12"
+        izz="6.9398E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link15_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link15_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13653 -0.032268"
+      rpy="-3.1067 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_index_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_index_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0019697 0.019589 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6111E-07"
+        ixy="8.7637E-08"
+        ixz="-3.7751E-13"
+        iyy="9.6076E-08"
+        iyz="9.9444E-13"
+        izz="7.8179E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link16_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link16_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0026138 0.032026 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_index_proximal" />
+    <child
+      link="R_index_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_index_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_middle_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.8002E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6808E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link17_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link17_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.1371 -0.01295"
+      rpy="-3.1416 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_middle_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_middle_intermediate">
+    <inertial>
+      <origin
+        xyz="0.001921 0.020796 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0050396" />
+      <inertia
+        ixx="9.5822E-07"
+        ixy="1.1425E-07"
+        ixz="-2.4791E-12"
+        iyy="1.0646E-07"
+        iyz="5.9173E-12"
+        izz="9.8384E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link18_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link18_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_middle_proximal" />
+    <child
+      link="R_middle_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_middle_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_ring_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060002"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.5793E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6868E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link19_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link19_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13691 0.0062872"
+      rpy="3.0892 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_ring_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_ring_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0021753 0.019567 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6286E-07"
+        ixy="8.0635E-08"
+        ixz="-6.1562E-13"
+        iyy="9.431E-08"
+        iyz="5.8619E-13"
+        izz="7.8177E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link20_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link20_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_ring_proximal" />
+    <child
+      link="R_ring_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_ring_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_pinky_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.6907E-12"
+        iyy="2.1167E-07"
+        iyz="-6.9334E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link21_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link21_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13571 0.025488"
+      rpy="3.0369 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_pinky_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_pinky_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0024748 0.016203 -0.0050031"
+        rpy="0 0 0" />
+      <mass
+        value="0.0035996" />
+      <inertia
+        ixx="4.3913E-07"
+        ixy="4.1418E-08"
+        ixz="3.7168E-11"
+        iyy="7.0247E-08"
+        iyz="5.8613E-11"
+        izz="4.4867E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link22_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link22_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_pinky_proximal" />
+    <child
+      link="R_pinky_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_pinky_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+  <link
+    name="logo_link">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/logo_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+
+  </link>
+  <joint
+    name="logo_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="logo_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+      <!-- virtual ref links -->
+  <link name="R_ref_x">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-6"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_ref_y">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-6"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_ref_z">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-6"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_ref_x">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-6"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_ref_y">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-6"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_ref_z">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-6"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_ref_x_joint" type="fixed">
+    <parent link="R_hand_base_link"/>
+    <child link="R_ref_x"/>
+    <origin rpy="0 0 0" xyz="0.1 0 0"/>
+  </joint>
+  <joint name="R_ref_y_joint" type="fixed">
+    <parent link="R_hand_base_link"/>
+    <child link="R_ref_y"/>
+    <origin rpy="0 0 0" xyz="0 0.1 0"/>
+  </joint>
+  <joint name="R_ref_z_joint" type="fixed">
+    <parent link="R_hand_base_link"/>
+    <child link="R_ref_z"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1"/>
+  </joint>
+    <joint name="L_ref_x_joint" type="fixed">
+    <parent link="L_hand_base_link"/>
+    <child link="L_ref_x"/>
+    <origin rpy="0 0 0" xyz="0.1 0 0"/>
+  </joint>
+  <joint name="L_ref_y_joint" type="fixed">
+    <parent link="L_hand_base_link"/>
+    <child link="L_ref_y"/>
+    <origin rpy="0 0 0" xyz="0 0.1 0"/>
+  </joint>
+  <joint name="L_ref_z_joint" type="fixed">
+    <parent link="L_hand_base_link"/>
+    <child link="L_ref_z"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/assets/h1_inspire/urdf/h1_inspire_nolimit.urdf b/assets/h1_inspire/urdf/h1_inspire_nolimit.urdf
new file mode 100644
index 0000000..2fdafe0
--- /dev/null
+++ b/assets/h1_inspire/urdf/h1_inspire_nolimit.urdf
@@ -0,0 +1,3163 @@
+<robot
+  name="h1">
+
+  <mujoco>
+    <compiler meshdir="../meshes" discardvisual="false" />
+  </mujoco>
+
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world" />
+    <child link="pelvis" />
+  </joint> -->
+
+  <link
+    name="pelvis">
+    <inertial>
+      <origin
+        xyz="-0.0002 4E-05 -0.04522"
+        rpy="0 0 0" />
+      <mass
+        value="5.39" />
+      <inertia
+        ixx="0.044582"
+        ixy="8.7034E-05"
+        ixz="-1.9893E-05"
+        iyy="0.0082464"
+        iyz="4.021E-06"
+        izz="0.049021" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/pelvis.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="left_hip_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.04923 0.0001 0.0072"
+        rpy="0 0 0" />
+      <mass
+        value="2.244" />
+      <inertia
+        ixx="0.0025731"
+        ixy="9.159E-06"
+        ixz="-0.00051948"
+        iyy="0.0030444"
+        iyz="1.949E-06"
+        izz="0.0022883" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hip_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.0875 -0.1742"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="left_hip_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_hip_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.0058 -0.00319 -9E-05"
+        rpy="0 0 0" />
+      <mass
+        value="2.232" />
+      <inertia
+        ixx="0.0020603"
+        ixy="3.2115E-05"
+        ixz="2.878E-06"
+        iyy="0.0022482"
+        iyz="-7.813E-06"
+        izz="0.0024323" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hip_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.02" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.039468 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_yaw_link" />
+    <child
+      link="left_hip_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00746 -0.02346 -0.08193"
+        rpy="0 0 0" />
+      <mass
+        value="4.152" />
+      <inertia
+        ixx="0.082618"
+        ixy="-0.00066654"
+        ixz="0.0040725"
+        iyy="0.081579"
+        iyz="0.0072024"
+        izz="0.0060081" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hip_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.11536 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_roll_link" />
+    <child
+      link="left_hip_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="2.53"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_knee_link">
+    <inertial>
+      <origin
+        xyz="0.000923 -0.000420 -0.183981"
+        rpy="0 0 0" />
+      <mass
+        value="3.768" />
+      <inertia
+        ixx="0.033551704"
+        ixy="0.000057076"
+        ixz="-0.000458991"
+        iyy="0.033553784"
+        iyz="0.000011410"
+        izz="0.004711191" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_knee_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_knee_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_pitch_link" />
+    <child
+      link="left_knee_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.26"
+      upper="2.05"
+      effort="300"
+      velocity="14" />
+  </joint>
+  <link
+    name="left_ankle_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.000294 0 -0.010794"
+        rpy="0 0 0" />
+      <mass
+        value="0.102" />
+      <inertia
+        ixx="0.000023944"
+        ixy="0"
+        ixz="0.000000121"
+        iyy="0.000021837"
+        iyz="0"
+        izz="0.000013414" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ankle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="left_knee_link" />
+    <child
+      link="left_ankle_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.897334"
+      upper="0.523598"
+      effort="60"
+      velocity="9" />
+  </joint>
+  <link
+    name="left_ankle_roll_link">
+    <inertial>
+      <origin
+        xyz="0.033731 0.000501 -0.018756"
+        rpy="0 0 0" />
+      <mass
+        value="1.768" />
+      <inertia
+        ixx="0.001966846"
+        ixy="-0.000029758"
+        ixz="0.000516762"
+        iyy="0.011985262"
+        iyz="-0.000007289"
+        izz="0.012856540" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ankle_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.02"
+      rpy="0 0 0" />
+    <parent
+      link="left_ankle_pitch_link" />
+    <child
+      link="left_ankle_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.261799"
+      upper="0.261799"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <!--  -->
+  <!--  -->
+  <!--  -->
+  <link
+    name="right_hip_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.04923 -0.0001 0.0072"
+        rpy="0 0 0" />
+      <mass
+        value="2.244" />
+      <inertia
+        ixx="0.0025731"
+        ixy="-9.159E-06"
+        ixz="-0.00051948"
+        iyy="0.0030444"
+        iyz="-1.949E-06"
+        izz="0.0022883" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hip_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.0875 -0.1742"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="right_hip_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_hip_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.0058 0.00319 -9E-05"
+        rpy="0 0 0" />
+      <mass
+        value="2.232" />
+      <inertia
+        ixx="0.0020603"
+        ixy="-3.2115E-05"
+        ixz="2.878E-06"
+        iyy="0.0022482"
+        iyz="7.813E-06"
+        izz="0.0024323" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hip_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.02" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.039468 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_yaw_link" />
+    <child
+      link="right_hip_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00746 0.02346 -0.08193"
+        rpy="0 0 0" />
+      <mass
+        value="4.152" />
+      <inertia
+        ixx="0.082618"
+        ixy="0.00066654"
+        ixz="0.0040725"
+        iyy="0.081579"
+        iyz="-0.0072024"
+        izz="0.0060081" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hip_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.11536 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_roll_link" />
+    <child
+      link="right_hip_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="2.53"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_knee_link">
+    <inertial>
+      <origin
+        xyz="0.000923 0.000420 -0.183981"
+        rpy="0 0 0" />
+      <mass
+        value="3.768" />
+      <inertia
+        ixx="0.033551704"
+        ixy="-0.000057076"
+        ixz="-0.000458991"
+        iyy="0.033553784"
+        iyz="-0.000011410"
+        izz="0.004711191" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_knee_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_knee_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_pitch_link" />
+    <child
+      link="right_knee_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.26"
+      upper="2.05"
+      effort="300"
+      velocity="14" />
+  </joint>
+  <link
+    name="right_ankle_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.000294 0 -0.010794"
+        rpy="0 0 0" />
+      <mass
+        value="0.102" />
+      <inertia
+        ixx="0.000023944"
+        ixy="0"
+        ixz="0.000000121"
+        iyy="0.000021837"
+        iyz="0"
+        izz="0.000013414" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ankle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="right_knee_link" />
+    <child
+      link="right_ankle_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.897334"
+      upper="0.523598"
+      effort="60"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_ankle_roll_link">
+    <inertial>
+      <origin
+        xyz="0.033731 -0.000501 -0.018756"
+        rpy="0 0 0" />
+      <mass
+        value="1.768" />
+      <inertia
+        ixx="0.001966846"
+        ixy="0.000029758"
+        ixz="0.000516762"
+        iyy="0.011985262"
+        iyz="0.000007289"
+        izz="0.012856540" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ankle_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.02"
+      rpy="0 0 0" />
+    <parent
+      link="right_ankle_pitch_link" />
+    <child
+      link="right_ankle_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.261799"
+      upper="0.261799"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <!--  -->
+  <!--  -->
+  <!--  -->
+  <link
+    name="torso_link">
+    <inertial>
+      <origin
+        xyz="0.000489 0.002797 0.20484"
+        rpy="0 0 0" />
+      <mass
+        value="17.789" />
+      <inertia
+        ixx="0.4873"
+        ixy="-0.00053763"
+        ixz="0.0020276"
+        iyy="0.40963"
+        iyz="-0.00074582"
+        izz="0.12785" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/torso_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.15" rpy="0 0 0" />
+      <geometry>
+        <box size="0.08 0.16 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="torso_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="torso_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.35"
+      upper="2.35"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_shoulder_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.005045 0.053657 -0.015715"
+        rpy="0 0 0" />
+      <mass
+        value="1.033" />
+      <inertia
+        ixx="0.0012985"
+        ixy="-1.7333E-05"
+        ixz="8.683E-06"
+        iyy="0.00087279"
+        iyz="3.9656E-05"
+        izz="0.00097338" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shoulder_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.05  0" rpy="1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.04"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0055 0.15535 0.42999"
+      rpy="0.43633 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="left_shoulder_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.87"
+      upper="2.87"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="left_shoulder_roll_link">
+    <inertial>
+      <origin
+        xyz="0.000679 0.00115 -0.094076"
+        rpy="0 0 0" />
+      <mass
+        value="0.793" />
+      <inertia
+        ixx="0.0015742"
+        ixy="2.298E-06"
+        ixz="-7.2265E-05"
+        iyy="0.0016973"
+        iyz="-6.3691E-05"
+        izz="0.0010183" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shoulder_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.04" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_roll_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0055 0.0565 -0.0165"
+      rpy="-0.43633 0 0" />
+    <parent
+      link="left_shoulder_pitch_link" />
+    <child
+      link="left_shoulder_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.34"
+      upper="3.11"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="left_shoulder_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.01365 0.002767 -0.16266"
+        rpy="0 0 0" />
+      <mass
+        value="0.839" />
+      <inertia
+        ixx="0.003664"
+        ixy="-1.0671E-05"
+        ixz="0.00034733"
+        iyy="0.0040789"
+        iyz="7.0213E-05"
+        izz="0.00066383" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.11" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.1343"
+      rpy="0 0 0" />
+    <parent
+      link="left_shoulder_roll_link" />
+    <child
+      link="left_shoulder_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.3"
+      upper="4.45"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="left_elbow_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.075854 0.0002 -0.013485"
+        rpy="0 0 0" />
+      <mass
+        value="0.676" />
+      <inertia
+        ixx="0.000314529"
+        ixy="-0.000011375"
+        ixz="0.000084762"
+        iyy="0.000890865"
+        iyz="0.000000578"
+        izz="0.000906729" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_elbow_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/left_elbow_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_elbow_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0185 0 -0.198"
+      rpy="0 0 0" />
+    <parent
+      link="left_shoulder_yaw_link" />
+    <child
+      link="left_elbow_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.25"
+      upper="2.61"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <!--  -->
+  <link
+    name="left_elbow_roll_link">
+    <inertial>
+      <origin
+        xyz="0.035281 -0.002320 0.000337"
+        rpy="0 0 0" />
+      <mass
+        value="0.683" />
+      <inertia
+        ixx="0.000313275"
+        ixy="0.000016521"
+        ixz="-0.000002501"
+        iyy="0.000310412"
+        iyz="0.000005435"
+        izz="0.000345998" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_elbow_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/left_elbow_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_elbow_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.121 0 -0.015"
+      rpy="0 0 0" />
+    <parent
+      link="left_elbow_pitch_link" />
+    <child
+      link="left_elbow_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-2.967"
+      upper="2.967"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+
+  <link
+    name="left_wrist_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.020395 0.000036 -0.002973"
+        rpy="0 0 0" />
+      <mass
+        value="0.484" />
+      <inertia
+        ixx="0.000071364"
+        ixy="0.000000308"
+        ixz="0.000001485"
+        iyy="0.000069915"
+        iyz="-0.000000088"
+        izz="0.000070702" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_wrist_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/left_wrist_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wrist_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.085 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_elbow_roll_link" />
+    <child
+      link="left_wrist_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.471"
+      upper="0.349"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+  <!--  -->
+  <link
+    name="left_wrist_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.026090 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.086" />
+      <inertia
+        ixx="0.000073879"
+        ixy="0"
+        ixz="0"
+        iyy="0.000068528"
+        iyz="0"
+        izz="0.000041945" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/wrist_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/wrist_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wrist_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.020 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_wrist_pitch_link" />
+    <child
+      link="left_wrist_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.012"
+      upper="1.012"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+    <joint 
+      name="L_base_link_joint" 
+      type="fixed">
+      <origin
+      xyz="0.0365 0 0"
+      rpy="0 0 1.5707963267948966192313216916398" />
+      <parent link="left_wrist_yaw_link"/>
+      <child link="L_hand_base_link"/>
+    </joint>
+
+    <link name="L_hand_base_link">
+      <inertial>
+        <origin
+          xyz="-0.002551 -0.066047 -0.0019357"
+          rpy="0 0 0" />
+        <mass
+          value="0.14143" />
+        <inertia
+          ixx="0.0001234"
+          ixy="2.1995E-06"
+          ixz="-1.7694E-06"
+          iyy="8.3835E-05"
+          iyz="1.5968E-06"
+          izz="7.7231E-05" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/L_hand_base_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/L_hand_base_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="L_thumb_proximal_base">
+      <inertial>
+        <origin
+          xyz="0.0048817 0.00038782 -0.00722"
+          rpy="0 0 0" />
+        <mass
+          value="0.0018869" />
+        <inertia
+          ixx="5.5158E-08"
+          ixy="-1.1803E-08"
+          ixz="-4.6743E-09"
+          iyy="8.2164E-08"
+          iyz="-1.3521E-09"
+          izz="6.7434E-08" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link11_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link11_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_yaw_joint"
+      type="revolute">
+      <origin
+        xyz="-0.01696 -0.0691 0.02045"
+        rpy="1.5708 -1.5708 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_thumb_proximal_base" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        lower="-0.1"
+        upper="1.3"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_proximal">
+      <inertial>
+        <origin
+          xyz="0.021936 -0.01279 -0.0080386"
+          rpy="0 0 0" />
+        <mass
+          value="0.0066101" />
+        <inertia
+          ixx="1.5693E-06"
+          ixy="7.8339E-07"
+          ixz="8.5959E-10"
+          iyy="1.7356E-06"
+          iyz="1.0378E-09"
+          izz="2.787E-06" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link12_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link12_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_pitch_joint"
+      type="revolute">
+      <origin
+        xyz="0.0099867 0.0098242 -0.0089"
+        rpy="-1.5708 0 0.16939" />
+      <parent
+        link="L_thumb_proximal_base" />
+      <child
+        link="L_thumb_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="-0.1"
+        upper="0.6"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0095531 0.0016282 -0.0072002"
+          rpy="0 0 0" />
+        <mass
+          value="0.0037844" />
+        <inertia
+          ixx="3.6981E-07"
+          ixy="9.8603E-08"
+          ixz="-2.8173E-12"
+          iyy="3.2395E-07"
+          iyz="-2.8028E-12"
+          izz="4.6532E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link13_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link13_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="0.04407 -0.034553 -0.0008"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_proximal" />
+      <child
+        link="L_thumb_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="0.8"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_thumb_proximal_pitch_joint"
+        multiplier="1.6"
+        offset="0" />
+    </joint>
+
+    <link name="L_thumb_distal">
+      <inertial>
+        <origin
+          xyz="0.0092888 -0.004953 -0.0060033"
+          rpy="0 0 0" />
+        <mass
+          value="0.003344" />
+        <inertia
+          ixx="1.3632E-07"
+          ixy="5.6787E-08"
+          ixz="-9.1939E-11"
+          iyy="1.4052E-07"
+          iyz="1.2145E-10"
+          izz="2.0026E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link14_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link14_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_distal_joint"
+      type="revolute">
+      <origin
+        xyz="0.020248 -0.010156 -0.0012"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_intermediate" />
+      <child
+        link="L_thumb_distal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.2"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_thumb_proximal_pitch_joint"
+        multiplier="2.4"
+        offset="0" />
+    </joint>
+
+    <link name="L_index_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059998"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.3746E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4773E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link15_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link15_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_index_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13653 0.032268"
+        rpy="-0.034907 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_index_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_index_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6284E-07"
+          ixy="-8.063E-08"
+          ixz="3.6797E-13"
+          iyy="9.4308E-08"
+          iyz="1.5743E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link16_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link16_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_index_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_index_proximal" />
+      <child
+        link="L_index_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_index_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_middle_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.2299E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4484E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link17_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link17_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_middle_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.1371 0.01295"
+        rpy="0 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_middle_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_middle_intermediate">
+      <inertial>
+        <origin
+          xyz="0.001921 -0.020796 -0.0049999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0050397" />
+        <inertia
+          ixx="9.5823E-07"
+          ixy="-1.1425E-07"
+          ixz="-2.4186E-12"
+          iyy="1.0646E-07"
+          iyz="3.6974E-12"
+          izz="9.8385E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link18_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link18_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+    
+    <joint
+      name="L_middle_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_middle_proximal" />
+      <child
+        link="L_middle_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_middle_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_ring_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="9.6052E-13"
+          iyy="2.1167E-07"
+          iyz="-1.4124E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link19_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link19_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13691 -0.0062872"
+        rpy="0.05236 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_ring_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_ring_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6285E-07"
+          ixy="-8.0631E-08"
+          ixz="3.3472E-14"
+          iyy="9.4308E-08"
+          iyz="-4.4773E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link20_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link20_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_ring_proximal" />
+      <child
+        link="L_ring_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_ring_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_pinky_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.0279E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4277E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link21_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link21_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13571 -0.025488"
+        rpy="0.10472 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_pinky_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_pinky_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0024788 -0.016208 -0.0050001"
+          rpy="0 0 0" />
+        <mass
+          value="0.0036036" />
+        <inertia
+          ixx="4.3923E-07"
+          ixy="-4.1355E-08"
+          ixz="1.2263E-12"
+          iyy="7.0315E-08"
+          iyz="3.1311E-12"
+          izz="4.4881E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link22_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="../meshes/Link22_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_pinky_proximal" />
+      <child
+        link="L_pinky_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_pinky_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+  <link
+    name="right_shoulder_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.005045 -0.053657 -0.015715"
+        rpy="0 0 0" />
+      <mass
+        value="1.033" />
+      <inertia
+        ixx="0.0012985"
+        ixy="1.7333E-05"
+        ixz="8.683E-06"
+        iyy="0.00087279"
+        iyz="-3.9656E-05"
+        izz="0.00097338" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shoulder_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.05  0" rpy="-1.5707963267948966192313216916398 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.04"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0055 -0.15535 0.42999"
+      rpy="-0.43633 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="right_shoulder_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.87"
+      upper="2.87"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_shoulder_roll_link">
+    <inertial>
+      <origin
+        xyz="0.000679 -0.00115 -0.094076"
+        rpy="0 0 0" />
+      <mass
+        value="0.793" />
+      <inertia
+        ixx="0.0015742"
+        ixy="-2.298E-06"
+        ixz="-7.2265E-05"
+        iyy="0.0016973"
+        iyz="6.3691E-05"
+        izz="0.0010183" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shoulder_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.04" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_roll_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0055 -0.0565 -0.0165"
+      rpy="0.43633 0 0" />
+    <parent
+      link="right_shoulder_pitch_link" />
+    <child
+      link="right_shoulder_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.11"
+      upper="0.34"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_shoulder_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.01365 -0.002767 -0.16266"
+        rpy="0 0 0" />
+      <mass
+        value="0.839" />
+      <inertia
+        ixx="0.003664"
+        ixy="1.0671E-05"
+        ixz="0.00034733"
+        iyy="0.0040789"
+        iyz="-7.0213E-05"
+        izz="0.00066383" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.11" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.1343"
+      rpy="0 0 0" />
+    <parent
+      link="right_shoulder_roll_link" />
+    <child
+      link="right_shoulder_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-4.45"
+      upper="1.3"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="right_elbow_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.075854 0.0002 -0.013485"
+        rpy="0 0 0" />
+      <mass
+        value="0.676" />
+      <inertia
+        ixx="0.000314529"
+        ixy="-0.000011375"
+        ixz="0.000084762"
+        iyy="0.000890865"
+        iyz="0.000000578"
+        izz="0.000906729" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_elbow_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/right_elbow_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_elbow_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0185 0 -0.198"
+      rpy="0 0 0" />
+    <parent
+      link="right_shoulder_yaw_link" />
+    <child
+      link="right_elbow_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.25"
+      upper="2.61"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <!--  -->
+  <link
+    name="right_elbow_roll_link">
+    <inertial>
+      <origin
+        xyz="0.035281 -0.002320 0.000337"
+        rpy="0 0 0" />
+      <mass
+        value="0.683" />
+      <inertia
+        ixx="0.000313275"
+        ixy="0.000016521"
+        ixz="-0.000002501"
+        iyy="0.000310412"
+        iyz="0.000005435"
+        izz="0.000345998" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_elbow_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/right_elbow_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_elbow_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.121 0 -0.015"
+      rpy="0 0 0" />
+    <parent
+      link="right_elbow_pitch_link" />
+    <child
+      link="right_elbow_roll_link" />
+    <axis
+      xyz="1 0 0" />
+      <limit
+      lower="-2.967"
+      upper="2.967"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+
+  <link
+    name="right_wrist_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.020395 0.000036 -0.002973"
+        rpy="0 0 0" />
+      <mass
+        value="0.484" />
+      <inertia
+        ixx="0.000071364"
+        ixy="0.000000308"
+        ixz="0.000001485"
+        iyy="0.000069915"
+        iyz="-0.000000088"
+        izz="0.000070702" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_wrist_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh
+          filename="../meshes/right_wrist_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wrist_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.085 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_elbow_roll_link" />
+    <child
+      link="right_wrist_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+      <limit
+      lower="-0.471"
+      upper="0.349"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+  <!--  -->
+  <link
+    name="right_wrist_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.026090 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.086" />
+      <inertia
+        ixx="0.000073879"
+        ixy="0"
+        ixz="0"
+        iyy="0.000068528"
+        iyz="0"
+        izz="0.000041945" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/wrist_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/wrist_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wrist_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.020 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_wrist_pitch_link" />
+    <child
+      link="right_wrist_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.012"
+      upper="1.012"
+      effort="19"
+      velocity="31.4" />
+  </joint>
+
+    <joint 
+      name="R_base_link_joint" 
+      type="fixed">
+      <origin
+      xyz="0.0365 0 0"
+      rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398" />
+      <parent link="right_wrist_yaw_link"/>
+      <child link="R_hand_base_link"/>
+    </joint>
+
+  <link name="R_hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.0025264 -0.066047 0.0019598"
+        rpy="0 0 0" />
+      <mass
+        value="0.14143" />
+      <inertia
+        ixx="0.00012281"
+        ixy="2.1711E-06"
+        ixz="1.7709E-06"
+        iyy="8.3832E-05"
+        iyz="-1.6551E-06"
+        izz="7.6663E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/R_hand_base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/R_hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="R_thumb_proximal_base">
+    <inertial>
+      <origin
+        xyz="-0.0048064 0.0009382 -0.00757"
+        rpy="0 0 0" />
+      <mass
+        value="0.0018869" />
+      <inertia
+        ixx="5.816E-08"
+        ixy="1.4539E-08"
+        ixz="4.491E-09"
+        iyy="7.9161E-08"
+        iyz="-1.8727E-09"
+        izz="6.7433E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link11_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link11_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.01696 -0.0691 -0.02045"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_thumb_proximal_base" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.1"
+      upper="1.3"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.021932 0.012785 -0.0080386"
+        rpy="0 0 0" />
+      <mass
+        value="0.0066075" />
+      <inertia
+        ixx="1.5686E-06"
+        ixy="-7.8296E-07"
+        ixz="8.9143E-10"
+        iyy="1.7353E-06"
+        iyz="-1.0191E-09"
+        izz="2.786E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link12_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link12_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0088099 0.010892 -0.00925"
+      rpy="1.5708 0 2.8587" />
+    <parent
+      link="R_thumb_proximal_base" />
+    <child
+      link="R_thumb_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.1"
+      upper="0.6"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0095544 -0.0016282 -0.0071997"
+        rpy="0 0 0" />
+      <mass
+        value="0.0037847" />
+      <inertia
+        ixx="3.6981E-07"
+        ixy="-9.8581E-08"
+        ixz="-4.7469E-12"
+        iyy="3.2394E-07"
+        iyz="1.0939E-12"
+        izz="4.6531E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link13_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link13_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.04407 0.034553 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_proximal" />
+    <child
+      link="R_thumb_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.8"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_thumb_proximal_pitch_joint"
+      multiplier="1.6"
+      offset="0" />
+  </joint>
+
+  <link name="R_thumb_distal">
+    <inertial>
+      <origin
+        xyz="0.0092888 0.0049529 -0.0060033"
+        rpy="0 0 0" />
+      <mass
+        value="0.0033441" />
+      <inertia
+        ixx="1.3632E-07"
+        ixy="-5.6788E-08"
+        ixz="-9.2764E-11"
+        iyy="1.4052E-07"
+        iyz="-1.2283E-10"
+        izz="2.0026E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link14_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link14_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_distal_joint"
+    type="revolute">
+    <origin
+      xyz="0.020248 0.010156 -0.0012"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_intermediate" />
+    <child
+      link="R_thumb_distal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.2"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_thumb_proximal_pitch_joint"
+      multiplier="2.4"
+      offset="0" />
+  </joint>
+
+  <link name="R_index_proximal">
+    <inertial>
+      <origin
+        xyz="0.0012259 0.011942 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6232E-07"
+        ixy="-1.5775E-08"
+        ixz="1.8515E-12"
+        iyy="2.1146E-07"
+        iyz="-5.0828E-12"
+        izz="6.9398E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link15_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link15_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13653 -0.032268"
+      rpy="-3.1067 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_index_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_index_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0019697 0.019589 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6111E-07"
+        ixy="8.7637E-08"
+        ixz="-3.7751E-13"
+        iyy="9.6076E-08"
+        iyz="9.9444E-13"
+        izz="7.8179E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link16_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link16_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0026138 0.032026 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_index_proximal" />
+    <child
+      link="R_index_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_index_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_middle_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.8002E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6808E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link17_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link17_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.1371 -0.01295"
+      rpy="-3.1416 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_middle_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_middle_intermediate">
+    <inertial>
+      <origin
+        xyz="0.001921 0.020796 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0050396" />
+      <inertia
+        ixx="9.5822E-07"
+        ixy="1.1425E-07"
+        ixz="-2.4791E-12"
+        iyy="1.0646E-07"
+        iyz="5.9173E-12"
+        izz="9.8384E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link18_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link18_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_middle_proximal" />
+    <child
+      link="R_middle_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_middle_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_ring_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060002"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.5793E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6868E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link19_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link19_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13691 0.0062872"
+      rpy="3.0892 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_ring_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_ring_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0021753 0.019567 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6286E-07"
+        ixy="8.0635E-08"
+        ixz="-6.1562E-13"
+        iyy="9.431E-08"
+        iyz="5.8619E-13"
+        izz="7.8177E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link20_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link20_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_ring_proximal" />
+    <child
+      link="R_ring_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_ring_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_pinky_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.6907E-12"
+        iyy="2.1167E-07"
+        iyz="-6.9334E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link21_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link21_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13571 0.025488"
+      rpy="3.0369 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_pinky_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_pinky_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0024748 0.016203 -0.0050031"
+        rpy="0 0 0" />
+      <mass
+        value="0.0035996" />
+      <inertia
+        ixx="4.3913E-07"
+        ixy="4.1418E-08"
+        ixz="3.7168E-11"
+        iyy="7.0247E-08"
+        iyz="5.8613E-11"
+        izz="4.4867E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link22_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/Link22_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_pinky_proximal" />
+    <child
+      link="R_pinky_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_pinky_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+  <link
+    name="logo_link">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/logo_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+
+  </link>
+  <joint
+    name="logo_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="logo_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+      <!-- virtual ref links -->
+  <link name="R_ref_x">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-6"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_ref_y">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-6"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="R_ref_z">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-6"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_ref_x">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-6"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_ref_y">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-6"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="L_ref_z">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-6"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_ref_x_joint" type="fixed">
+    <parent link="R_hand_base_link"/>
+    <child link="R_ref_x"/>
+    <origin rpy="0 0 0" xyz="0.1 0 0"/>
+  </joint>
+  <joint name="R_ref_y_joint" type="fixed">
+    <parent link="R_hand_base_link"/>
+    <child link="R_ref_y"/>
+    <origin rpy="0 0 0" xyz="0 0.1 0"/>
+  </joint>
+  <joint name="R_ref_z_joint" type="fixed">
+    <parent link="R_hand_base_link"/>
+    <child link="R_ref_z"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1"/>
+  </joint>
+    <joint name="L_ref_x_joint" type="fixed">
+    <parent link="L_hand_base_link"/>
+    <child link="L_ref_x"/>
+    <origin rpy="0 0 0" xyz="0.1 0 0"/>
+  </joint>
+  <joint name="L_ref_y_joint" type="fixed">
+    <parent link="L_hand_base_link"/>
+    <child link="L_ref_y"/>
+    <origin rpy="0 0 0" xyz="0 0.1 0"/>
+  </joint>
+  <joint name="L_ref_z_joint" type="fixed">
+    <parent link="L_hand_base_link"/>
+    <child link="L_ref_z"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/assets/inspire_hand/inspire_hand_left.urdf b/assets/inspire_hand/inspire_hand_left.urdf
new file mode 100644
index 0000000..86299b3
--- /dev/null
+++ b/assets/inspire_hand/inspire_hand_left.urdf
@@ -0,0 +1,819 @@
+<robot
+  name="h1">
+
+    <link name="L_hand_base_link">
+      <inertial>
+        <origin
+          xyz="-0.002551 -0.066047 -0.0019357"
+          rpy="0 0 0" />
+        <mass
+          value="0.14143" />
+        <inertia
+          ixx="0.0001234"
+          ixy="2.1995E-06"
+          ixz="-1.7694E-06"
+          iyy="8.3835E-05"
+          iyz="1.5968E-06"
+          izz="7.7231E-05" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/L_hand_base_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/L_hand_base_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="L_thumb_proximal_base">
+      <inertial>
+        <origin
+          xyz="0.0048817 0.00038782 -0.00722"
+          rpy="0 0 0" />
+        <mass
+          value="0.0018869" />
+        <inertia
+          ixx="5.5158E-08"
+          ixy="-1.1803E-08"
+          ixz="-4.6743E-09"
+          iyy="8.2164E-08"
+          iyz="-1.3521E-09"
+          izz="6.7434E-08" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link11_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link11_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_yaw_joint"
+      type="revolute">
+      <origin
+        xyz="-0.01696 -0.0691 0.02045"
+        rpy="1.5708 -1.5708 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_thumb_proximal_base" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        lower="-0.1"
+        upper="1.3"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_proximal">
+      <inertial>
+        <origin
+          xyz="0.021936 -0.01279 -0.0080386"
+          rpy="0 0 0" />
+        <mass
+          value="0.0066101" />
+        <inertia
+          ixx="1.5693E-06"
+          ixy="7.8339E-07"
+          ixz="8.5959E-10"
+          iyy="1.7356E-06"
+          iyz="1.0378E-09"
+          izz="2.787E-06" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link12_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link12_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_pitch_joint"
+      type="revolute">
+      <origin
+        xyz="0.0099867 0.0098242 -0.0089"
+        rpy="-1.5708 0 0.16939" />
+      <parent
+        link="L_thumb_proximal_base" />
+      <child
+        link="L_thumb_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0.0"
+        upper="0.5"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0095531 0.0016282 -0.0072002"
+          rpy="0 0 0" />
+        <mass
+          value="0.0037844" />
+        <inertia
+          ixx="3.6981E-07"
+          ixy="9.8603E-08"
+          ixz="-2.8173E-12"
+          iyy="3.2395E-07"
+          iyz="-2.8028E-12"
+          izz="4.6532E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link13_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link13_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="0.04407 -0.034553 -0.0008"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_proximal" />
+      <child
+        link="L_thumb_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="0.8"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_thumb_proximal_pitch_joint"
+        multiplier="1.6"
+        offset="0" />
+    </joint>
+
+    <link name="L_thumb_distal">
+      <inertial>
+        <origin
+          xyz="0.0092888 -0.004953 -0.0060033"
+          rpy="0 0 0" />
+        <mass
+          value="0.003344" />
+        <inertia
+          ixx="1.3632E-07"
+          ixy="5.6787E-08"
+          ixz="-9.1939E-11"
+          iyy="1.4052E-07"
+          iyz="1.2145E-10"
+          izz="2.0026E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link14_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link14_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_distal_joint"
+      type="revolute">
+      <origin
+        xyz="0.020248 -0.010156 -0.0012"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_intermediate" />
+      <child
+        link="L_thumb_distal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.2"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_thumb_proximal_pitch_joint"
+        multiplier="2.4"
+        offset="0" />
+    </joint>
+
+    <link name="L_index_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059998"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.3746E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4773E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link15_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link15_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="L_thumb_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_thumb_tip_joint" type="fixed">
+    <parent link="L_thumb_distal"/>
+    <child link="L_thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.015 -0.013 -0.004"/>
+  </joint>
+
+    <joint
+      name="L_index_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13653 0.032268"
+        rpy="-0.034907 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_index_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_index_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6284E-07"
+          ixy="-8.063E-08"
+          ixz="3.6797E-13"
+          iyy="9.4308E-08"
+          iyz="1.5743E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link16_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link16_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_index_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_index_proximal" />
+      <child
+        link="L_index_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_index_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_index_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_index_tip_joint" type="fixed">
+    <parent link="L_index_intermediate"/>
+    <child link="L_index_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 -0.04 -0.004"/>
+  </joint>
+
+    <link name="L_middle_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.2299E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4484E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link17_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link17_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_middle_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.1371 0.01295"
+        rpy="0 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_middle_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_middle_intermediate">
+      <inertial>
+        <origin
+          xyz="0.001921 -0.020796 -0.0049999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0050397" />
+        <inertia
+          ixx="9.5823E-07"
+          ixy="-1.1425E-07"
+          ixz="-2.4186E-12"
+          iyy="1.0646E-07"
+          iyz="3.6974E-12"
+          izz="9.8385E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link18_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link18_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+    
+    <joint
+      name="L_middle_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_middle_proximal" />
+      <child
+        link="L_middle_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_middle_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_middle_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_middle_tip_joint" type="fixed">
+    <parent link="L_middle_intermediate"/>
+    <child link="L_middle_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 -0.045 -0.004"/>
+  </joint>
+
+    <link name="L_ring_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="9.6052E-13"
+          iyy="2.1167E-07"
+          iyz="-1.4124E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link19_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link19_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13691 -0.0062872"
+        rpy="0.05236 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_ring_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_ring_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6285E-07"
+          ixy="-8.0631E-08"
+          ixz="3.3472E-14"
+          iyy="9.4308E-08"
+          iyz="-4.4773E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link20_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link20_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_ring_proximal" />
+      <child
+        link="L_ring_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_ring_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_ring_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_ring_tip_joint" type="fixed">
+    <parent link="L_ring_intermediate"/>
+    <child link="L_ring_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 -0.04 -0.004"/>
+  </joint>
+
+    <link name="L_pinky_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.0279E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4277E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link21_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link21_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13571 -0.025488"
+        rpy="0.10472 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_pinky_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_pinky_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0024788 -0.016208 -0.0050001"
+          rpy="0 0 0" />
+        <mass
+          value="0.0036036" />
+        <inertia
+          ixx="4.3923E-07"
+          ixy="-4.1355E-08"
+          ixz="1.2263E-12"
+          iyy="7.0315E-08"
+          iyz="3.1311E-12"
+          izz="4.4881E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link22_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link22_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_pinky_proximal" />
+      <child
+        link="L_pinky_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_pinky_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_pinky_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_pinky_tip_joint" type="fixed">
+    <parent link="L_pinky_intermediate"/>
+    <child link="L_pinky_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 -0.032 -0.004"/>
+  </joint>
+
+</robot>
\ No newline at end of file
diff --git a/assets/inspire_hand/inspire_hand_right.urdf b/assets/inspire_hand/inspire_hand_right.urdf
new file mode 100644
index 0000000..8b9101a
--- /dev/null
+++ b/assets/inspire_hand/inspire_hand_right.urdf
@@ -0,0 +1,830 @@
+<robot
+  name="h1">
+
+  <mujoco>
+    <compiler meshdir="./meshes" discardvisual="false" />
+  </mujoco>
+
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world" />
+    <child link="pelvis" />
+  </joint> -->
+
+  <link name="R_hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.0025264 -0.066047 0.0019598"
+        rpy="0 0 0" />
+      <mass
+        value="0.14143" />
+      <inertia
+        ixx="0.00012281"
+        ixy="2.1711E-06"
+        ixz="1.7709E-06"
+        iyy="8.3832E-05"
+        iyz="-1.6551E-06"
+        izz="7.6663E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/R_hand_base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/R_hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="R_thumb_proximal_base">
+    <inertial>
+      <origin
+        xyz="-0.0048064 0.0009382 -0.00757"
+        rpy="0 0 0" />
+      <mass
+        value="0.0018869" />
+      <inertia
+        ixx="5.816E-08"
+        ixy="1.4539E-08"
+        ixz="4.491E-09"
+        iyy="7.9161E-08"
+        iyz="-1.8727E-09"
+        izz="6.7433E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link11_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link11_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.01696 -0.0691 -0.02045"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_thumb_proximal_base" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.1"
+      upper="1.3"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.021932 0.012785 -0.0080386"
+        rpy="0 0 0" />
+      <mass
+        value="0.0066075" />
+      <inertia
+        ixx="1.5686E-06"
+        ixy="-7.8296E-07"
+        ixz="8.9143E-10"
+        iyy="1.7353E-06"
+        iyz="-1.0191E-09"
+        izz="2.786E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link12_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link12_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0088099 0.010892 -0.00925"
+      rpy="1.5708 0 2.8587" />
+    <parent
+      link="R_thumb_proximal_base" />
+    <child
+      link="R_thumb_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0.0"
+      upper="0.5"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0095544 -0.0016282 -0.0071997"
+        rpy="0 0 0" />
+      <mass
+        value="0.0037847" />
+      <inertia
+        ixx="3.6981E-07"
+        ixy="-9.8581E-08"
+        ixz="-4.7469E-12"
+        iyy="3.2394E-07"
+        iyz="1.0939E-12"
+        izz="4.6531E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link13_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link13_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.04407 0.034553 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_proximal" />
+    <child
+      link="R_thumb_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.8"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_thumb_proximal_pitch_joint"
+      multiplier="1.6"
+      offset="0" />
+  </joint>
+
+  <link name="R_thumb_distal">
+    <inertial>
+      <origin
+        xyz="0.0092888 0.0049529 -0.0060033"
+        rpy="0 0 0" />
+      <mass
+        value="0.0033441" />
+      <inertia
+        ixx="1.3632E-07"
+        ixy="-5.6788E-08"
+        ixz="-9.2764E-11"
+        iyy="1.4052E-07"
+        iyz="-1.2283E-10"
+        izz="2.0026E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link14_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link14_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_distal_joint"
+    type="revolute">
+    <origin
+      xyz="0.020248 0.010156 -0.0012"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_intermediate" />
+    <child
+      link="R_thumb_distal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.2"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_thumb_proximal_pitch_joint"
+      multiplier="2.4"
+      offset="0" />
+  </joint>
+
+  <link name="R_thumb_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_thumb_tip_joint" type="fixed">
+    <parent link="R_thumb_distal"/>
+    <child link="R_thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.015 0.013 -0.004"/>
+  </joint>
+
+  <link name="R_index_proximal">
+    <inertial>
+      <origin
+        xyz="0.0012259 0.011942 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6232E-07"
+        ixy="-1.5775E-08"
+        ixz="1.8515E-12"
+        iyy="2.1146E-07"
+        iyz="-5.0828E-12"
+        izz="6.9398E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link15_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link15_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13653 -0.032268"
+      rpy="-3.1067 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_index_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_index_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0019697 0.019589 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6111E-07"
+        ixy="8.7637E-08"
+        ixz="-3.7751E-13"
+        iyy="9.6076E-08"
+        iyz="9.9444E-13"
+        izz="7.8179E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link16_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link16_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0026138 0.032026 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_index_proximal" />
+    <child
+      link="R_index_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_index_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_index_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_index_tip_joint" type="fixed">
+    <parent link="R_index_intermediate"/>
+    <child link="R_index_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 0.04 -0.004"/>
+  </joint>
+
+  <link name="R_middle_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.8002E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6808E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link17_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link17_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.1371 -0.01295"
+      rpy="-3.1416 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_middle_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_middle_intermediate">
+    <inertial>
+      <origin
+        xyz="0.001921 0.020796 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0050396" />
+      <inertia
+        ixx="9.5822E-07"
+        ixy="1.1425E-07"
+        ixz="-2.4791E-12"
+        iyy="1.0646E-07"
+        iyz="5.9173E-12"
+        izz="9.8384E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link18_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link18_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_middle_proximal" />
+    <child
+      link="R_middle_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_middle_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_middle_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_middle_tip_joint" type="fixed">
+    <parent link="R_middle_intermediate"/>
+    <child link="R_middle_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 0.045 -0.004"/>
+  </joint>
+
+  <link name="R_ring_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060002"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.5793E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6868E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link19_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link19_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13691 0.0062872"
+      rpy="3.0892 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_ring_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_ring_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0021753 0.019567 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6286E-07"
+        ixy="8.0635E-08"
+        ixz="-6.1562E-13"
+        iyy="9.431E-08"
+        iyz="5.8619E-13"
+        izz="7.8177E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link20_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link20_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_ring_proximal" />
+    <child
+      link="R_ring_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_ring_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_ring_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_ring_tip_joint" type="fixed">
+    <parent link="R_ring_intermediate"/>
+    <child link="R_ring_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 0.04 -0.004"/>
+  </joint>
+
+  <link name="R_pinky_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.6907E-12"
+        iyy="2.1167E-07"
+        iyz="-6.9334E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link21_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link21_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13571 0.025488"
+      rpy="3.0369 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_pinky_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_pinky_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0024748 0.016203 -0.0050031"
+        rpy="0 0 0" />
+      <mass
+        value="0.0035996" />
+      <inertia
+        ixx="4.3913E-07"
+        ixy="4.1418E-08"
+        ixz="3.7168E-11"
+        iyy="7.0247E-08"
+        iyz="5.8613E-11"
+        izz="4.4867E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link22_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link22_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_pinky_proximal" />
+    <child
+      link="R_pinky_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_pinky_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_pinky_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_pinky_tip_joint" type="fixed">
+    <parent link="R_pinky_intermediate"/>
+    <child link="R_pinky_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 0.032 -0.004"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/assets/inspire_hand/meshes/L_hand_base_link.STL b/assets/inspire_hand/meshes/L_hand_base_link.STL
new file mode 100644
index 0000000..a2f67ee
Binary files /dev/null and b/assets/inspire_hand/meshes/L_hand_base_link.STL differ
diff --git a/assets/inspire_hand/meshes/L_hand_base_link.STL.convex.stl b/assets/inspire_hand/meshes/L_hand_base_link.STL.convex.stl
new file mode 100644
index 0000000..554d9e0
--- /dev/null
+++ b/assets/inspire_hand/meshes/L_hand_base_link.STL.convex.stl
@@ -0,0 +1,1474 @@
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new file mode 100644
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new file mode 100644
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diff --git a/assets/inspire_hand/meshes/Link12_L.STL b/assets/inspire_hand/meshes/Link12_L.STL
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diff --git a/assets/inspire_hand/meshes/Link12_L.STL.convex.stl b/assets/inspire_hand/meshes/Link12_L.STL.convex.stl
new file mode 100644
index 0000000..c3908b1
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diff --git a/assets/inspire_hand/meshes/Link12_R.STL b/assets/inspire_hand/meshes/Link12_R.STL
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index 0000000..137dbde
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diff --git a/assets/inspire_hand/meshes/Link12_R.STL.convex.stl b/assets/inspire_hand/meshes/Link12_R.STL.convex.stl
new file mode 100644
index 0000000..b77a3e3
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diff --git a/assets/inspire_hand/meshes/Link13_L.STL b/assets/inspire_hand/meshes/Link13_L.STL
new file mode 100644
index 0000000..03a3425
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diff --git a/assets/inspire_hand/meshes/Link13_L.STL.convex.stl b/assets/inspire_hand/meshes/Link13_L.STL.convex.stl
new file mode 100644
index 0000000..cdb22cd
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diff --git a/assets/inspire_hand/meshes/Link13_R.STL b/assets/inspire_hand/meshes/Link13_R.STL
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index 0000000..a42829f
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diff --git a/assets/inspire_hand/meshes/Link13_R.STL.convex.stl b/assets/inspire_hand/meshes/Link13_R.STL.convex.stl
new file mode 100644
index 0000000..ef56b3d
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diff --git a/assets/inspire_hand/meshes/Link14_L.STL b/assets/inspire_hand/meshes/Link14_L.STL
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new file mode 100644
index 0000000..0ce7ba2
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diff --git a/assets/inspire_hand/meshes/Link14_R.STL b/assets/inspire_hand/meshes/Link14_R.STL
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index 0000000..13f98f8
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diff --git a/assets/inspire_hand/meshes/Link14_R.STL.convex.stl b/assets/inspire_hand/meshes/Link14_R.STL.convex.stl
new file mode 100644
index 0000000..6c5bab6
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diff --git a/assets/inspire_hand/meshes/Link15_L.STL b/assets/inspire_hand/meshes/Link15_L.STL
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diff --git a/assets/inspire_hand/meshes/Link15_L.STL.convex.stl b/assets/inspire_hand/meshes/Link15_L.STL.convex.stl
new file mode 100644
index 0000000..c3a0b56
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diff --git a/assets/inspire_hand/meshes/Link15_R.STL b/assets/inspire_hand/meshes/Link15_R.STL
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diff --git a/assets/inspire_hand/meshes/Link15_R.STL.convex.stl b/assets/inspire_hand/meshes/Link15_R.STL.convex.stl
new file mode 100644
index 0000000..3b1d036
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diff --git a/assets/inspire_hand/meshes/Link16_L.STL b/assets/inspire_hand/meshes/Link16_L.STL
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diff --git a/assets/inspire_hand/meshes/Link16_L.STL.convex.stl b/assets/inspire_hand/meshes/Link16_L.STL.convex.stl
new file mode 100644
index 0000000..0af258c
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diff --git a/assets/inspire_hand/meshes/Link16_R.STL b/assets/inspire_hand/meshes/Link16_R.STL
new file mode 100644
index 0000000..0cf0f8d
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diff --git a/assets/inspire_hand/meshes/Link16_R.STL.convex.stl b/assets/inspire_hand/meshes/Link16_R.STL.convex.stl
new file mode 100644
index 0000000..2991589
--- /dev/null
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diff --git a/assets/inspire_hand/meshes/Link17_L.STL b/assets/inspire_hand/meshes/Link17_L.STL
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diff --git a/assets/inspire_hand/meshes/Link17_L.STL.convex.stl b/assets/inspire_hand/meshes/Link17_L.STL.convex.stl
new file mode 100644
index 0000000..2d8b7ae
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diff --git a/assets/inspire_hand/meshes/Link17_R.STL b/assets/inspire_hand/meshes/Link17_R.STL
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diff --git a/assets/inspire_hand/meshes/Link17_R.STL.convex.stl b/assets/inspire_hand/meshes/Link17_R.STL.convex.stl
new file mode 100644
index 0000000..d2327d5
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diff --git a/assets/inspire_hand/meshes/Link18_L.STL b/assets/inspire_hand/meshes/Link18_L.STL
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new file mode 100644
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diff --git a/assets/inspire_hand/meshes/Link18_R.STL b/assets/inspire_hand/meshes/Link18_R.STL
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diff --git a/assets/inspire_hand/meshes/Link18_R.STL.convex.stl b/assets/inspire_hand/meshes/Link18_R.STL.convex.stl
new file mode 100644
index 0000000..3b16fa2
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diff --git a/assets/inspire_hand/meshes/Link20_R.STL b/assets/inspire_hand/meshes/Link20_R.STL
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index 0000000..5fed852
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diff --git a/assets/inspire_hand/meshes/Link20_R.STL.convex.stl b/assets/inspire_hand/meshes/Link20_R.STL.convex.stl
new file mode 100644
index 0000000..a957587
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diff --git a/assets/inspire_hand/meshes/Link21_L.STL b/assets/inspire_hand/meshes/Link21_L.STL
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index 0000000..ccb63bf
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diff --git a/assets/inspire_hand/meshes/Link21_L.STL.convex.stl b/assets/inspire_hand/meshes/Link21_L.STL.convex.stl
new file mode 100644
index 0000000..800f2f7
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diff --git a/assets/inspire_hand/meshes/Link21_R.STL b/assets/inspire_hand/meshes/Link21_R.STL
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diff --git a/assets/inspire_hand/meshes/Link21_R.STL.convex.stl b/assets/inspire_hand/meshes/Link21_R.STL.convex.stl
new file mode 100644
index 0000000..d2327d5
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diff --git a/assets/inspire_hand/meshes/Link22_L.STL b/assets/inspire_hand/meshes/Link22_L.STL
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index 0000000..6b9cdad
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diff --git a/assets/inspire_hand/meshes/Link22_L.STL.convex.stl b/assets/inspire_hand/meshes/Link22_L.STL.convex.stl
new file mode 100644
index 0000000..8b3908e
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diff --git a/assets/inspire_hand/meshes/Link22_R.STL b/assets/inspire_hand/meshes/Link22_R.STL
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diff --git a/assets/inspire_hand/meshes/Link22_R.STL.convex.stl b/assets/inspire_hand/meshes/Link22_R.STL.convex.stl
new file mode 100644
index 0000000..f3bd51b
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diff --git a/assets/inspire_hand/meshes/R_hand_base_link.STL b/assets/inspire_hand/meshes/R_hand_base_link.STL
new file mode 100644
index 0000000..3478a98
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diff --git a/assets/inspire_hand/meshes/R_hand_base_link.STL.convex.stl b/assets/inspire_hand/meshes/R_hand_base_link.STL.convex.stl
new file mode 100644
index 0000000..fb48c12
--- /dev/null
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diff --git a/img/1.webp b/img/1.webp
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diff --git a/img/2.webp b/img/2.webp
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diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..36c9e5f
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,27 @@
+aiohttp==3.9.5
+aiohttp_cors==0.7.0
+aiortc==1.8.0
+av==11.0.0
+dex_retargeting==0.1.1
+dynamixel_sdk==3.7.31
+einops==0.8.0
+h5py==3.11.0
+ipython==8.12.3
+matplotlib==3.7.5
+numpy==1.23.0
+opencv_contrib_python==4.10.0.82
+opencv_python==4.9.0.80
+packaging==24.1
+pandas==2.0.3
+params_proto==2.12.1
+pytransform3d==3.5.0
+PyYAML==6.0.1
+scikit_learn==1.3.2
+scipy==1.10.1
+seaborn==0.13.2
+setuptools==69.5.1
+torch==2.3.0
+torchvision==0.18.0
+tqdm==4.66.4
+vuer==0.0.32rc7
+wandb==0.17.3
diff --git a/scripts/deploy_sim.py b/scripts/deploy_sim.py
new file mode 100644
index 0000000..294661a
--- /dev/null
+++ b/scripts/deploy_sim.py
@@ -0,0 +1,150 @@
+from isaacgym import gymapi
+from isaacgym import gymutil
+
+import math
+import numpy as np
+import matplotlib.pyplot as plt
+
+from replay_demo import Player
+
+from pathlib import Path
+import h5py
+from tqdm import tqdm
+import time
+import yaml
+import pickle
+import torch
+import cv2
+from collections import deque
+import argparse
+import sys
+sys.path.append("../")
+from act.utils import parse_id
+# from act.imitate_episodes import RECORD_DIR, DATA_DIR, LOG_DIR
+
+from pathlib import Path
+current_dir = Path(__file__).parent.resolve()
+DATA_DIR = (current_dir.parent / 'data/').resolve()
+RECORD_DIR = (DATA_DIR / 'recordings/').resolve()
+LOG_DIR = (DATA_DIR / 'logs/').resolve()
+# print(f"\nDATA dir: {DATA_DIR}")
+
+def get_norm_stats(data_path):
+    # norm_stats = {
+    #     "action_mean": np.array([]), "action_std": np.array([]),
+    #     "qpos_mean": np.array([]), "qpos_std": np.array([]),
+    # }
+    with open(data_path, "rb") as f:
+        norm_stats = pickle.load(f)
+    return norm_stats
+
+
+def load_policy(policy_path, device):
+    policy = torch.jit.load(policy_path, map_location=device)
+    return policy
+
+
+def normalize_input(state, left_img, right_img, norm_stats, last_action_data=None):
+    # import ipdb; ipdb.set_trace()
+    # left_img = cv2.resize(left_img, (308, 224))
+    # right_img = cv2.resize(right_img, (308, 224))
+    image_data = torch.from_numpy(np.stack([left_img, right_img], axis=0)) / 255.0
+    qpos_data = (torch.from_numpy(state) - norm_stats["qpos_mean"]) / norm_stats["qpos_std"]
+    image_data = image_data.view((1, 2, 3, 480, 640)).to(device='cuda')
+    qpos_data = qpos_data.view((1, 26)).to(device='cuda')
+
+    if last_action_data is not None:
+        last_action_data = torch.from_numpy(last_action_data).to(device='cuda').view((1, -1)).to(torch.float)
+        qpos_data = torch.cat((qpos_data, last_action_data), dim=1)
+    return (qpos_data, image_data)
+
+
+def merge_act(actions_for_curr_step, k = 0.01):
+    actions_populated = np.all(actions_for_curr_step != 0, axis=1)
+    actions_for_curr_step = actions_for_curr_step[actions_populated]
+
+    exp_weights = np.exp(-k * np.arange(actions_for_curr_step.shape[0]))
+    exp_weights = (exp_weights / exp_weights.sum()).reshape((-1, 1))
+    raw_action = (actions_for_curr_step * exp_weights).sum(axis=0)
+
+    return raw_action
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser('Set transformer detector', add_help=False)
+    parser.add_argument('--taskid', action='store', type=str, help='task id', required=True)
+    parser.add_argument('--exptid', action='store', type=str, help='experiment id', required=True)
+    parser.add_argument('--resume_ckpt', action='store', type=str, help='resume checkpoint', required=True)
+    args = vars(parser.parse_args())
+
+    episode_name = "processed_episode_0.hdf5"
+    task_dir, task_name = parse_id(RECORD_DIR, args['taskid'])
+    episode_path = (Path(task_dir) / 'processed' / episode_name).resolve()
+    exp_path, _ = parse_id((Path(LOG_DIR) / task_name).resolve(), args['exptid'])
+    
+    norm_stat_path = Path(exp_path) / "dataset_stats.pkl"
+    policy_path = Path(exp_path) / f"traced_jit_{args['resume_ckpt']}.pt"
+    
+    temporal_agg = True
+    action_dim = 28
+
+    chunk_size = 60
+    device = "cuda"
+
+    data = h5py.File(str(episode_path), 'r')
+    actions = np.array(data['qpos_action'])
+    left_imgs = np.array(data['observation.image.left'])
+    right_imgs = np.array(data['observation.image.right'])
+    states = np.array(data['observation.state'])
+    init_action = np.array(data.attrs['init_action'])
+    data.close()
+    timestamps = states.shape[0]
+
+    norm_stats = get_norm_stats(norm_stat_path)
+    policy = load_policy(policy_path, device)
+    policy.cuda()
+    policy.eval()
+
+    history_stack = 0
+    if history_stack > 0:
+        last_action_queue = deque(maxlen=history_stack)
+        for i in range(history_stack):
+            last_action_queue.append(actions[0])
+    else:
+        last_action_queue = None
+        last_action_data = None
+    player = Player(dt=1/30)
+
+    if temporal_agg:
+        all_time_actions = np.zeros([timestamps, timestamps+chunk_size, action_dim])
+    else:
+        num_actions_exe = chunk_size
+    
+    try:
+        output = None
+        act_index = 0
+        for t in tqdm(range(timestamps)):
+            if history_stack > 0:
+                last_action_data = np.array(last_action_queue)
+
+            data = normalize_input(states[t], left_imgs[t], right_imgs[t], norm_stats, last_action_data)
+
+            if temporal_agg:
+                output = policy(*data)[0].detach().cpu().numpy() # (1,chuck_size,action_dim)
+                all_time_actions[[t], t:t+chunk_size] = output
+                act = merge_act(all_time_actions[:, t])
+            else:
+                if output is None or act_index == num_actions_exe-1:
+                    print("Inference...")
+                    output = policy(*data)[0].detach().cpu().numpy()
+                    act_index = 0
+                act = output[act_index]
+                act_index += 1
+            # import ipdb; ipdb.set_trace()
+            if history_stack > 0:
+                last_action_queue.append(act)
+            act = act * norm_stats["action_std"] + norm_stats["action_mean"]
+            player.step(act, left_imgs[t], right_imgs[t])
+    except KeyboardInterrupt:
+        player.end()
+        exit()
\ No newline at end of file
diff --git a/scripts/plot_action.py b/scripts/plot_action.py
new file mode 100644
index 0000000..28cecf4
--- /dev/null
+++ b/scripts/plot_action.py
@@ -0,0 +1,33 @@
+import math
+import numpy as np
+import matplotlib.pyplot as plt
+
+from pathlib import Path
+import h5py
+from tqdm import tqdm
+import time
+import yaml
+import pickle
+
+
+if __name__ == '__main__':
+
+    root = "../data/recordings"
+    exp_name = "00-can-sorting"
+    episode_name = "processed_episode_0.hdf5"
+    episode_path = Path(root) / exp_name / "processed" / episode_name
+
+    data = h5py.File(str(episode_path), 'r')
+    actions = np.array(data['qpos_action'])
+    data.close()
+    timestamps = actions.shape[0]
+    action_dim = actions.shape[1]
+
+    plot_num = np.ceil(np.sqrt(action_dim)).astype(int)
+    plt.subplot(plot_num, plot_num, 1)
+
+    for i in range(action_dim):
+        plt.subplot(plot_num, plot_num, i+1)
+        plt.plot(np.arange(timestamps), actions[:,i])
+
+    plt.show()
diff --git a/scripts/post_process.py b/scripts/post_process.py
new file mode 100644
index 0000000..35c6f3b
--- /dev/null
+++ b/scripts/post_process.py
@@ -0,0 +1,207 @@
+import h5py
+import numpy as np
+import pyzed.sl as sl
+import time
+import cv2
+import matplotlib.pyplot as plt 
+import tqdm
+import torch
+from torch.utils.data import Dataset
+import os 
+import multiprocessing
+from numpy.lib.stride_tricks import as_strided
+
+from pytransform3d import rotations
+import concurrent.futures
+from pathlib import Path
+import argparse
+
+def load_svo(path, crop_size_h=240, crop_size_w=320):
+    input_file = path + ".svo"
+    # import ipdb; ipdb.set_trace()
+    print(input_file)
+    crop_size_h = crop_size_h
+    crop_size_w = crop_size_w
+    init_parameters = sl.InitParameters()
+    init_parameters.set_from_svo_file(input_file)
+
+    zed = sl.Camera()
+    err = zed.open(init_parameters)
+    left_image = sl.Mat()
+    right_image = sl.Mat()
+
+    nb_frames = zed.get_svo_number_of_frames()
+    print("Total image frames: ", nb_frames)
+
+    cropped_img_shape = (720-crop_size_h, 1280-2*crop_size_w)
+    left_imgs = np.zeros((nb_frames, 3, cropped_img_shape[0], cropped_img_shape[1]), dtype=np.uint8)
+    right_imgs = np.zeros((nb_frames, 3, cropped_img_shape[0], cropped_img_shape[1]), dtype=np.uint8)
+    timestamps = np.zeros((nb_frames, ), dtype=np.int64)
+    cnt = 0
+    while True:
+        if zed.grab() == sl.ERROR_CODE.SUCCESS:
+            zed.retrieve_image(left_image, sl.VIEW.LEFT)
+            zed.retrieve_image(right_image, sl.VIEW.RIGHT)
+
+            timestamps[cnt] = zed.get_timestamp(sl.TIME_REFERENCE.IMAGE).get_milliseconds()
+            # import ipdb; ipdb.set_trace()
+            left_imgs[cnt] = cv2.cvtColor(left_image.get_data()[crop_size_h:, crop_size_w:-crop_size_w], cv2.COLOR_BGRA2RGB).transpose(2, 0, 1)
+            right_imgs[cnt] = cv2.cvtColor(right_image.get_data()[crop_size_h:, crop_size_w:-crop_size_w], cv2.COLOR_BGRA2RGB).transpose(2, 0, 1)
+            cnt += 1
+            if cnt % 100 == 0:
+                print(f"{cnt/nb_frames*100:.2f}%")
+                # plt.imsave(f"left_img_{cnt}.png", left_imgs[cnt-1].transpose(1, 2, 0))
+        elif zed.grab() == sl.ERROR_CODE.END_OF_SVOFILE_REACHED:
+            break
+    # print delta mean and std for img_timstamps
+    delta = np.diff(timestamps)[:-1]
+    print("img timestamps delta mean: ", np.mean(delta))
+    print("img timestamps delta std: ", np.std(delta))
+    return left_imgs[10:-10], right_imgs[10:-10], timestamps[10:-10]
+
+def load_hdf5(path, offset=10):  # offset 10ms
+    input_file = path + ".hdf5"
+    file = h5py.File(input_file, 'r')
+    print(f"Total hdf5_frames: {file['/obs/timestamp'].shape[0]}")
+    # print(file["/obs/timestamp"].shape)
+    # print(file["/obs/qpos"].shape)
+    # print(file["/obs/qvel"].shape)
+    # print(file["/action/joint_pos"].shape)
+    # print("keys: ", list(file.keys()))
+    timestamps = np.array(file["/obs/timestamp"][:] * 1000, dtype=np.int64) - offset
+    states = np.array(file["/obs/qpos"][:])
+    actions = np.array(file["/action/joint_pos"][:])
+    cmds = np.array(file["/action/cmd"][:])
+
+    return timestamps, states, actions, cmds
+
+def match_timestamps(candidate, ref):
+    closest_indices = []
+    # candidate = np.sort(candidate)
+    for t in ref:
+        idx = np.searchsorted(candidate, t, side="left")
+        if idx > 0 and (idx == len(candidate) or np.fabs(t - candidate[idx-1]) < np.fabs(t - candidate[idx])):
+            closest_indices.append(idx-1)
+        else:
+            closest_indices.append(idx)
+    # print("closest_indices: ", len(closest_indices))
+    return np.array(closest_indices)
+
+def find_all_episodes(path):
+    episodes = [os.path.join(path, f) for f in os.listdir(path) if f.startswith('episode') and f.endswith('.svo')]
+    episodes = [os.path.basename(ep).split(".")[0] for ep in episodes]
+    return episodes
+
+def create_chunks(data, chunk_size):
+    N, F = data.shape
+    if chunk_size > N:
+        raise ValueError("chunk_size cannot be greater than N.")
+    
+    stride0, stride1 = data.strides
+    new_shape = (N - chunk_size + 1, chunk_size, F)
+    new_strides = (stride0, stride0, stride1)
+    
+    return as_strided(data, shape=new_shape, strides=new_strides)
+
+def process_episode(file_name, ep):
+    left_imgs, right_imgs, img_timestamps = load_svo(file_name)
+    hdf5_timestamps, states, actions, cmds = load_hdf5(file_name)
+    closest_indices = match_timestamps(candidate=hdf5_timestamps, ref=img_timestamps)
+
+    timesteps = len(closest_indices)
+    qpos_actions = actions[closest_indices]
+    cmds = cmds[closest_indices]
+    
+    # save_video(left_imgs, file_name + ".mp4")
+    path = os.path.dirname(file_name)
+    all_data_path = os.path.join(path, "processed")
+    os.makedirs(all_data_path, exist_ok=True)
+
+    with h5py.File(all_data_path + f"/processed_{ep}.hdf5", 'w') as hf:
+        start = time.time()
+        hf.create_dataset('observation.image.left', data=left_imgs)
+        hf.create_dataset('observation.image.right', data=right_imgs)
+        hf.create_dataset('cmds', data=cmds.astype(np.float32))
+        hf.create_dataset('observation.state', data=states[closest_indices].astype(np.float32))
+        hf.create_dataset('qpos_action', data=qpos_actions.astype(np.float32))
+        hf.attrs['sim'] = False
+        hf.attrs['init_action'] = cmds[0].astype(np.float32)
+        
+        print("Time to save dataset: ", time.time() - start)
+
+def process_all_episodes(all_eps, path):
+    results = []
+    with concurrent.futures.ProcessPoolExecutor() as executor:
+        future_to_ep = {executor.submit(process_episode, os.path.join(path, ep), ep): ep for ep in all_eps}
+        for future in concurrent.futures.as_completed(future_to_ep):
+            ep = future_to_ep[future]
+            try:
+                result = future.result()
+                results.append(result)
+            except Exception as e:
+                print(f"Episode {ep} generated an exception: {e}")
+    return results
+
+def save_video(left_imgs, path):
+    _, height, width= left_imgs[0].shape
+    print(f"width: {width}, height: {height}")
+    fourcc = cv2.VideoWriter_fourcc(*'mp4v')
+    video_writer = cv2.VideoWriter(path, fourcc, 60, (width, height))
+
+    for img in left_imgs:
+        # print(img.shape)
+        img_bgr = cv2.cvtColor(img.transpose(1, 2, 0), cv2.COLOR_RGB2BGR)
+        video_writer.write(img_bgr)
+
+    video_writer.release()
+
+def find_all_processed_episodes(path):
+    episodes = [f for f in os.listdir(path)]
+    return episodes
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--save_video', action='store_true', default=False)
+    args = parser.parse_args()
+
+    root = "../data/recordings"
+    folder_name = "00-can-sorting"
+
+
+    path = os.path.join(root, folder_name)
+
+    all_eps = find_all_episodes(path)
+
+    if args.save_video:
+        file_name = path + "/" + all_eps[0]
+        print("saving video for file: ", file_name)
+        left_imgs, right_imgs, img_timestamps = load_svo(file_name)
+        os.makedirs(os.path.join(path, "videos"), exist_ok=True)
+        save_video(left_imgs, os.path.join(path, "videos", "sample.mp4"))
+    else:
+        for ep in all_eps:
+            file_name = path + "/" + ep
+            process_episode(file_name, ep)
+            print('processed file', file_name)
+
+    # print len
+    folder_path = Path(root) / folder_name / "processed"
+
+    episodes = find_all_processed_episodes(folder_path)
+    num_episodes = len(episodes)
+    lens = []
+
+    for episode in episodes:
+        episode_path = folder_path / episode
+        
+        data = h5py.File(str(episode_path), 'r')
+        lens.append(data['qpos_action'].shape[0])
+        data.close()
+
+    lens = np.array(lens)
+    episodes = np.array(episodes)
+    print(lens[np.argsort(lens)])
+    print(episodes[np.argsort(lens)])
+    # results = process_all_episodes(all_eps, path)
+    # print(len(results))
diff --git a/scripts/replay_demo.py b/scripts/replay_demo.py
new file mode 100644
index 0000000..0275230
--- /dev/null
+++ b/scripts/replay_demo.py
@@ -0,0 +1,175 @@
+from isaacgym import gymapi
+from isaacgym import gymutil
+
+import math
+import numpy as np
+import matplotlib.pyplot as plt
+
+from pytransform3d import rotations
+
+from pathlib import Path
+import h5py
+from tqdm import tqdm
+import time
+import yaml
+import torch
+from torchvision.transforms import v2
+from sklearn.decomposition import PCA
+
+class Player:
+    def __init__(self, dt=1/60):
+        self.dt = dt
+        self.head_mat = None
+        self.left_wrist_mat = None
+        self.right_wrist_mat = None
+        self.left_hand_pos = None
+        self.right_hand_pos = None
+
+        # initialize gym
+        self.gym = gymapi.acquire_gym()
+
+        # configure sim
+        sim_params = gymapi.SimParams()
+        sim_params.dt = dt
+        sim_params.substeps = 2
+        sim_params.up_axis = gymapi.UP_AXIS_Z
+        sim_params.gravity = gymapi.Vec3(0.0, 0.0, -9.81)
+        sim_params.physx.solver_type = 1
+        sim_params.physx.num_position_iterations = 4
+        sim_params.physx.num_velocity_iterations = 1
+        sim_params.physx.max_gpu_contact_pairs = 8388608
+        sim_params.physx.contact_offset = 0.002
+        sim_params.physx.friction_offset_threshold = 0.001
+        sim_params.physx.friction_correlation_distance = 0.0005
+        sim_params.physx.rest_offset = 0.0
+        sim_params.physx.use_gpu = True
+        sim_params.use_gpu_pipeline = False
+
+        self.sim = self.gym.create_sim(0, 0, gymapi.SIM_PHYSX, sim_params)
+        if self.sim is None:
+            print("*** Failed to create sim")
+            quit()
+
+        plane_params = gymapi.PlaneParams()
+        plane_params.distance = 0.0
+        plane_params.normal = gymapi.Vec3(0.0, 0.0, 1.0)
+        self.gym.add_ground(self.sim, plane_params)
+
+        robot_asset_root = "../assets"
+        robot_asset_file = 'h1_inspire/urdf/h1_inspire.urdf'
+        asset_options = gymapi.AssetOptions()
+        asset_options.fix_base_link = True
+        asset_options.default_dof_drive_mode = gymapi.DOF_MODE_POS
+        robot_asset = self.gym.load_asset(self.sim, robot_asset_root, robot_asset_file, asset_options)
+        dof = self.gym.get_asset_dof_count(robot_asset)
+
+        # set up the env grid
+        num_envs = 1
+        num_per_row = int(math.sqrt(num_envs))
+        env_spacing = 1.25
+        env_lower = gymapi.Vec3(-env_spacing, 0.0, -env_spacing)
+        env_upper = gymapi.Vec3(env_spacing, env_spacing, env_spacing)
+        np.random.seed(17)
+        self.env = self.gym.create_env(self.sim, env_lower, env_upper, num_per_row)
+
+        # robot
+        pose = gymapi.Transform()
+        pose.p = gymapi.Vec3(-0.8, 0, 1.1)
+        pose.r = gymapi.Quat(0, 0, 0, 1)
+        self.robot_handle = self.gym.create_actor(self.env, robot_asset, pose, 'robot', 1, 1)
+        self.gym.set_actor_dof_states(self.env, self.robot_handle, np.zeros(dof, gymapi.DofState.dtype),
+                                      gymapi.STATE_ALL)
+
+        # create default viewer
+        self.viewer = self.gym.create_viewer(self.sim, gymapi.CameraProperties())
+        if self.viewer is None:
+            print("*** Failed to create viewer")
+            quit()
+        cam_pos = gymapi.Vec3(1, 1, 2)
+        cam_target = gymapi.Vec3(0, 0, 1)
+        self.gym.viewer_camera_look_at(self.viewer, None, cam_pos, cam_target)
+
+        plt.figure(figsize=(12, 6))
+        plt.ion()
+
+    def step(self, action, left_img, right_img):
+        qpos = self.convert_h1_qpos(action)
+        states = np.zeros(qpos.shape, dtype=gymapi.DofState.dtype)
+        states['pos'] = qpos
+        self.gym.set_actor_dof_states(self.env, self.robot_handle, states, gymapi.STATE_POS)
+
+        # step the physics
+        self.gym.simulate(self.sim)
+        self.gym.step_graphics(self.sim)
+
+        left_img = left_img.transpose((1, 2, 0))
+        right_img = right_img.transpose((1, 2, 0))
+        img = np.concatenate((left_img, right_img), axis=1)
+
+        plt.cla()
+        plt.title('VisionPro View')
+        plt.imshow(img, aspect='equal')
+        plt.pause(0.001)
+
+        self.gym.draw_viewer(self.viewer, self.sim, True)
+        self.gym.sync_frame_time(self.sim)
+
+    def end(self):
+        self.gym.destroy_viewer(self.viewer)
+        self.gym.destroy_sim(self.sim)
+        plt.close()
+
+    def convert_h1_qpos(self, action):
+        '''
+        left_arm_indices = [13, 14, 15, 16, 17, 18, 19]
+        right_arm_indices = [32, 33, 34, 35, 36, 37, 38]
+        left_hand_indices = [20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31]
+        right_hand_indices = [39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50]
+        '''
+        qpos = np.zeros(51)
+        qpos[13:20] = action[0:7]
+
+        # left hand actions
+        qpos[20:22] = action[7]
+        qpos[22:24] = action[8]
+        qpos[24:26] = action[9]
+        qpos[26:28] = action[10]
+        qpos[28] = action[11]
+        qpos[29:32] = action[12] * np.array([1, 1.6, 2.4])
+
+        qpos[32:39] = action[13:20]
+
+        # right hand actions
+        qpos[39:41] = action[20]
+        qpos[41:43] = action[21]
+        qpos[43:45] = action[22]
+        qpos[45:47] = action[23]
+        qpos[47] = action[24]
+        qpos[48:51] = action[25] * np.array([1, 1.6, 2.4])
+
+        return qpos
+
+if __name__ == '__main__':
+
+    root = "../data/recordings/"
+    # folder_name = "00-coke_can_insert-2024_05_26-23_50_58/processed"
+    folder_name = "00-can-sorting/processed"
+    episode_name = "processed_episode_0.hdf5"
+    episode_path = Path(root) / folder_name / episode_name
+
+    data = h5py.File(str(episode_path), 'r')
+    actions = np.array(data['qpos_action'])[::2]
+    left_imgs = np.array(data['observation.image.left'])[::2]  # 30hz
+    right_imgs = np.array(data['observation.image.right'])[::2]
+    data.close()
+
+    timestamps = actions.shape[0]
+
+    player = Player(1/30)
+    
+    try:
+        for t in tqdm(range(timestamps)):
+            player.step(actions[t], left_imgs[t, :], right_imgs[t, :])
+    except KeyboardInterrupt:
+        player.end()
+        exit()
diff --git a/teleop/Preprocessor.py b/teleop/Preprocessor.py
new file mode 100644
index 0000000..74b58c4
--- /dev/null
+++ b/teleop/Preprocessor.py
@@ -0,0 +1,76 @@
+import math
+import numpy as np
+
+from constants_vuer import grd_yup2grd_zup, hand2inspire_l_arm, hand2inspire_r_arm,hand2inspire_l_finger,hand2inspire_r_finger
+from motion_utils import mat_update, fast_mat_inv
+
+
+class VuerPreprocessor:
+    def __init__(self):
+        self.vuer_head_mat = np.array([[1, 0, 0, 0],
+                                  [0, 1, 0, 1.5],
+                                  [0, 0, 1, -0.2],
+                                  [0, 0, 0, 1]])
+        self.vuer_right_wrist_mat = np.array([[1, 0, 0, 0.5],
+                                         [0, 1, 0, 1],
+                                         [0, 0, 1, -0.5],
+                                         [0, 0, 0, 1]])
+        self.vuer_left_wrist_mat = np.array([[1, 0, 0, -0.5],
+                                        [0, 1, 0, 1],
+                                        [0, 0, 1, -0.5],
+                                        [0, 0, 0, 1]])
+
+    def process(self, tv):
+        self.vuer_head_mat = mat_update(self.vuer_head_mat, tv.head_matrix.copy())
+        self.vuer_right_wrist_mat = mat_update(self.vuer_right_wrist_mat, tv.right_hand.copy())
+        self.vuer_left_wrist_mat = mat_update(self.vuer_left_wrist_mat, tv.left_hand.copy())
+
+        # change of basis
+        head_mat = grd_yup2grd_zup @ self.vuer_head_mat @ fast_mat_inv(grd_yup2grd_zup)
+        right_wrist_mat = grd_yup2grd_zup @ self.vuer_right_wrist_mat @ fast_mat_inv(grd_yup2grd_zup)
+        left_wrist_mat = grd_yup2grd_zup @ self.vuer_left_wrist_mat @ fast_mat_inv(grd_yup2grd_zup)
+
+        rel_left_wrist_mat = left_wrist_mat @ hand2inspire_l_arm
+        rel_left_wrist_mat[0:3, 3] = rel_left_wrist_mat[0:3, 3] - head_mat[0:3, 3]
+
+        rel_right_wrist_mat = right_wrist_mat @ hand2inspire_r_arm  # wTr = wTh @ hTr
+        rel_right_wrist_mat[0:3, 3] = rel_right_wrist_mat[0:3, 3] - head_mat[0:3, 3]
+
+        # homogeneous
+        left_fingers = np.concatenate([tv.left_landmarks.copy().T, np.ones((1, tv.left_landmarks.shape[0]))])
+        right_fingers = np.concatenate([tv.right_landmarks.copy().T, np.ones((1, tv.right_landmarks.shape[0]))])
+
+        # change of basis
+        left_fingers = grd_yup2grd_zup @ left_fingers
+        right_fingers = grd_yup2grd_zup @ right_fingers
+
+        rel_left_fingers = fast_mat_inv(left_wrist_mat) @ left_fingers
+        rel_right_fingers = fast_mat_inv(right_wrist_mat) @ right_fingers
+        rel_left_fingers = (hand2inspire_l_finger.T @ rel_left_fingers)[0:3, :].T
+        rel_right_fingers = (hand2inspire_r_finger.T @ rel_right_fingers)[0:3, :].T
+
+        return head_mat, rel_left_wrist_mat, rel_right_wrist_mat, rel_left_fingers, rel_right_fingers
+
+    def get_hand_gesture(self, tv):
+        self.vuer_right_wrist_mat = mat_update(self.vuer_right_wrist_mat, tv.right_hand.copy())
+        self.vuer_left_wrist_mat = mat_update(self.vuer_left_wrist_mat, tv.left_hand.copy())
+
+        # change of basis
+        right_wrist_mat = grd_yup2grd_zup @ self.vuer_right_wrist_mat @ fast_mat_inv(grd_yup2grd_zup)
+        left_wrist_mat = grd_yup2grd_zup @ self.vuer_left_wrist_mat @ fast_mat_inv(grd_yup2grd_zup)
+
+        left_fingers = np.concatenate([tv.left_landmarks.copy().T, np.ones((1, tv.left_landmarks.shape[0]))])
+        right_fingers = np.concatenate([tv.right_landmarks.copy().T, np.ones((1, tv.right_landmarks.shape[0]))])
+
+        # change of basis
+        left_fingers = grd_yup2grd_zup @ left_fingers
+        right_fingers = grd_yup2grd_zup @ right_fingers
+
+        rel_left_fingers = fast_mat_inv(left_wrist_mat) @ left_fingers
+        rel_right_fingers = fast_mat_inv(right_wrist_mat) @ right_fingers
+        rel_left_fingers = (hand2inspire_l_finger.T @ rel_left_fingers)[0:3, :].T
+        rel_right_fingers = (hand2inspire_r_finger.T @ rel_right_fingers)[0:3, :].T
+        all_fingers = np.concatenate([rel_left_fingers, rel_right_fingers], axis=0)
+
+        return all_fingers
+
diff --git a/teleop/TeleVision.py b/teleop/TeleVision.py
new file mode 100644
index 0000000..76d90d0
--- /dev/null
+++ b/teleop/TeleVision.py
@@ -0,0 +1,247 @@
+import time
+from vuer import Vuer
+from vuer.events import ClientEvent
+from vuer.schemas import ImageBackground, group, Hands, WebRTCStereoVideoPlane, DefaultScene
+from multiprocessing import Array, Process, shared_memory, Queue, Manager, Event, Semaphore
+import numpy as np
+import asyncio
+from webrtc.zed_server import *
+
+class OpenTeleVision:
+    def __init__(self, img_shape, shm_name, queue, toggle_streaming, stream_mode="image", cert_file="./cert.pem", key_file="./key.pem", ngrok=False):
+        # self.app=Vuer()
+        self.img_shape = (img_shape[0], 2*img_shape[1], 3)
+        self.img_height, self.img_width = img_shape[:2]
+
+        if ngrok:
+            self.app = Vuer(host='0.0.0.0', queries=dict(grid=False), queue_len=3)
+        else:
+            self.app = Vuer(host='0.0.0.0', cert=cert_file, key=key_file, queries=dict(grid=False), queue_len=3)
+
+        self.app.add_handler("HAND_MOVE")(self.on_hand_move)
+        self.app.add_handler("CAMERA_MOVE")(self.on_cam_move)
+        if stream_mode == "image":
+            existing_shm = shared_memory.SharedMemory(name=shm_name)
+            self.img_array = np.ndarray((self.img_shape[0], self.img_shape[1], 3), dtype=np.uint8, buffer=existing_shm.buf)
+            self.app.spawn(start=False)(self.main_image)
+        elif stream_mode == "webrtc":
+            self.app.spawn(start=False)(self.main_webrtc)
+        else:
+            raise ValueError("stream_mode must be either 'webrtc' or 'image'")
+
+        self.left_hand_shared = Array('d', 16, lock=True)
+        self.right_hand_shared = Array('d', 16, lock=True)
+        self.left_landmarks_shared = Array('d', 75, lock=True)
+        self.right_landmarks_shared = Array('d', 75, lock=True)
+        
+        self.head_matrix_shared = Array('d', 16, lock=True)
+        self.aspect_shared = Value('d', 1.0, lock=True)
+        if stream_mode == "webrtc":
+            # webrtc server
+            if Args.verbose:
+                logging.basicConfig(level=logging.DEBUG)
+            else:
+                logging.basicConfig(level=logging.INFO)
+            Args.img_shape = img_shape
+            # Args.shm_name = shm_name
+            Args.fps = 60
+
+            ssl_context = ssl.SSLContext()
+            ssl_context.load_cert_chain(cert_file, key_file)
+
+            app = web.Application()
+            cors = aiohttp_cors.setup(app, defaults={
+                "*": aiohttp_cors.ResourceOptions(
+                    allow_credentials=True,
+                    expose_headers="*",
+                    allow_headers="*",
+                    allow_methods="*",
+                )
+            })
+            rtc = RTC(img_shape, queue, toggle_streaming, 60)
+            app.on_shutdown.append(on_shutdown)
+            cors.add(app.router.add_get("/", index))
+            cors.add(app.router.add_get("/client.js", javascript))
+            cors.add(app.router.add_post("/offer", rtc.offer))
+
+            self.webrtc_process = Process(target=web.run_app, args=(app,), kwargs={"host": "0.0.0.0", "port": 8080, "ssl_context": ssl_context})
+            self.webrtc_process.daemon = True
+            self.webrtc_process.start()
+            # web.run_app(app, host="0.0.0.0", port=8080, ssl_context=ssl_context)
+
+        self.process = Process(target=self.run)
+        self.process.daemon = True
+        self.process.start()
+
+    
+    def run(self):
+        self.app.run()
+
+    async def on_cam_move(self, event, session, fps=60):
+        # only intercept the ego camera.
+        # if event.key != "ego":
+        #     return
+        try:
+            # with self.head_matrix_shared.get_lock():  # Use the lock to ensure thread-safe updates
+            #     self.head_matrix_shared[:] = event.value["camera"]["matrix"]
+            # with self.aspect_shared.get_lock():
+            #     self.aspect_shared.value = event.value['camera']['aspect']
+            self.head_matrix_shared[:] = event.value["camera"]["matrix"]
+            self.aspect_shared.value = event.value['camera']['aspect']
+        except:
+            pass
+        # self.head_matrix = np.array(event.value["camera"]["matrix"]).reshape(4, 4, order="F")
+        # print(np.array(event.value["camera"]["matrix"]).reshape(4, 4, order="F"))
+        # print("camera moved", event.value["matrix"].shape, event.value["matrix"])
+
+    async def on_hand_move(self, event, session, fps=60):
+        try:
+            # with self.left_hand_shared.get_lock():  # Use the lock to ensure thread-safe updates
+            #     self.left_hand_shared[:] = event.value["leftHand"]
+            # with self.right_hand_shared.get_lock():
+            #     self.right_hand_shared[:] = event.value["rightHand"]
+            # with self.left_landmarks_shared.get_lock():
+            #     self.left_landmarks_shared[:] = np.array(event.value["leftLandmarks"]).flatten()
+            # with self.right_landmarks_shared.get_lock():
+            #     self.right_landmarks_shared[:] = np.array(event.value["rightLandmarks"]).flatten()
+            self.left_hand_shared[:] = event.value["leftHand"]
+            self.right_hand_shared[:] = event.value["rightHand"]
+            self.left_landmarks_shared[:] = np.array(event.value["leftLandmarks"]).flatten()
+            self.right_landmarks_shared[:] = np.array(event.value["rightLandmarks"]).flatten()
+        except: 
+            pass
+    
+    async def main_webrtc(self, session, fps=60):
+        session.set @ DefaultScene(frameloop="always")
+        session.upsert @ Hands(fps=fps, stream=True, key="hands", showLeft=False, showRight=False)
+        session.upsert @ WebRTCStereoVideoPlane(
+                src="https://192.168.8.102:8080/offer",
+                key="zed",
+                aspect=1.33334,
+                height = 8,
+                position=[0, -2, -0.2],
+            )
+        while True:
+            await asyncio.sleep(1)
+    
+    async def main_image(self, session, fps=60):
+        session.upsert @ Hands(fps=fps, stream=True, key="hands", showLeft=False, showRight=False)
+        while True:
+            # aspect = self.aspect_shared.value
+            display_image = self.img_array
+
+            # session.upsert(
+            # ImageBackground(
+            #     # Can scale the images down.
+            #     display_image[:self.img_height],
+            #     # 'jpg' encoding is significantly faster than 'png'.
+            #     format="jpeg",
+            #     quality=80,
+            #     key="left-image",
+            #     interpolate=True,
+            #     # fixed=True,
+            #     aspect=1.778,
+            #     distanceToCamera=2,
+            #     position=[0, -0.5, -2],
+            #     rotation=[0, 0, 0],
+            # ),
+            # to="bgChildren",
+            # )
+
+            session.upsert(
+            [ImageBackground(
+                # Can scale the images down.
+                display_image[::2, :self.img_width],
+                # display_image[:self.img_height:2, ::2],
+                # 'jpg' encoding is significantly faster than 'png'.
+                format="jpeg",
+                quality=80,
+                key="left-image",
+                interpolate=True,
+                # fixed=True,
+                aspect=1.66667,
+                # distanceToCamera=0.5,
+                height = 8,
+                position=[0, -1, 3],
+                # rotation=[0, 0, 0],
+                layers=1, 
+                alphaSrc="./vinette.jpg"
+            ),
+            ImageBackground(
+                # Can scale the images down.
+                display_image[::2, self.img_width:],
+                # display_image[self.img_height::2, ::2],
+                # 'jpg' encoding is significantly faster than 'png'.
+                format="jpeg",
+                quality=80,
+                key="right-image",
+                interpolate=True,
+                # fixed=True,
+                aspect=1.66667,
+                # distanceToCamera=0.5,
+                height = 8,
+                position=[0, -1, 3],
+                # rotation=[0, 0, 0],
+                layers=2, 
+                alphaSrc="./vinette.jpg"
+            )],
+            to="bgChildren",
+            )
+            await asyncio.sleep(0.03)
+
+    @property
+    def left_hand(self):
+        # with self.left_hand_shared.get_lock():
+        #     return np.array(self.left_hand_shared[:]).reshape(4, 4, order="F")
+        return np.array(self.left_hand_shared[:]).reshape(4, 4, order="F")
+        
+    
+    @property
+    def right_hand(self):
+        # with self.right_hand_shared.get_lock():
+        #     return np.array(self.right_hand_shared[:]).reshape(4, 4, order="F")
+        return np.array(self.right_hand_shared[:]).reshape(4, 4, order="F")
+        
+    
+    @property
+    def left_landmarks(self):
+        # with self.left_landmarks_shared.get_lock():
+        #     return np.array(self.left_landmarks_shared[:]).reshape(25, 3)
+        return np.array(self.left_landmarks_shared[:]).reshape(25, 3)
+    
+    @property
+    def right_landmarks(self):
+        # with self.right_landmarks_shared.get_lock():
+            # return np.array(self.right_landmarks_shared[:]).reshape(25, 3)
+        return np.array(self.right_landmarks_shared[:]).reshape(25, 3)
+
+    @property
+    def head_matrix(self):
+        # with self.head_matrix_shared.get_lock():
+        #     return np.array(self.head_matrix_shared[:]).reshape(4, 4, order="F")
+        return np.array(self.head_matrix_shared[:]).reshape(4, 4, order="F")
+
+    @property
+    def aspect(self):
+        # with self.aspect_shared.get_lock():
+            # return float(self.aspect_shared.value)
+        return float(self.aspect_shared.value)
+
+    
+if __name__ == "__main__":
+    resolution = (720, 1280)
+    crop_size_w = 340  # (resolution[1] - resolution[0]) // 2
+    crop_size_h = 270
+    resolution_cropped = (resolution[0] - crop_size_h, resolution[1] - 2 * crop_size_w)  # 450 * 600
+    img_shape = (2 * resolution_cropped[0], resolution_cropped[1], 3)  # 900 * 600
+    img_height, img_width = resolution_cropped[:2]  # 450 * 600
+    shm = shared_memory.SharedMemory(create=True, size=np.prod(img_shape) * np.uint8().itemsize)
+    shm_name = shm.name
+    img_array = np.ndarray((img_shape[0], img_shape[1], 3), dtype=np.uint8, buffer=shm.buf)
+
+    tv = OpenTeleVision(resolution_cropped, cert_file="../cert.pem", key_file="../key.pem")
+    while True:
+        # print(tv.left_landmarks)
+        # print(tv.left_hand)
+        # tv.modify_shared_image(random=True)
+        time.sleep(1)
diff --git a/teleop/constants_vuer.py b/teleop/constants_vuer.py
new file mode 100644
index 0000000..712d22f
--- /dev/null
+++ b/teleop/constants_vuer.py
@@ -0,0 +1,28 @@
+import numpy as np
+
+tip_indices = [4, 9, 14, 19, 24]
+
+hand2inspire_l_arm = np.array([[1, 0, 0, 0],
+                               [0, 0, -1, 0],
+                               [1, 1, 0, 0],
+                               [0, 0, 0, 1]])
+
+hand2inspire_r_arm = np.array([[1, 0, 0, 0],
+                               [0, 0, 1, 0],
+                               [1, -1, 0, 0],
+                               [0, 0, 0, 1]])
+
+hand2inspire_l_finger = np.array([[0, -1, 0, 0],
+                                  [0, 0, -1, 0],
+                                  [1, 0, 0, 0],
+                                  [0, 0, 0, 1]])
+
+hand2inspire_r_finger = np.array([[0, -1, 0, 0],
+                                  [0, 0, -1, 0],
+                                  [1, 0, 0, 0],
+                                  [0, 0, 0, 1]])
+
+grd_yup2grd_zup = np.array([[0, 0, -1, 0],
+                            [-1, 0, 0, 0],
+                            [0, 1, 0, 0],
+                            [0, 0, 0, 1]])
\ No newline at end of file
diff --git a/teleop/dynamixel/active_cam.py b/teleop/dynamixel/active_cam.py
new file mode 100644
index 0000000..53c22cf
--- /dev/null
+++ b/teleop/dynamixel/active_cam.py
@@ -0,0 +1,105 @@
+import os
+import time
+from dataclasses import dataclass
+from typing import Dict, Optional, Sequence, Tuple
+import numpy as np
+from .agent import Agent
+from .dynamixel_robot import DynamixelRobot
+# from agent import Agent
+# from dynamixel_robot import DynamixelRobot
+
+
+@dataclass
+class DynamixelRobotConfig:
+    joint_ids: Sequence[int]
+    """The joint ids of dynamixel robot. Usually (1, 2, 3 ...)."""
+
+    joint_offsets: Sequence[float]
+    """The joint offsets of robot. There needs to be a joint offset for each joint_id and should be a multiple of pi/2."""
+
+    joint_signs: Sequence[int]
+    """The joint signs is -1 for all dynamixel"""
+
+    gripper_config: Tuple[int, int, int]
+    """reserved for later work"""
+
+    # it will run after init and work as init check
+    def __post_init__(self):
+        assert len(self.joint_ids) == len(self.joint_offsets)
+        assert len(self.joint_ids) == len(self.joint_signs)
+
+    def make_robot(
+        self, port: str = "/dev/ttyUSB0", start_joints: Optional[np.ndarray] = None
+    ) -> DynamixelRobot:
+        return DynamixelRobot(
+            joint_ids=self.joint_ids,
+            joint_offsets=list(self.joint_offsets),
+            real=True,
+            joint_signs=list(self.joint_signs),
+            port=port,
+            gripper_config=self.gripper_config,
+            start_joints=start_joints,
+        )
+
+# Can put multi robot into the dic, note that the calibration info shoule be put here
+PORT_CONFIG_MAP: Dict[str, DynamixelRobotConfig] = {
+    #! for camera mounta
+    "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT8IT033-if00-port0": DynamixelRobotConfig(
+        joint_ids=(1, 2),
+        joint_offsets=(
+            2*np.pi/2, 
+            2*np.pi/2, 
+        ),
+        joint_signs=(-1, -1),
+        gripper_config=None,
+    ), 
+
+}
+
+# general we only input port into the class, other info is stored in the dic
+class DynamixelAgent(Agent):
+    def __init__(
+        self,
+        port: str,
+        dynamixel_config: Optional[DynamixelRobotConfig] = None,
+        start_joints: Optional[np.ndarray] = None,
+        cap_num: int = 42,
+    ):
+        #! init dynamixel robot setting
+        # use the config to make the robot
+        if dynamixel_config is not None:
+            self._robot = dynamixel_config.make_robot(
+                port=port, start_joints=start_joints
+            )
+        # find the info auto
+        else:
+            # check port 
+            assert os.path.exists(port), port
+            assert port in PORT_CONFIG_MAP, f"Port {port} not in config map"
+
+            # use port to gain config
+            config = PORT_CONFIG_MAP[port]
+            self._robot = config.make_robot(port=port, start_joints=start_joints)
+
+    def act(self, obs: Dict[str, np.ndarray]) -> np.ndarray: 
+        return self._robot.get_joint_state()
+    
+if __name__ == "__main__":
+    agent = DynamixelAgent(port="/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT8IST6E-if00-port0")
+
+    agent._robot.set_torque_mode(True)
+
+    min_radians = -1.57
+    max_radians = 1.57
+    interval = 0.1
+
+    current_radian = 0
+    while current_radian <= max_radians:
+        action = agent.act(1)
+        print("now action                     : ", [f"{x:.3f}" for x in action])
+        command = [0, 0]
+        agent._robot.command_joint_state([0, current_radian])
+        time.sleep(0.1) 
+        true_value = agent._robot._driver.get_joints()    
+        print("true value                 : ", [f"{x:.3f}" for x in true_value])
+        current_radian += interval
diff --git a/teleop/dynamixel/agent.py b/teleop/dynamixel/agent.py
new file mode 100644
index 0000000..fa8bff7
--- /dev/null
+++ b/teleop/dynamixel/agent.py
@@ -0,0 +1,42 @@
+from typing import Any, Dict, Protocol
+
+import numpy as np
+
+class Agent(Protocol):
+    def act(self, obs: Dict[str, Any]) -> np.ndarray:
+        """Returns an action given an observation.
+
+        Args:
+            obs: observation from the environment.
+
+        Returns:
+            action: action to take on the environment.
+        """
+        raise NotImplementedError
+
+
+class DummyAgent(Agent):
+    def __init__(self, num_dofs: int):
+        self.num_dofs = num_dofs
+
+    def act(self, obs: Dict[str, Any]) -> np.ndarray:
+        return np.zeros(self.num_dofs)
+
+
+class BimanualAgent(Agent):
+    def __init__(self, agent_left: Agent, agent_right: Agent):
+        self.agent_left = agent_left
+        self.agent_right = agent_right
+
+    def act(self, obs: Dict[str, Any]) -> np.ndarray:
+        left_obs = {}
+        right_obs = {}
+        for key, val in obs.items():
+            L = val.shape[0]
+            half_dim = L // 2
+            assert L == half_dim * 2, f"{key} must be even, something is wrong"
+            left_obs[key] = val[:half_dim]
+            right_obs[key] = val[half_dim:]
+        return np.concatenate(
+            [self.agent_left.act(left_obs), self.agent_right.act(right_obs)]
+        )
diff --git a/teleop/dynamixel/driver.py b/teleop/dynamixel/driver.py
new file mode 100644
index 0000000..dc189c2
--- /dev/null
+++ b/teleop/dynamixel/driver.py
@@ -0,0 +1,287 @@
+import time
+from threading import Event, Lock, Thread
+from typing import Protocol, Sequence
+
+import numpy as np
+#! dynamixel_sdk
+from dynamixel_sdk.group_sync_read import GroupSyncRead
+from dynamixel_sdk.group_sync_write import GroupSyncWrite
+from dynamixel_sdk.packet_handler import PacketHandler
+from dynamixel_sdk.port_handler import PortHandler
+from dynamixel_sdk.robotis_def import (
+    COMM_SUCCESS,
+    DXL_HIBYTE,
+    DXL_HIWORD,
+    DXL_LOBYTE,
+    DXL_LOWORD,
+)
+
+# Constants
+ADDR_TORQUE_ENABLE = 64
+ADDR_GOAL_POSITION = 116
+LEN_GOAL_POSITION = 4
+#! rewrite 
+ADDR_PRESENT_POSITION = 132
+ADDR_PRESENT_POSITION = 140 #Position Trajectory(140)
+LEN_PRESENT_POSITION = 4
+TORQUE_ENABLE = 1
+TORQUE_DISABLE = 0
+
+
+class DynamixelDriverProtocol(Protocol):
+    def set_joints(self, joint_angles: Sequence[float]):
+        """Set the joint angles for the Dynamixel servos.
+
+        Args:
+            joint_angles (Sequence[float]): A list of joint angles.
+        """
+        ...
+
+    def torque_enabled(self) -> bool:
+        """Check if torque is enabled for the Dynamixel servos.
+
+        Returns:
+            bool: True if torque is enabled, False if it is disabled.
+        """
+        ...
+
+    def set_torque_mode(self, enable: bool):
+        """Set the torque mode for the Dynamixel servos.
+
+        Args:
+            enable (bool): True to enable torque, False to disable.
+        """
+        ...
+
+    def get_joints(self) -> np.ndarray:
+        """Get the current joint angles in radians.
+
+        Returns:
+            np.ndarray: An array of joint angles.
+        """
+        ...
+
+    def close(self):
+        """Close the driver."""
+
+
+class FakeDynamixelDriver(DynamixelDriverProtocol):
+    def __init__(self, ids: Sequence[int]):
+        self._ids = ids
+        self._joint_angles = np.zeros(len(ids), dtype=int)
+        self._torque_enabled = False
+
+    def set_joints(self, joint_angles: Sequence[float]):
+        if len(joint_angles) != len(self._ids):
+            raise ValueError(
+                "The length of joint_angles must match the number of servos"
+            )
+        if not self._torque_enabled:
+            raise RuntimeError("Torque must be enabled to set joint angles")
+        self._joint_angles = np.array(joint_angles)
+
+    def torque_enabled(self) -> bool:
+        return self._torque_enabled
+
+    def set_torque_mode(self, enable: bool):
+        self._torque_enabled = enable
+
+    def get_joints(self) -> np.ndarray:
+        return self._joint_angles.copy()
+
+    def close(self):
+        pass
+
+
+class DynamixelDriver(DynamixelDriverProtocol):
+    def __init__(
+        self, ids: Sequence[int], port: str = "/dev/ttyUSB0", baudrate: int = 57600
+    ):
+        """Initialize the DynamixelDriver class.
+
+        Args:
+            ids (Sequence[int]): A list of IDs for the Dynamixel servos.
+            port (str): The USB port to connect to the arm.
+            baudrate (int): The baudrate for communication.
+        """
+        self._ids = ids
+        self._joint_angles = None
+        #! 
+        self._lock = Lock()
+
+        #! do not need to know the detail now
+        # Initialize the port handler, packet handler, and group sync read/write
+        self._portHandler = PortHandler(port)
+        self._packetHandler = PacketHandler(2.0)
+
+        self._groupSyncRead = GroupSyncRead(
+            self._portHandler,
+            self._packetHandler,
+            ADDR_PRESENT_POSITION,
+            LEN_PRESENT_POSITION,
+        )
+        self._groupSyncWrite = GroupSyncWrite(
+            self._portHandler,
+            self._packetHandler,
+            ADDR_GOAL_POSITION,
+            LEN_GOAL_POSITION,
+        )
+
+        # Open the port and set the baudrate
+        if not self._portHandler.openPort():
+            raise RuntimeError("Failed to open the port")
+
+        if not self._portHandler.setBaudRate(baudrate):
+            raise RuntimeError(f"Failed to change the baudrate, {baudrate}")
+
+        # Add parameters for each Dynamixel servo to the group sync read
+        for dxl_id in self._ids:
+            if not self._groupSyncRead.addParam(dxl_id):
+                raise RuntimeError(
+                    f"Failed to add parameter for Dynamixel with ID {dxl_id}"
+                )
+
+        # Disable torque for each Dynamixel servo
+        self._torque_enabled = False
+        try:
+            self.set_torque_mode(self._torque_enabled)
+        except Exception as e:
+            print(f"port: {port}, {e}")
+
+        # control the thread
+        self._stop_thread = Event()
+
+        self._start_reading_thread()
+
+    def set_joints(self, joint_angles: Sequence[float]):
+        if len(joint_angles) != len(self._ids):
+            raise ValueError(
+                "The length of joint_angles must match the number of servos"
+            )
+        if not self._torque_enabled:
+            raise RuntimeError("Torque must be enabled to set joint angles")
+
+        for dxl_id, angle in zip(self._ids, joint_angles):
+            # Convert the angle to the appropriate value for the servo
+            position_value = int(angle * 2048 / np.pi)
+
+            # Allocate goal position value into byte array
+            param_goal_position = [
+                DXL_LOBYTE(DXL_LOWORD(position_value)),
+                DXL_HIBYTE(DXL_LOWORD(position_value)),
+                DXL_LOBYTE(DXL_HIWORD(position_value)),
+                DXL_HIBYTE(DXL_HIWORD(position_value)),
+            ]
+
+            # Add goal position value to the Syncwrite parameter storage
+            dxl_addparam_result = self._groupSyncWrite.addParam(
+                dxl_id, param_goal_position
+            )
+            if not dxl_addparam_result:
+                raise RuntimeError(
+                    f"Failed to set joint angle for Dynamixel with ID {dxl_id}"
+                )
+
+        # Syncwrite goal position
+        dxl_comm_result = self._groupSyncWrite.txPacket()
+        if dxl_comm_result != COMM_SUCCESS:
+            raise RuntimeError("Failed to syncwrite goal position")
+
+        # Clear syncwrite parameter storage
+        self._groupSyncWrite.clearParam()
+
+    def torque_enabled(self) -> bool:
+        return self._torque_enabled
+
+    def set_torque_mode(self, enable: bool):
+        torque_value = TORQUE_ENABLE if enable else TORQUE_DISABLE
+        with self._lock:
+            for dxl_id in self._ids:
+                dxl_comm_result, dxl_error = self._packetHandler.write1ByteTxRx(
+                    self._portHandler, dxl_id, ADDR_TORQUE_ENABLE, torque_value
+                )
+                if dxl_comm_result != COMM_SUCCESS or dxl_error != 0:
+                    print(dxl_comm_result)
+                    print(dxl_error)
+                    raise RuntimeError(
+                        f"Failed to set torque mode for Dynamixel with ID {dxl_id}"
+                    )
+
+        self._torque_enabled = enable
+
+    def _start_reading_thread(self):
+        self._reading_thread = Thread(target=self._read_joint_angles)
+        # self._reading_thread.daemon = True
+        # self._reading_thread.start()
+
+    def _read_joint_angles(self):
+        # Continuously read joint angles and update the joint_angles array
+        while not self._stop_thread.is_set():
+            time.sleep(0.001)
+            with self._lock:
+                _joint_angles = np.zeros(len(self._ids), dtype=int)
+                dxl_comm_result = self._groupSyncRead.txRxPacket()
+                if dxl_comm_result != COMM_SUCCESS:
+                    print(f"warning, comm failed: {dxl_comm_result}")
+                    continue
+                for i, dxl_id in enumerate(self._ids):
+                    if self._groupSyncRead.isAvailable(
+                        dxl_id, ADDR_PRESENT_POSITION, LEN_PRESENT_POSITION
+                    ):
+                        angle = self._groupSyncRead.getData(
+                            dxl_id, ADDR_PRESENT_POSITION, LEN_PRESENT_POSITION
+                        )
+                        angle = np.int32(np.uint32(angle))
+                        _joint_angles[i] = angle
+                    else:
+                        raise RuntimeError(
+                            f"Failed to get joint angles for Dynamixel with ID {dxl_id}"
+                        )
+                self._joint_angles = _joint_angles
+            # self._groupSyncRead.clearParam() # TODO what does this do? should i add it
+
+    def get_joints(self) -> np.ndarray:
+        # Return a copy of the joint_angles array to avoid race conditions
+        while self._joint_angles is None:
+            time.sleep(0.1)
+        with self._lock:
+            _j = self._joint_angles.copy()
+        return _j / 2048.0 * np.pi
+
+    def close(self):
+        self._stop_thread.set()
+        self._reading_thread.join()
+        self._portHandler.closePort()
+
+
+def main():
+    # Set the port, baudrate, and servo IDs
+    ids = [1,2]
+
+    # Create a DynamixelDriver instance
+    try:
+        driver = DynamixelDriver(ids)
+    except FileNotFoundError:
+        driver = DynamixelDriver(ids, port="/dev/cu.usbserial-FT7WBMUB")
+
+    driver.set_torque_mode(True)
+    driver.set_torque_mode(False)
+
+    # Print the joint angles
+    try:
+        while True:
+            joint_angles = driver.get_joints()
+            print(f"Joint angles for IDs {ids}: {joint_angles}")
+            # print(f"Joint angles for IDs {ids[1]}: {joint_angles[1]}")
+    except KeyboardInterrupt:
+        driver.close()
+    
+    # driver.set_torque_mode(True)
+    # joint_angles = driver.get_joints()
+    # print(f"Joint angles for IDs {ids}: {joint_angles}")
+    # driver.set_joints([6, 6])
+    # driver.set_joints([7, 8])
+
+
+if __name__ == "__main__":
+    main()
diff --git a/teleop/dynamixel/dynamixel_robot.py b/teleop/dynamixel/dynamixel_robot.py
new file mode 100644
index 0000000..5f5dddd
--- /dev/null
+++ b/teleop/dynamixel/dynamixel_robot.py
@@ -0,0 +1,161 @@
+from typing import Dict, Optional, Sequence, Tuple
+
+import numpy as np
+
+# from robots.robot import Robot
+import sys
+from .robot import Robot
+from .driver import DynamixelDriver,DynamixelDriverProtocol,FakeDynamixelDriver
+# from robot import Robot
+# from driver import DynamixelDriver,DynamixelDriverProtocol,FakeDynamixelDriver
+
+
+class DynamixelRobot(Robot):
+    """A class representing a UR robot."""
+
+    def __init__(
+        self,
+        joint_ids: Sequence[int],
+        joint_offsets: Optional[Sequence[float]] = None,
+        joint_signs: Optional[Sequence[int]] = None,
+        real: bool = False,
+        port: str = "/dev/ttyUSB0",
+        baudrate: int = 57600,
+        gripper_config: Optional[Tuple[int, float, float]] = None,
+        start_joints: Optional[np.ndarray] = None,
+    ):
+        
+
+        print(f"attempting to connect to port: {port}")
+
+        # used to set gripper, reserved for later
+        self.gripper_open_close: Optional[Tuple[float, float]]
+
+        if gripper_config is not None:
+            assert joint_offsets is not None
+            assert joint_signs is not None
+
+            joint_ids = tuple(joint_ids) + (gripper_config[0],)
+            joint_offsets = tuple(joint_offsets) + (0.0,)
+            joint_signs = tuple(joint_signs) + (1,)
+            self.gripper_open_close = (
+                gripper_config[1] * np.pi / 180,
+                gripper_config[2] * np.pi / 180,
+            )
+        else:
+            self.gripper_open_close = None
+
+        # all the self variable will start with _
+
+        # set joint config
+        self._joint_ids = joint_ids
+        self._driver: DynamixelDriverProtocol
+
+        if joint_offsets is None:
+            self._joint_offsets = np.zeros(len(joint_ids))
+        else:
+            self._joint_offsets = np.array(joint_offsets)
+
+        if joint_signs is None:
+            self._joint_signs = np.ones(len(joint_ids))
+        else:
+            self._joint_signs = np.array(joint_signs)
+
+        # check
+        assert len(self._joint_ids) == len(self._joint_offsets), (
+            f"joint_ids: {len(self._joint_ids)}, "
+            f"joint_offsets: {len(self._joint_offsets)}"
+        )
+        assert len(self._joint_ids) == len(self._joint_signs), (
+            f"joint_ids: {len(self._joint_ids)}, "
+            f"joint_signs: {len(self._joint_signs)}"
+        )
+        assert np.all(
+            np.abs(self._joint_signs) == 1
+        ), f"joint_signs: {self._joint_signs}"
+
+        # when called in gello_agent, real == True, used to do test
+        if real:
+            self._driver = DynamixelDriver(joint_ids, port=port, baudrate=baudrate)
+            # we dault set the torque_mode(False)
+            self._driver.set_torque_mode(False)
+        else:
+            self._driver = FakeDynamixelDriver(joint_ids)
+            
+        self._torque_on = False
+        self._last_pos = None
+        self._alpha = 0.99
+
+        #! this part might important! need to check if the robot start at different joints 
+        if start_joints is not None:
+            # loop through all joints and add +- 2pi to the joint offsets to get the closest to start joints
+            new_joint_offsets = []
+            current_joints = self.get_joint_state()
+            assert current_joints.shape == start_joints.shape
+
+            if gripper_config is not None:
+                current_joints = current_joints[:-1]
+                start_joints = start_joints[:-1]
+
+            for c_joint, s_joint, joint_offset in zip(
+                current_joints, start_joints, self._joint_offsets
+            ):
+                new_joint_offsets.append(
+                    np.pi * 2 * np.round((s_joint - c_joint) / (2 * np.pi))
+                    + joint_offset
+                )
+
+            if gripper_config is not None:
+                new_joint_offsets.append(self._joint_offsets[-1])
+            self._joint_offsets = np.array(new_joint_offsets)
+
+
+    #! might change to @property
+    def num_dofs(self) -> int:
+        return len(self._joint_ids)
+
+    #! now the joint num is different
+    def get_joint_state(self) -> np.ndarray:
+        pos = (self._driver.get_joints() - self._joint_offsets) * self._joint_signs
+        assert len(pos) == self.num_dofs()
+
+        if self.gripper_open_close is not None:
+            # map pos to [0, 1]
+            g_pos = (pos[-1] - self.gripper_open_close[0]) / (
+                self.gripper_open_close[1] - self.gripper_open_close[0]
+            )
+            g_pos = min(max(0, g_pos), 1)
+            pos[-1] = g_pos
+
+        if self._last_pos is None:
+            self._last_pos = pos
+        else:
+            # exponential smoothing
+            pos = self._last_pos * (1 - self._alpha) + pos * self._alpha
+            self._last_pos = pos
+
+        new_pos = np.append(pos, 0)
+        return new_pos
+
+    def map_to_valid_range(self, radians_array):
+        mapped_radians = np.mod(radians_array, 2 * np.pi)
+        return mapped_radians
+
+    def command_joint_state(self, joint_state: np.ndarray) -> None:
+        # print("command                   : ", [f"{x:.3f}" for x in joint_state])
+        set_value = (joint_state + self._joint_offsets).tolist()
+        # print("_set value                 : ", [f"{x:.3f}" for x in set_value])
+        set_value = self.map_to_valid_range(set_value)
+        # print("set value                 : ", [f"{x:.3f}" for x in set_value])
+        self._driver.set_joints(set_value)
+
+    def set_torque_mode(self, mode: bool):
+        if mode == self._torque_on:
+            return
+        self._driver.set_torque_mode(mode)
+        self._torque_on = mode
+
+    def get_observations(self) -> Dict[str, np.ndarray]:
+        return {"joint_state": self.get_joint_state()}
+    
+
diff --git a/teleop/dynamixel/robot.py b/teleop/dynamixel/robot.py
new file mode 100644
index 0000000..b4a6e96
--- /dev/null
+++ b/teleop/dynamixel/robot.py
@@ -0,0 +1,128 @@
+from abc import abstractmethod
+from typing import Dict, Protocol
+
+import numpy as np
+
+
+class Robot(Protocol):
+    """Robot protocol.
+
+    A protocol for a robot that can be controlled.
+    """
+
+    @abstractmethod
+    def num_dofs(self) -> int:
+        """Get the number of joints of the robot.
+
+        Returns:
+            int: The number of joints of the robot.
+        """
+        raise NotImplementedError
+
+    @abstractmethod
+    def get_joint_state(self) -> np.ndarray:
+        """Get the current state of the leader robot.
+
+        Returns:
+            T: The current state of the leader robot.
+        """
+        raise NotImplementedError
+
+    @abstractmethod
+    def command_joint_state(self, joint_state: np.ndarray) -> None:
+        """Command the leader robot to a given state.
+
+        Args:
+            joint_state (np.ndarray): The state to command the leader robot to.
+        """
+        raise NotImplementedError
+
+    @abstractmethod
+    def get_observations(self) -> Dict[str, np.ndarray]:
+        """Get the current observations of the robot.
+
+        This is to extract all the information that is available from the robot,
+        such as joint positions, joint velocities, etc. This may also include
+        information from additional sensors, such as cameras, force sensors, etc.
+
+        Returns:
+            Dict[str, np.ndarray]: A dictionary of observations.
+        """
+        raise NotImplementedError
+
+
+class PrintRobot(Robot):
+    """A robot that prints the commanded joint state."""
+
+    def __init__(self, num_dofs: int, dont_print: bool = False):
+        self._num_dofs = num_dofs
+        self._joint_state = np.zeros(num_dofs)
+        self._dont_print = dont_print
+
+    def num_dofs(self) -> int:
+        return self._num_dofs
+
+    def get_joint_state(self) -> np.ndarray:
+        return self._joint_state
+
+    def command_joint_state(self, joint_state: np.ndarray) -> None:
+        assert len(joint_state) == (self._num_dofs), (
+            f"Expected joint state of length {self._num_dofs}, "
+            f"got {len(joint_state)}."
+        )
+        self._joint_state = joint_state
+        if not self._dont_print:
+            print(self._joint_state)
+
+    def get_observations(self) -> Dict[str, np.ndarray]:
+        joint_state = self.get_joint_state()
+        pos_quat = np.zeros(7)
+        return {
+            "joint_positions": joint_state,
+            "joint_velocities": joint_state,
+            "ee_pos_quat": pos_quat,
+            "gripper_position": np.array(0),
+        }
+
+
+class BimanualRobot(Robot):
+    def __init__(self, robot_l: Robot, robot_r: Robot):
+        self._robot_l = robot_l
+        self._robot_r = robot_r
+
+    def num_dofs(self) -> int:
+        return self._robot_l.num_dofs() + self._robot_r.num_dofs()
+
+    def get_joint_state(self) -> np.ndarray:
+        return np.concatenate(
+            (self._robot_l.get_joint_state(), self._robot_r.get_joint_state())
+        )
+
+    def command_joint_state(self, joint_state: np.ndarray) -> None:
+        self._robot_l.command_joint_state(joint_state[: self._robot_l.num_dofs()])
+        self._robot_r.command_joint_state(joint_state[self._robot_l.num_dofs() :])
+
+    def get_observations(self) -> Dict[str, np.ndarray]:
+        l_obs = self._robot_l.get_observations()
+        r_obs = self._robot_r.get_observations()
+        assert l_obs.keys() == r_obs.keys()
+        return_obs = {}
+        for k in l_obs.keys():
+            try:
+                return_obs[k] = np.concatenate((l_obs[k], r_obs[k]))
+            except Exception as e:
+                print(e)
+                print(k)
+                print(l_obs[k])
+                print(r_obs[k])
+                raise RuntimeError()
+
+        return return_obs
+
+
+def main():
+    pass
+
+
+if __name__ == "__main__":
+    main()
diff --git a/teleop/image_server/image_client.py b/teleop/image_server/image_client.py
new file mode 100644
index 0000000..55ae572
--- /dev/null
+++ b/teleop/image_server/image_client.py
@@ -0,0 +1,42 @@
+import cv2
+import zmq
+import pickle
+import zlib
+
+def start_client():
+    # set ZeroMQ context and socket
+    context = zmq.Context()
+    socket = context.socket(zmq.PULL)
+    socket.connect("tcp://192.168.123.162:5555")
+    print("The client is connected and waiting to receive data...")
+
+    while True:
+        try:
+            compressed_data = b''
+            while True:
+                chunk = socket.recv()
+                compressed_data += chunk
+                if len(chunk) < 60000:
+                    break
+
+            data = zlib.decompress(compressed_data)
+            frame_data = pickle.loads(data)
+
+            # decode and display the image
+            frame = cv2.imdecode(frame_data, cv2.IMREAD_COLOR)
+
+            # convert BGR to RGB
+            frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+
+            cv2.imshow('Video Stream', frame_rgb)
+
+            if cv2.waitKey(1) & 0xFF == ord('q'):
+                break
+        except Exception as e:
+            print(f"An error occurred while receiving data: {e}")
+            break
+    context.term()
+    cv2.destroyAllWindows()
+
+if __name__ == "__main__":
+    start_client()
diff --git a/teleop/image_server/image_server.py b/teleop/image_server/image_server.py
new file mode 100644
index 0000000..0f5fb9b
--- /dev/null
+++ b/teleop/image_server/image_server.py
@@ -0,0 +1,48 @@
+import cv2
+import zmq
+import pickle
+import zlib
+
+def start_server():
+    # camera init
+    cap = cv2.VideoCapture(0, cv2.CAP_V4L2)
+    cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter.fourcc('M', 'J', 'P', 'G'))
+    cap.set(cv2.CAP_PROP_FRAME_WIDTH, 2560)
+    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
+    cap.set(cv2.CAP_PROP_FPS, 30)
+
+    # set ZeroMQ context and socket
+    context = zmq.Context()
+    socket = context.socket(zmq.PUSH)
+    socket.setsockopt(zmq.SNDHWM, 1)
+    socket.bind("tcp://*:5555")
+    print("The server has started, waiting for client connections...")
+
+    while True:
+        ret, frame = cap.read()
+        if not ret:
+            print("frame read is error")
+            break
+
+        # encoding image
+        ret2, frame = cv2.imencode('.jpg', frame)
+        if not ret2:
+            continue
+
+        # Compressing data using pickle and zlib
+        data = pickle.dumps(frame)
+        compressed_data = zlib.compress(data)
+
+        # sending data in pieces
+        chunk_size = 60000
+        num_chunks = len(compressed_data) // chunk_size + 1
+        for i in range(num_chunks):
+            start = i * chunk_size
+            end = start + chunk_size
+            chunk = compressed_data[start:end]
+            socket.send(chunk)
+    cap.release()
+    context.term()
+
+if __name__ == "__main__":
+    start_server()
diff --git a/teleop/inspire_hand.yml b/teleop/inspire_hand.yml
new file mode 100644
index 0000000..a2f6071
--- /dev/null
+++ b/teleop/inspire_hand.yml
@@ -0,0 +1,35 @@
+left:
+  type: vector
+  urdf_path: inspire_hand/inspire_hand_left.urdf
+  wrist_link_name: "L_hand_base_link"
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: null
+  target_origin_link_names: [ "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link" ]
+  target_task_link_names: [ "L_thumb_tip", "L_index_tip", "L_middle_tip", "L_ring_tip", "L_pinky_tip" ]
+  scaling_factor: 1.5
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.8
+
+right:
+  type: vector
+  urdf_path: inspire_hand/inspire_hand_right.urdf
+  wrist_link_name: "R_hand_base_link"
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: null
+  target_origin_link_names: [ "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link" ]
+  target_task_link_names: [ "R_thumb_tip", "R_index_tip", "R_middle_tip", "R_ring_tip", "R_pinky_tip" ]
+  scaling_factor: 1.5
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.8
\ No newline at end of file
diff --git a/teleop/motion_utils.py b/teleop/motion_utils.py
new file mode 100644
index 0000000..fc68166
--- /dev/null
+++ b/teleop/motion_utils.py
@@ -0,0 +1,14 @@
+import numpy as np
+
+def mat_update(prev_mat, mat):
+    if np.linalg.det(mat) == 0:
+        return prev_mat
+    else:
+        return mat
+
+
+def fast_mat_inv(mat):
+    ret = np.eye(4)
+    ret[:3, :3] = mat[:3, :3].T
+    ret[:3, 3] = -mat[:3, :3].T @ mat[:3, 3]
+    return ret
diff --git a/teleop/robot_control/robot_arm.py b/teleop/robot_control/robot_arm.py
new file mode 100644
index 0000000..bc79ccc
--- /dev/null
+++ b/teleop/robot_control/robot_arm.py
@@ -0,0 +1,318 @@
+import numpy as np
+import threading
+import time
+
+from unitree_dds_wrapper.idl import unitree_hg
+from unitree_dds_wrapper.publisher import Publisher
+from unitree_dds_wrapper.subscription import Subscription
+from unitree_dds_wrapper.utils.crc import crc32
+
+import struct
+from enum import IntEnum
+import copy
+
+kTopicLowCommand = "rt/arm_sdk"
+kTopicLowState = "rt/lowstate_hx"
+kNumMotors = 30
+
+
+
+class MotorCommand:
+    def __init__(self):
+        self.q_ref = np.zeros(kNumMotors)  
+        self.dq_ref = np.zeros(kNumMotors)  
+        self.tau_ff = np.zeros(kNumMotors)  
+        self.kp = np.zeros(kNumMotors)  
+        self.kd = np.zeros(kNumMotors)  
+
+class MotorState:
+    def __init__(self):
+        self.q = np.zeros(kNumMotors)
+        self.dq = np.zeros(kNumMotors)
+
+class BaseState:
+    def __init__(self):
+        self.omega = np.zeros(3)
+        self.rpy = np.zeros(3)
+
+class DataBuffer:
+    def __init__(self):
+        self.data = None
+        self.lock = threading.Lock()
+
+    def GetData(self):
+        with self.lock:
+            return self.data
+
+    def SetData(self, data):
+        with self.lock:
+            self.data = data
+
+np.set_printoptions(linewidth=240)
+
+class H1ArmController:
+    def __init__(self):
+        print("Initialize H1ArmController...")
+        self.q_desList = np.zeros(kNumMotors)
+        self.q_tau_ff = np.zeros(kNumMotors)
+        self.msg =  unitree_hg.msg.dds_.LowCmd_()
+        self.msg.head = [0xFE, 0xEF]
+        self.lowcmd_publisher = Publisher(unitree_hg.msg.dds_.LowCmd_, kTopicLowCommand)
+        self.lowstate_subscriber = Subscription(unitree_hg.msg.dds_.LowState_, kTopicLowState)
+
+        self.motor_state_buffer = DataBuffer()
+        self.motor_command_buffer = DataBuffer()
+        self.base_state_buffer = DataBuffer()
+
+        self.kp_low = 140.0
+        self.kd_low = 7.5
+
+        self.kp_high = 200.0
+        self.kd_high = 5.0
+
+        self.kp_wrist = 35.0
+        self.kd_wrist = 6.0
+
+        self.control_dt = 0.01
+        self.hip_pitch_init_pos = -0.5
+        self.knee_init_pos = 1.0
+        self.ankle_init_pos = -0.5
+        self.shoulder_pitch_init_pos = -1.4
+        self.time = 0.0
+        self.init_duration = 10.0
+        self.report_dt = 0.1
+        self.ratio = 0.0
+        self.q_target = []
+        while not self.lowstate_subscriber.msg:
+            time.sleep(0.01)
+        
+        for id in JointIndex:
+            self.msg.motor_cmd[id].q = self.lowstate_subscriber.msg.motor_state[id].q
+            self.q_target.append(self.msg.motor_cmd[id].q)
+
+        duration = 1000
+        init_q = np.array([self.lowstate_subscriber.msg.motor_state[id].q for id in JointIndex])
+        print("Lock Leg...")
+        for i in range(duration):
+            time.sleep(0.001)
+            q_t = init_q + (self.q_target - init_q) * i / duration
+            for i, id in enumerate(JointIndex):
+                self.msg.motor_cmd[id].mode = 1
+                if id not in JointArmIndex:
+                    self.msg.motor_cmd[id].kp = 200
+                    self.msg.motor_cmd[id].kd = 5
+                    self.msg.motor_cmd[id].q = q_t[i]
+                self.pre_communication()
+                self.lowcmd_publisher.msg = self.msg
+                self.lowcmd_publisher.write()
+        print("Lock Leg OK!")
+
+        self.report_rpy_thread = threading.Thread(target=self.SubscribeState)
+        self.report_rpy_thread.start()
+
+        self.control_thread = threading.Thread(target=self.Control)
+        self.control_thread.start()
+
+        self.command_writer_thread = threading.Thread(target=self.LowCommandWriter)
+        self.command_writer_thread.start()
+        print("Initialize H1ArmController OK!")
+
+    def LowStateHandler(self, message):
+        low_state = message
+        self.RecordMotorState(low_state)
+        self.RecordBaseState(low_state)
+
+    def SetMotorPose(self,q_desList,q_tau_ff):
+        self.q_desList = q_desList
+        self.q_tau_ff = q_tau_ff
+
+    def pre_communication(self):
+        self.__pack_crc()
+    def __pack_crc(self):
+        rawdata = []
+        rawdata.extend(self.msg.head)
+        rawdata.extend(self.msg.version)
+        for i in range(len(self.msg.motor_cmd)):
+            rawdata.append(self.msg.motor_cmd[i].mode)
+            rawdata.append(self.msg.motor_cmd[i].q)
+            rawdata.append(self.msg.motor_cmd[i].dq)
+            rawdata.append(self.msg.motor_cmd[i].tau)
+            rawdata.append(self.msg.motor_cmd[i].kp)
+            rawdata.append(self.msg.motor_cmd[i].kd)
+            rawdata.extend(self.msg.motor_cmd[i].reserve)
+        rawdata.append(self.msg.bms_cmd.cmd)
+        rawdata.extend(self.msg.bms_cmd.reserve)
+        rawdata.extend(self.msg.led_cmd)
+        rawdata.extend(self.msg.fan_cmd)
+        rawdata.extend(self.msg.cmd)
+        rawdata.extend(self.msg.data)
+        rawdata.extend(self.msg.reserve)
+        rawdata.append(self.msg.crc)
+
+        packdata = struct.pack(self.__packCRCformat, *rawdata)
+        calcdata = []
+        calclen = (len(packdata)>>2)-1
+        for i in range(calclen):
+            d = ((packdata[i*4+3] << 24) | (packdata[i*4+2] << 16) | (packdata[i*4+1] << 8) | (packdata[i*4]))
+            calcdata.append(d)
+
+        self.msg.crc = crc32(calcdata)
+
+    def LowCommandWriter(self):
+        while True:
+            mc_tmp_ptr = self.motor_command_buffer.GetData()
+            # rawdata.extend(self.msg.version)
+            if mc_tmp_ptr:
+                for i in JointArmIndex:
+                    self.msg.motor_cmd[i].tau = mc_tmp_ptr.tau_ff[i]  
+                    self.msg.motor_cmd[i].q = mc_tmp_ptr.q_ref[i]  
+                    self.msg.motor_cmd[i].dq = mc_tmp_ptr.dq_ref[i]  
+                    self.msg.motor_cmd[i].kp = mc_tmp_ptr.kp[i]  
+                    self.msg.motor_cmd[i].kd = mc_tmp_ptr.kd[i]  
+                self.pre_communication()
+                self.lowcmd_publisher.msg = self.msg
+                self.lowcmd_publisher.write()
+            time.sleep(0.002)
+                  
+    def Control(self):
+        while True:
+            ms_tmp_ptr_0 = self.motor_state_buffer.GetData()  
+            if ms_tmp_ptr_0: 
+                tem_q_desList = copy.deepcopy(self.q_desList)
+                tem_q_tau_ff = copy.deepcopy(self.q_tau_ff)
+                motor_command_tmp = MotorCommand()  
+                ms_tmp_ptr = self.motor_state_buffer.GetData()  
+                self.time += self.control_dt  
+                self.time = min(max(self.time, 0.0), self.init_duration)  
+                self.ratio = self.time / self.init_duration  
+                for i in range(kNumMotors):  
+                    if self.IsWeakMotor(i):
+                        motor_command_tmp.kp[i] = self.kp_low
+                        motor_command_tmp.kd[i] = self.kd_low
+                    elif self.IsWristMotor(i):
+                        motor_command_tmp.kp[i] = self.kp_wrist
+                        motor_command_tmp.kd[i] = self.kd_wrist
+                    else:
+                        motor_command_tmp.kp[i] = self.kp_high
+                        motor_command_tmp.kd[i] = self.kd_high
+                    motor_command_tmp.dq_ref[i] = 0.0  
+                    motor_command_tmp.tau_ff[i] = tem_q_tau_ff[i]  
+                    q_des = tem_q_desList[i]
+                    
+                    q_des = (q_des - ms_tmp_ptr.q[i]) * self.ratio + ms_tmp_ptr.q[i]
+                    motor_command_tmp.q_ref[i] = q_des 
+                self.motor_command_buffer.SetData(motor_command_tmp)  
+            time.sleep(0.002)
+            
+    def GetMotorState(self):
+        ms_tmp_ptr = self.motor_state_buffer.GetData()
+        if ms_tmp_ptr:
+            return ms_tmp_ptr.q[13:27],ms_tmp_ptr.dq[13:27]
+        else:
+            return None,None
+
+    def SubscribeState(self):
+        while True:
+            if self.lowstate_subscriber.msg:
+                self.LowStateHandler(self.lowstate_subscriber.msg)
+            time.sleep(0.002)
+
+    def RecordMotorState(self, msg):
+        ms_tmp = MotorState()
+        for i in range(kNumMotors):
+            ms_tmp.q[i] = msg.motor_state[i].q
+            ms_tmp.dq[i] = msg.motor_state[i].dq
+        self.motor_state_buffer.SetData(ms_tmp)
+
+    def RecordBaseState(self, msg):
+        bs_tmp = BaseState()
+        bs_tmp.omega = msg.imu_state.gyroscope
+        bs_tmp.rpy = msg.imu_state.rpy
+        self.base_state_buffer.SetData(bs_tmp)
+
+    def IsWeakMotor(self, motor_index):
+        weak_motors = [
+            JointIndex.kLeftAnkle,
+            JointIndex.kRightAnkle,
+            JointIndex.kRightShoulderPitch,
+            JointIndex.kRightShoulderRoll,
+            JointIndex.kRightShoulderYaw,
+            JointIndex.kRightElbow,
+            JointIndex.kLeftShoulderPitch,
+            JointIndex.kLeftShoulderRoll,
+            JointIndex.kLeftShoulderYaw,
+            JointIndex.kLeftElbow
+        ]
+        return motor_index in weak_motors
+    
+    def IsWristMotor(self, motor_index):
+        weak_motors = [
+            JointIndex.kLeftWristYaw,
+            JointIndex.kLeftWristPitch,
+            JointIndex.kLeftWristRoll,
+            JointIndex.kRightWristYaw,
+            JointIndex.kRightWristPitch,
+            JointIndex.kRightWristRoll
+        ]
+        return motor_index in weak_motors
+
+class JointArmIndex(IntEnum):
+    # Left arm
+    kLeftShoulderPitch = 13
+    kLeftShoulderRoll = 14
+    kLeftShoulderYaw = 15
+    kLeftElbow = 16
+    kLeftWristYaw = 17
+    kLeftWristPitch = 18
+    kLeftWristRoll = 19
+
+    # Right arm
+    kRightShoulderPitch = 20
+    kRightShoulderRoll = 21
+    kRightShoulderYaw = 22
+    kRightElbow = 23
+    kRightWristYaw = 24
+    kRightWristPitch = 25
+    kRightWristRoll = 26
+
+class JointIndex:
+    # Left leg
+    kLeftHipYaw = 0
+    kLeftHipRoll = 1
+    kLeftHipPitch = 2
+    kLeftKnee = 3
+    kLeftAnkle = 4
+    kLeftAnkleRoll = 5
+
+    # Right leg
+    kRightHipYaw = 6
+    kRightHipRoll = 7
+    kRightHipPitch = 8
+    kRightKnee = 9
+    kRightAnkle = 10
+    kRightAnkleRoll = 11
+
+    kWaistYaw = 12
+
+    # Left arm
+    kLeftShoulderPitch = 13
+    kLeftShoulderRoll = 14
+    kLeftShoulderYaw = 15
+    kLeftElbow = 16
+    kLeftWristYaw = 17
+    kLeftWristPitch = 18
+    kLeftWristRoll = 19
+
+    # Right arm
+    kRightShoulderPitch = 20
+    kRightShoulderRoll = 21
+    kRightShoulderYaw = 22
+    kRightElbow = 23
+    kRightWristYaw = 24
+    kRightWristPitch = 25
+    kRightWristRoll = 26
+
+    kNotUsedJoint = 27
+    kNotUsedJoint1 = 28
+    kNotUsedJoint2 = 29
+
diff --git a/teleop/robot_control/robot_arm_ik.py b/teleop/robot_control/robot_arm_ik.py
new file mode 100644
index 0000000..4488797
--- /dev/null
+++ b/teleop/robot_control/robot_arm_ik.py
@@ -0,0 +1,232 @@
+import casadi                                                                       
+import meshcat.geometry as mg
+import numpy as np
+import pinocchio as pin                             
+import time
+from pinocchio import casadi as cpin                
+from pinocchio.robot_wrapper import RobotWrapper    
+from pinocchio.visualize import MeshcatVisualizer   
+import os
+import sys
+
+current_dir = os.path.dirname(os.path.abspath(__file__))
+parent_dir = os.path.dirname(current_dir)
+sys.path.append(parent_dir)
+
+class Arm_IK:
+    def __init__(self):
+        np.set_printoptions(precision=5, suppress=True, linewidth=200)
+
+        self.robot = pin.RobotWrapper.BuildFromURDF('../assets/H1_5/h1_5.urdf', '../assets/H1_5')
+
+        self.mixed_jointsToLockIDs = ["left_hip_yaw_joint",
+                                      "left_hip_pitch_joint",
+                                      "left_hip_roll_joint",
+                                      "left_knee_joint",
+                                      "left_ankle_pitch_joint",
+                                      "left_ankle_roll_joint",
+                                      "right_hip_yaw_joint",
+                                      "right_hip_pitch_joint",
+                                      "right_hip_roll_joint",
+                                      "right_knee_joint",
+                                      "right_ankle_pitch_joint",
+                                      "right_ankle_roll_joint",
+                                      "torso_joint",
+                                      "L_index_proximal_joint",
+                                      "L_index_intermediate_joint",
+                                      "L_middle_proximal_joint",
+                                      "L_middle_intermediate_joint",
+                                      "L_pinky_proximal_joint",
+                                      "L_pinky_intermediate_joint",
+                                      "L_ring_proximal_joint",
+                                      "L_ring_intermediate_joint",
+                                      "L_thumb_proximal_yaw_joint",
+                                      "L_thumb_proximal_pitch_joint",
+                                      "L_thumb_intermediate_joint",
+                                      "L_thumb_distal_joint",
+                                      "R_index_proximal_joint",
+                                      "R_index_intermediate_joint",
+                                      "R_middle_proximal_joint",
+                                      "R_middle_intermediate_joint",
+                                      "R_pinky_proximal_joint",
+                                      "R_pinky_intermediate_joint",
+                                      "R_ring_proximal_joint",
+                                      "R_ring_intermediate_joint",
+                                      "R_thumb_proximal_yaw_joint",
+                                      "R_thumb_proximal_pitch_joint",
+                                      "R_thumb_intermediate_joint",
+                                      "R_thumb_distal_joint"
+                                      ]
+
+        self.reduced_robot = self.robot.buildReducedRobot(
+            list_of_joints_to_lock=self.mixed_jointsToLockIDs,
+            reference_configuration=np.array([0.0] * self.robot.model.nq),
+        )
+
+        self.reduced_robot.model.addFrame(
+            pin.Frame('L_ee',
+                      self.reduced_robot.model.getJointId('left_wrist_yaw_joint'),
+                      pin.SE3(np.eye(3),
+                              np.array([0.1,0,0]).T),
+                      pin.FrameType.OP_FRAME)
+        )
+        
+        self.reduced_robot.model.addFrame(
+            pin.Frame('R_ee',
+                      self.reduced_robot.model.getJointId('right_wrist_yaw_joint'),
+                      pin.SE3(np.eye(3),
+                              np.array([0.1,0,0]).T),
+                      pin.FrameType.OP_FRAME)
+        )
+        
+
+        self.init_data = np.zeros(self.reduced_robot.model.nq)
+
+        # # Initialize the Meshcat visualizer
+        # self.vis = MeshcatVisualizer(self.reduced_robot.model, self.reduced_robot.collision_model, self.reduced_robot.visual_model)
+        # self.vis.initViewer(open=True) 
+        # self.vis.loadViewerModel("pinocchio") 
+        # self.vis.displayFrames(True, frame_ids=[43, 44, 85, 86])
+        # self.vis.display(pin.neutral(self.reduced_robot.model))
+        # # Enable the display of end effector target frames with short axis lengths and greater width.
+        # frame_viz_names = ['L_ee_target', 'R_ee_target']
+        # FRAME_AXIS_POSITIONS = (
+        #     np.array([[0, 0, 0], [1, 0, 0],
+        #             [0, 0, 0], [0, 1, 0],
+        #             [0, 0, 0], [0, 0, 1]]).astype(np.float32).T
+        # )
+        # FRAME_AXIS_COLORS = (
+        #     np.array([[1, 0, 0], [1, 0.6, 0],
+        #             [0, 1, 0], [0.6, 1, 0],
+        #             [0, 0, 1], [0, 0.6, 1]]).astype(np.float32).T
+        # )
+        # axis_length = 0.1
+        # axis_width = 10
+        # for frame_viz_name in frame_viz_names:
+        #     self.vis.viewer[frame_viz_name].set_object(
+        #         mg.LineSegments(
+        #             mg.PointsGeometry(
+        #                 position=axis_length * FRAME_AXIS_POSITIONS,
+        #                 color=FRAME_AXIS_COLORS,
+        #             ),
+        #             mg.LineBasicMaterial(
+        #                 linewidth=axis_width,
+        #                 vertexColors=True,
+        #             ),
+        #         )
+        #     )
+        
+        # self.vis.viewer['Origin'].set_object(
+        #     mg.LineSegments(
+        #         mg.PointsGeometry(
+        #             position=0.3 * FRAME_AXIS_POSITIONS,
+        #             color=FRAME_AXIS_COLORS,
+        #         ),
+        #         mg.LineBasicMaterial(
+        #             linewidth=30,
+        #             vertexColors=True,
+        #         ),
+        #     )
+        # )
+
+        # Creating Casadi models and data for symbolic computing
+        self.cmodel = cpin.Model(self.reduced_robot.model)
+        self.cdata = self.cmodel.createData()
+
+        # Creating symbolic variables
+        self.cq = casadi.SX.sym("q", self.reduced_robot.model.nq, 1) 
+        self.cTf_l = casadi.SX.sym("tf_l", 4, 4)
+        self.cTf_r = casadi.SX.sym("tf_r", 4, 4)
+        cpin.framesForwardKinematics(self.cmodel, self.cdata, self.cq)
+
+        # Get the hand joint ID and define the error function
+        self.L_hand_id = self.reduced_robot.model.getFrameId("L_ee")
+        self.R_hand_id = self.reduced_robot.model.getFrameId("R_ee")
+        self.error = casadi.Function(
+            "error",
+            [self.cq, self.cTf_l, self.cTf_r],
+            [
+                casadi.vertcat(
+                    cpin.log6(
+                        self.cdata.oMf[self.L_hand_id].inverse() * cpin.SE3(self.cTf_l)
+                    ).vector,
+                    cpin.log6(
+                        self.cdata.oMf[self.R_hand_id].inverse() * cpin.SE3(self.cTf_r)
+                    ).vector
+                )
+            ],
+        )
+
+        # Defining the optimization problem
+        self.opti = casadi.Opti()
+        self.var_q = self.opti.variable(self.reduced_robot.model.nq)
+        # self.param_q_ik_last = self.opti.parameter(self.reduced_robot.model.nq)
+        self.param_tf_l = self.opti.parameter(4, 4)
+        self.param_tf_r = self.opti.parameter(4, 4)
+        self.totalcost = casadi.sumsqr(self.error(self.var_q, self.param_tf_l, self.param_tf_r))
+        self.regularization = casadi.sumsqr(self.var_q)
+        # self.smooth_cost = casadi.sumsqr(self.var_q - self.param_q_ik_last)
+
+        # Setting optimization constraints and goals
+        self.opti.subject_to(self.opti.bounded(
+            self.reduced_robot.model.lowerPositionLimit,
+            self.var_q,
+            self.reduced_robot.model.upperPositionLimit)
+        )
+        self.opti.minimize(20 * self.totalcost + self.regularization)
+        # self.opti.minimize(20 * self.totalcost + 0.001*self.regularization + 0.1*self.smooth_cost)
+
+        opts = {
+            'ipopt':{
+                'print_level':0,
+                'max_iter':30,
+                'tol':5e-3
+            },
+            'print_time':False
+        }
+        self.opti.solver("ipopt", opts)
+
+    def adjust_pose(self, human_left_pose, human_right_pose, human_arm_length=0.60, robot_arm_length=1.20):
+        scale_factor = robot_arm_length / human_arm_length
+        robot_left_pose = human_left_pose.copy()
+        robot_right_pose = human_right_pose.copy()
+        robot_left_pose[:3, 3] *= scale_factor
+        robot_right_pose[:3, 3] *= scale_factor
+        return robot_left_pose, robot_right_pose
+
+    def ik_fun(self, left_pose, right_pose, motorstate=None, motorV=None):
+        if motorstate is not None:
+            self.init_data = motorstate
+        self.opti.set_initial(self.var_q, self.init_data)
+
+        # self.vis.viewer['L_ee_target'].set_transform(left_pose)
+        # self.vis.viewer['R_ee_target'].set_transform(right_pose)
+        # origin_pose = np.eye(4)
+        # self.vis.viewer['Origin'].set_transform(origin_pose)
+
+        left_pose, right_pose = self.adjust_pose(left_pose, right_pose)
+
+        self.opti.set_value(self.param_tf_l, left_pose)
+        self.opti.set_value(self.param_tf_r, right_pose)
+
+        try:
+            # sol = self.opti.solve()
+            sol = self.opti.solve_limited()
+            sol_q = self.opti.value(self.var_q)
+
+            # self.vis.display(sol_q)
+            self.init_data = sol_q
+
+            if motorV is not None:
+                v =motorV * 0.0
+            else:
+                v = (sol_q-self.init_data ) * 0.0
+
+            tau_ff = pin.rnea(self.reduced_robot.model, self.reduced_robot.data, sol_q,v,np.zeros(self.reduced_robot.model.nv))
+
+            return sol_q, tau_ff ,True
+        
+        except Exception as e:
+            print(f"ERROR in convergence, plotting debug info.{e}")
+            # sol_q = self.opti.debug.value(self.var_q)   # return original value
+            return sol_q, '',False
\ No newline at end of file
diff --git a/teleop/robot_control/robot_arm_tem.py b/teleop/robot_control/robot_arm_tem.py
new file mode 100644
index 0000000..f7585a0
--- /dev/null
+++ b/teleop/robot_control/robot_arm_tem.py
@@ -0,0 +1,316 @@
+import numpy as np
+import threading
+import time
+
+from unitree_dds_wrapper.idl import unitree_hx
+from unitree_dds_wrapper.publisher import Publisher
+from unitree_dds_wrapper.subscription import Subscription
+from unitree_dds_wrapper.utils.crc import crc32
+import struct
+from enum import IntEnum
+import copy
+kTopicLowCommand = "rt/arm_sdk"
+kTopicLowState = "rt/lowstate_hx"
+kNumMotors = 30
+
+
+# 定义电机命令类
+class MotorCommand:
+    def __init__(self):
+        self.q_ref = np.zeros(kNumMotors)  
+        self.dq_ref = np.zeros(kNumMotors)  
+        self.tau_ff = np.zeros(kNumMotors)  
+        self.kp = np.zeros(kNumMotors)  
+        self.kd = np.zeros(kNumMotors)  
+
+
+class MotorState:
+    def __init__(self):
+        self.q = np.zeros(kNumMotors)
+        self.dq = np.zeros(kNumMotors)
+
+class BaseState:
+    def __init__(self):
+        self.omega = np.zeros(3)
+        self.rpy = np.zeros(3)
+
+class DataBuffer:
+    def __init__(self):
+        self.data = None
+        self.lock = threading.Lock()
+
+    def GetData(self):
+        with self.lock:
+            return self.data
+
+    def SetData(self, data):
+        with self.lock:
+            self.data = data
+
+np.set_printoptions(linewidth=240)
+
+class H1ArmController:
+    def __init__(self):
+        print("Initialize channel factory.")
+        self.q_desList = np.zeros(kNumMotors)
+        self.q_tau_ff = np.zeros(kNumMotors)
+        self.msg =  unitree_hx.msg.dds_.LowCmd_()
+        self.msg.head = [0xFE, 0xEF]  # 设置消息头
+        self.lowcmd_publisher = Publisher(unitree_hx.msg.dds_.LowCmd_, kTopicLowCommand)
+        self.lowstate_subscriber = Subscription(unitree_hx.msg.dds_.LowState_, kTopicLowState)
+
+        self.motor_state_buffer = DataBuffer()
+        self.motor_command_buffer = DataBuffer()
+        self.base_state_buffer = DataBuffer()
+
+        self.kp_low = 140.0
+        self.kd_low = 7.5
+
+        self.kp_high = 200.0
+        self.kd_high = 5.0
+
+        self.kp_wrist = 35.0
+        self.kd_wrist = 6.0
+
+        self.control_dt = 0.01
+        self.hip_pitch_init_pos = -0.5
+        self.knee_init_pos = 1.0
+        self.ankle_init_pos = -0.5
+        self.shoulder_pitch_init_pos = -1.4
+        self.time = 0.0
+        self.init_duration = 10.0
+        self.report_dt = 0.1
+        self.ratio = 0.0
+        self.q_target = []
+        while not self.lowstate_subscriber.msg:
+            time.sleep(0.01)
+        
+        for id in JointIndex:
+            self.msg.motor_cmd[id].q = self.lowstate_subscriber.msg.motor_state[id].q
+            self.q_target.append(self.msg.motor_cmd[id].q)
+
+        duration = 1000
+        init_q = np.array([self.lowstate_subscriber.msg.motor_state[id].q for id in JointIndex])
+        print("Lock Leg...")
+        for i in range(duration):
+            time.sleep(0.001)
+            q_t = init_q + (self.q_target - init_q) * i / duration
+            for i, id in enumerate(JointIndex):
+                self.msg.motor_cmd[id].mode = 1
+                if id not in JointArmIndex:
+                    self.msg.motor_cmd[id].kp = 200
+                    self.msg.motor_cmd[id].kd = 5
+                    self.msg.motor_cmd[id].q = q_t[i]
+                self.pre_communication()
+                self.lowcmd_publisher.msg = self.msg
+                self.lowcmd_publisher.write()  # 发布命令
+
+        
+        self.report_rpy_thread = threading.Thread(target=self.SubscribeState)
+        self.report_rpy_thread.start()
+
+        self.control_thread = threading.Thread(target=self.Control)
+        self.control_thread.start()
+
+        self.command_writer_thread = threading.Thread(target=self.LowCommandWriter)
+        self.command_writer_thread.start()
+
+
+    def LowStateHandler(self, message):
+        low_state = message
+        self.RecordMotorState(low_state)
+        self.RecordBaseState(low_state)
+
+    def SetMotorPose(self,q_desList,q_tau_ff):
+        self.q_desList = q_desList
+        self.q_tau_ff = q_tau_ff
+
+    def pre_communication(self):
+        self.__pack_crc()
+    def __pack_crc(self):
+        rawdata = []
+        rawdata.extend(self.msg.head)
+        rawdata.extend(self.msg.version)
+        for i in range(len(self.msg.motor_cmd)):
+            rawdata.append(self.msg.motor_cmd[i].mode)
+            rawdata.append(self.msg.motor_cmd[i].q)
+            rawdata.append(self.msg.motor_cmd[i].dq)
+            rawdata.append(self.msg.motor_cmd[i].tau)
+            rawdata.append(self.msg.motor_cmd[i].kp)
+            rawdata.append(self.msg.motor_cmd[i].kd)
+            rawdata.extend(self.msg.motor_cmd[i].reserve)
+        rawdata.append(self.msg.bms_cmd.cmd)
+        rawdata.extend(self.msg.bms_cmd.reserve)
+        rawdata.extend(self.msg.led_cmd)
+        rawdata.extend(self.msg.fan_cmd)
+        rawdata.extend(self.msg.cmd)
+        rawdata.extend(self.msg.data)
+        rawdata.extend(self.msg.reserve)
+        rawdata.append(self.msg.crc)
+
+        packdata = struct.pack(self.__packCRCformat, *rawdata)
+        calcdata = []
+        calclen = (len(packdata)>>2)-1
+        for i in range(calclen):
+            d = ((packdata[i*4+3] << 24) | (packdata[i*4+2] << 16) | (packdata[i*4+1] << 8) | (packdata[i*4]))
+            calcdata.append(d)
+
+        self.msg.crc = crc32(calcdata)
+
+    def LowCommandWriter(self):
+        while True:
+            mc_tmp_ptr = self.motor_command_buffer.GetData()
+            # rawdata.extend(self.msg.version)
+            if mc_tmp_ptr:
+                for i in JointArmIndex:
+                    self.msg.motor_cmd[i].tau = mc_tmp_ptr.tau_ff[i]  
+                    self.msg.motor_cmd[i].q = mc_tmp_ptr.q_ref[i]  
+                    self.msg.motor_cmd[i].dq = mc_tmp_ptr.dq_ref[i]  
+                    self.msg.motor_cmd[i].kp = mc_tmp_ptr.kp[i]  
+                    self.msg.motor_cmd[i].kd = mc_tmp_ptr.kd[i]  
+                self.pre_communication()
+                self.lowcmd_publisher.msg = self.msg
+                self.lowcmd_publisher.write()  # 发布命令
+            time.sleep(0.002)  # 控制循环周期
+                  
+    def Control(self):
+        while True:
+            ms_tmp_ptr_0 = self.motor_state_buffer.GetData()  
+            if ms_tmp_ptr_0: 
+                tem_q_desList = copy.deepcopy(self.q_desList)
+                tem_q_tau_ff = copy.deepcopy(self.q_tau_ff)
+                motor_command_tmp = MotorCommand()  
+                ms_tmp_ptr = self.motor_state_buffer.GetData()  
+                self.time += self.control_dt  
+                self.time = min(max(self.time, 0.0), self.init_duration)  
+                self.ratio = self.time / self.init_duration  
+                for i in range(kNumMotors):  
+                    if self.IsWeakMotor(i):
+                        motor_command_tmp.kp[i] = self.kp_low
+                        motor_command_tmp.kd[i] = self.kd_low
+                    elif self.IsWristMotor(i):
+                        motor_command_tmp.kp[i] = self.kp_wrist
+                        motor_command_tmp.kd[i] = self.kd_wrist
+                    else:
+                        motor_command_tmp.kp[i] = self.kp_high
+                        motor_command_tmp.kd[i] = self.kd_high
+                    motor_command_tmp.dq_ref[i] = 0.0  
+                    motor_command_tmp.tau_ff[i] = tem_q_tau_ff[i]  
+                    q_des = tem_q_desList[i]
+                    
+                    q_des = (q_des - ms_tmp_ptr.q[i]) * self.ratio + ms_tmp_ptr.q[i]
+                    motor_command_tmp.q_ref[i] = q_des 
+                self.motor_command_buffer.SetData(motor_command_tmp)  
+            time.sleep(0.002)
+            
+    def GetMotorState(self):
+        ms_tmp_ptr = self.motor_state_buffer.GetData()
+        if ms_tmp_ptr:
+            return ms_tmp_ptr.q[13:27],ms_tmp_ptr.dq[13:27]
+        else:
+            return None,None
+
+    def SubscribeState(self):
+        while True:
+            if self.lowstate_subscriber.msg:
+                self.LowStateHandler(self.lowstate_subscriber.msg)
+            time.sleep(0.002)
+
+    def RecordMotorState(self, msg):
+        ms_tmp = MotorState()
+        for i in range(kNumMotors):
+            ms_tmp.q[i] = msg.motor_state[i].q
+            ms_tmp.dq[i] = msg.motor_state[i].dq
+        self.motor_state_buffer.SetData(ms_tmp)
+
+    def RecordBaseState(self, msg):
+        bs_tmp = BaseState()
+        bs_tmp.omega = msg.imu_state.gyroscope
+        bs_tmp.rpy = msg.imu_state.rpy
+        self.base_state_buffer.SetData(bs_tmp)
+
+    def IsWeakMotor(self, motor_index):
+        weak_motors = [
+            JointIndex.kLeftAnkle,
+            JointIndex.kRightAnkle,
+            JointIndex.kRightShoulderPitch,
+            JointIndex.kRightShoulderRoll,
+            JointIndex.kRightShoulderYaw,
+            JointIndex.kRightElbow,
+            JointIndex.kLeftShoulderPitch,
+            JointIndex.kLeftShoulderRoll,
+            JointIndex.kLeftShoulderYaw,
+            JointIndex.kLeftElbow
+        ]
+        return motor_index in weak_motors
+    
+    def IsWristMotor(self, motor_index):
+        weak_motors = [
+            JointIndex.kLeftWristYaw,
+            JointIndex.kLeftWristPitch,
+            JointIndex.kLeftWristRoll,
+            JointIndex.kRightWristYaw,
+            JointIndex.kRightWristPitch,
+            JointIndex.kRightWristRoll
+        ]
+        return motor_index in weak_motors
+
+class JointArmIndex(IntEnum):
+    # Left arm
+    kLeftShoulderPitch = 13
+    kLeftShoulderRoll = 14
+    kLeftShoulderYaw = 15
+    kLeftElbow = 16
+    kLeftWristYaw = 17
+    kLeftWristPitch = 18
+    kLeftWristRoll = 19
+
+    # Right arm
+    kRightShoulderPitch = 20
+    kRightShoulderRoll = 21
+    kRightShoulderYaw = 22
+    kRightElbow = 23
+    kRightWristYaw = 24
+    kRightWristPitch = 25
+    kRightWristRoll = 26
+
+class JointIndex:
+    # Left leg
+    kLeftHipYaw = 0
+    kLeftHipRoll = 1
+    kLeftHipPitch = 2
+    kLeftKnee = 3
+    kLeftAnkle = 4
+    kLeftAnkleRoll = 5
+
+    # Right leg
+    kRightHipYaw = 6
+    kRightHipRoll = 7
+    kRightHipPitch = 8
+    kRightKnee = 9
+    kRightAnkle = 10
+    kRightAnkleRoll = 11
+
+    kWaistYaw = 12
+
+    # Left arm
+    kLeftShoulderPitch = 13
+    kLeftShoulderRoll = 14
+    kLeftShoulderYaw = 15
+    kLeftElbow = 16
+    kLeftWristYaw = 17
+    kLeftWristPitch = 18
+    kLeftWristRoll = 19
+
+    # Right arm
+    kRightShoulderPitch = 20
+    kRightShoulderRoll = 21
+    kRightShoulderYaw = 22
+    kRightElbow = 23
+    kRightWristYaw = 24
+    kRightWristPitch = 25
+    kRightWristRoll = 26
+
+    kNotUsedJoint = 27
+    kNotUsedJoint1 = 28
+    kNotUsedJoint2 = 29
diff --git a/teleop/robot_control/robot_hand.py b/teleop/robot_control/robot_hand.py
new file mode 100644
index 0000000..8ef3080
--- /dev/null
+++ b/teleop/robot_control/robot_hand.py
@@ -0,0 +1,66 @@
+
+from unitree_dds_wrapper.idl import unitree_go
+from unitree_dds_wrapper.publisher import Publisher
+from unitree_dds_wrapper.subscription import Subscription
+import numpy as np
+import threading
+import time
+
+
+class H1HandController:
+    def __init__(self):
+        self.cmd = unitree_go.msg.dds_.MotorCmds_()
+        self.state = unitree_go.msg.dds_.MotorStates_()
+        self.labels = {
+            "open": np.ones(6),
+            "close": np.zeros(6),
+            "half": np.full(6, 0.5)
+        }
+        self.lock = threading.Lock()
+        self.init_dds()
+
+    def init_dds(self):
+        self.handcmd = Publisher(unitree_go.msg.dds_.MotorCmds_, "rt/inspire/cmd")
+        self.handstate = Subscription(unitree_go.msg.dds_.MotorStates_, "rt/inspire/state")
+        self.cmd.cmds = [unitree_go.msg.dds_.MotorCmd_() for _ in range(12)]
+        self.state.states = [unitree_go.msg.dds_.MotorState_() for _ in range(12)]
+
+        self.report_rpy_thread = threading.Thread(target=self.subscribe_state)
+        self.report_rpy_thread.start()
+
+    def subscribe_state(self):
+        while True:
+            if self.handstate.msg:
+                self.state = self.handstate.msg
+            time.sleep(0.01)
+
+    def ctrl(self, label):
+        if label in self.labels:
+            self._ctrl(self.labels[label], self.labels[label])
+        else:
+            print(f"Invalid label: {label}")
+
+    def crtl(self,right_angles,left_angles):
+        self._ctrl(right_angles,left_angles)
+
+    def _ctrl(self, right_angles, left_angles):
+        for i in range(6):
+            self.cmd.cmds[i].q = right_angles[i]
+            self.cmd.cmds[i+6].q = left_angles[i]
+        self.handcmd.msg.cmds = self.cmd.cmds
+        self.handcmd.write()
+
+    def get_hand_state(self):
+        with self.lock:
+            q = np.array([self.state.states[i].q for i in range(12)])
+            return q
+        
+    def get_right_q(self):
+        with self.lock:
+            q = np.array([self.state.states[i].q for i in range(6)])
+            return q
+
+    def get_left_q(self):
+        with self.lock:
+            q = np.array([self.state.states[i+6].q for i in range(6)])
+            return q
diff --git a/teleop/teleop_active_cam.py b/teleop/teleop_active_cam.py
new file mode 100644
index 0000000..69952eb
--- /dev/null
+++ b/teleop/teleop_active_cam.py
@@ -0,0 +1,86 @@
+import math
+import numpy as np
+
+np.set_printoptions(precision=2, suppress=True)
+import matplotlib.pyplot as plt
+from scipy.spatial.transform import Rotation as R
+from pytransform3d import rotations
+
+import time
+import cv2
+from constants_vuer import *
+from TeleVision import OpenTeleVision
+import pyzed.sl as sl
+from dynamixel.active_cam import DynamixelAgent
+from multiprocessing import Array, Process, shared_memory, Queue, Manager, Event, Semaphore
+
+resolution = (720, 1280)
+crop_size_w = 1
+crop_size_h = 0
+resolution_cropped = (resolution[0] - crop_size_h, resolution[1] - 2 * crop_size_w)
+
+agent = DynamixelAgent(port="/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT8IT033-if00-port0")
+agent._robot.set_torque_mode(True)
+
+# Create a Camera object
+zed = sl.Camera()
+
+# Create a InitParameters object and set configuration parameters
+init_params = sl.InitParameters()
+init_params.camera_resolution = sl.RESOLUTION.HD720  # Use HD720 opr HD1200 video mode, depending on camera type.
+init_params.camera_fps = 60  # Set fps at 60
+
+# Open the camera
+err = zed.open(init_params)
+if err != sl.ERROR_CODE.SUCCESS:
+    print("Camera Open : " + repr(err) + ". Exit program.")
+    exit()
+
+# Capture 50 frames and stop
+i = 0
+image_left = sl.Mat()
+image_right = sl.Mat()
+runtime_parameters = sl.RuntimeParameters()
+
+img_shape = (resolution_cropped[0], 2 * resolution_cropped[1], 3)
+img_height, img_width = resolution_cropped[:2]
+shm = shared_memory.SharedMemory(create=True, size=np.prod(img_shape) * np.uint8().itemsize)
+img_array = np.ndarray((img_shape[0], img_shape[1], 3), dtype=np.uint8, buffer=shm.buf)
+image_queue = Queue()
+toggle_streaming = Event()
+tv = OpenTeleVision(resolution_cropped, shm.name, image_queue, toggle_streaming)
+
+while True:
+    start = time.time()
+
+    head_mat = grd_yup2grd_zup[:3, :3] @ tv.head_matrix[:3, :3] @ grd_yup2grd_zup[:3, :3].T
+    if np.sum(head_mat) == 0:
+        head_mat = np.eye(3)
+    head_rot = rotations.quaternion_from_matrix(head_mat[0:3, 0:3])
+    try:
+        ypr = rotations.euler_from_quaternion(head_rot, 2, 1, 0, False)
+        # print(ypr)
+        # agent._robot.command_joint_state([0., 0.4])
+        agent._robot.command_joint_state(ypr[:2])
+        # print("success")
+    except:
+        # print("failed")
+        # exit()
+        pass
+
+    if zed.grab(runtime_parameters) == sl.ERROR_CODE.SUCCESS:
+        zed.retrieve_image(image_left, sl.VIEW.LEFT)
+        zed.retrieve_image(image_right, sl.VIEW.RIGHT)
+        timestamp = zed.get_timestamp(sl.TIME_REFERENCE.CURRENT)  # Get the timestamp at the time the image was captured
+        # print("Image resolution: {0} x {1} || Image timestamp: {2}\n".format(image.get_width(), image.get_height(),
+        #         timestamp.get_milliseconds()))
+
+    bgr = np.hstack((image_left.numpy()[crop_size_h:, crop_size_w:-crop_size_w],
+                     image_right.numpy()[crop_size_h:, crop_size_w:-crop_size_w]))
+    rgb = cv2.cvtColor(bgr, cv2.COLOR_BGRA2RGB)
+
+    np.copyto(img_array, rgb)
+
+    end = time.time()
+    # print(1/(end-start))
+zed.close()
\ No newline at end of file
diff --git a/teleop/teleop_hand.py b/teleop/teleop_hand.py
new file mode 100644
index 0000000..fe3bec1
--- /dev/null
+++ b/teleop/teleop_hand.py
@@ -0,0 +1,273 @@
+from isaacgym import gymapi
+from isaacgym import gymutil
+from isaacgym import gymtorch
+
+import math
+import numpy as np
+import torch
+
+from TeleVision import OpenTeleVision
+from Preprocessor import VuerPreprocessor
+from constants_vuer import tip_indices
+from dex_retargeting.retargeting_config import RetargetingConfig
+from pytransform3d import rotations
+
+from pathlib import Path
+import argparse
+import time
+import yaml
+from multiprocessing import Array, Process, shared_memory, Queue, Manager, Event, Semaphore
+
+class VuerTeleop:
+    def __init__(self, config_file_path):
+        self.resolution = (720, 1280)
+        self.crop_size_w = 0
+        self.crop_size_h = 0
+        self.resolution_cropped = (self.resolution[0]-self.crop_size_h, self.resolution[1]-2*self.crop_size_w)
+
+        self.img_shape = (self.resolution_cropped[0], 2 * self.resolution_cropped[1], 3)
+        self.img_height, self.img_width = self.resolution_cropped[:2]
+
+        self.shm = shared_memory.SharedMemory(create=True, size=np.prod(self.img_shape) * np.uint8().itemsize)
+        self.img_array = np.ndarray((self.img_shape[0], self.img_shape[1], 3), dtype=np.uint8, buffer=self.shm.buf)
+        image_queue = Queue()
+        toggle_streaming = Event()
+        self.tv = OpenTeleVision(self.resolution_cropped, self.shm.name, image_queue, toggle_streaming)
+        self.processor = VuerPreprocessor()
+
+        RetargetingConfig.set_default_urdf_dir('../assets')
+        with Path(config_file_path).open('r') as f:
+            cfg = yaml.safe_load(f)
+        left_retargeting_config = RetargetingConfig.from_dict(cfg['left'])
+        right_retargeting_config = RetargetingConfig.from_dict(cfg['right'])
+        self.left_retargeting = left_retargeting_config.build()
+        self.right_retargeting = right_retargeting_config.build()
+
+    def step(self):
+        head_mat, left_wrist_mat, right_wrist_mat, left_hand_mat, right_hand_mat = self.processor.process(self.tv)
+
+        head_rmat = head_mat[:3, :3]
+
+        left_pose = np.concatenate([left_wrist_mat[:3, 3] + np.array([-0.6, 0, 1.6]),
+                                    rotations.quaternion_from_matrix(left_wrist_mat[:3, :3])[[1, 2, 3, 0]]])
+        right_pose = np.concatenate([right_wrist_mat[:3, 3] + np.array([-0.6, 0, 1.6]),
+                                     rotations.quaternion_from_matrix(right_wrist_mat[:3, :3])[[1, 2, 3, 0]]])
+        left_qpos = self.left_retargeting.retarget(left_hand_mat[tip_indices])[[4, 5, 6, 7, 10, 11, 8, 9, 0, 1, 2, 3]]
+        right_qpos = self.right_retargeting.retarget(right_hand_mat[tip_indices])[[4, 5, 6, 7, 10, 11, 8, 9, 0, 1, 2, 3]]
+
+        return head_rmat, left_pose, right_pose, left_qpos, right_qpos
+
+class Sim:
+    def __init__(self,
+                 print_freq=False):
+        self.print_freq = print_freq
+
+        # initialize gym
+        self.gym = gymapi.acquire_gym()
+
+        # configure sim
+        sim_params = gymapi.SimParams()
+        sim_params.dt = 1 / 60
+        sim_params.substeps = 2
+        sim_params.up_axis = gymapi.UP_AXIS_Z
+        sim_params.gravity = gymapi.Vec3(0.0, 0.0, -9.81)
+        sim_params.physx.solver_type = 1
+        sim_params.physx.num_position_iterations = 4
+        sim_params.physx.num_velocity_iterations = 1
+        sim_params.physx.max_gpu_contact_pairs = 8388608
+        sim_params.physx.contact_offset = 0.002
+        sim_params.physx.friction_offset_threshold = 0.001
+        sim_params.physx.friction_correlation_distance = 0.0005
+        sim_params.physx.rest_offset = 0.0
+        sim_params.physx.use_gpu = True
+        sim_params.use_gpu_pipeline = False
+
+        self.sim = self.gym.create_sim(0, 0, gymapi.SIM_PHYSX, sim_params)
+        if self.sim is None:
+            print("*** Failed to create sim")
+            quit()
+
+        plane_params = gymapi.PlaneParams()
+        plane_params.distance = 0.0
+        plane_params.normal = gymapi.Vec3(0.0, 0.0, 1.0)
+        self.gym.add_ground(self.sim, plane_params)
+
+        # load table asset
+        table_asset_options = gymapi.AssetOptions()
+        table_asset_options.disable_gravity = True
+        table_asset_options.fix_base_link = True
+        table_asset = self.gym.create_box(self.sim, 0.8, 0.8, 0.1, table_asset_options)
+
+        # load cube asset
+        cube_asset_options = gymapi.AssetOptions()
+        cube_asset_options.density = 10
+        cube_asset = self.gym.create_box(self.sim, 0.05, 0.05, 0.05, cube_asset_options)
+
+        asset_root = "../assets"
+        left_asset_path = "inspire_hand/inspire_hand_left.urdf"
+        right_asset_path = "inspire_hand/inspire_hand_right.urdf"
+        asset_options = gymapi.AssetOptions()
+        asset_options.fix_base_link = True
+        asset_options.default_dof_drive_mode = gymapi.DOF_MODE_POS
+        left_asset = self.gym.load_asset(self.sim, asset_root, left_asset_path, asset_options)
+        right_asset = self.gym.load_asset(self.sim, asset_root, right_asset_path, asset_options)
+        self.dof = self.gym.get_asset_dof_count(left_asset)
+        print(f"dof: {self.dof}")
+        # set up the env grid
+        num_envs = 1
+        num_per_row = int(math.sqrt(num_envs))
+        env_spacing = 1.25
+        env_lower = gymapi.Vec3(-env_spacing, 0.0, -env_spacing)
+        env_upper = gymapi.Vec3(env_spacing, env_spacing, env_spacing)
+        np.random.seed(0)
+        self.env = self.gym.create_env(self.sim, env_lower, env_upper, num_per_row)
+
+        # table
+        pose = gymapi.Transform()
+        pose.p = gymapi.Vec3(0, 0, 1.2)
+        pose.r = gymapi.Quat(0, 0, 0, 1)
+        table_handle = self.gym.create_actor(self.env, table_asset, pose, 'table', 0)
+        color = gymapi.Vec3(0.5, 0.5, 0.5)
+        self.gym.set_rigid_body_color(self.env, table_handle, 0, gymapi.MESH_VISUAL_AND_COLLISION, color)
+
+        # cube
+        pose = gymapi.Transform()
+        pose.p = gymapi.Vec3(0, 0, 1.25)
+        pose.r = gymapi.Quat(0, 0, 0, 1)
+        cube_handle = self.gym.create_actor(self.env, cube_asset, pose, 'cube', 0)
+        color = gymapi.Vec3(1, 0.5, 0.5)
+        self.gym.set_rigid_body_color(self.env, cube_handle, 0, gymapi.MESH_VISUAL_AND_COLLISION, color)
+
+        # left_hand
+        pose = gymapi.Transform()
+        pose.p = gymapi.Vec3(-0.6, 0, 1.6)
+        pose.r = gymapi.Quat(0, 0, 0, 1)
+        self.left_handle = self.gym.create_actor(self.env, left_asset, pose, 'left', 1, 1)
+        self.gym.set_actor_dof_states(self.env, self.left_handle, np.zeros(self.dof, gymapi.DofState.dtype),
+                                      gymapi.STATE_ALL)
+        left_idx = self.gym.get_actor_index(self.env, self.left_handle, gymapi.DOMAIN_SIM)
+
+        # right_hand
+        pose = gymapi.Transform()
+        pose.p = gymapi.Vec3(-0.6, 0, 1.6)
+        pose.r = gymapi.Quat(0, 0, 0, 1)
+        self.right_handle = self.gym.create_actor(self.env, right_asset, pose, 'right', 1, 1)
+        self.gym.set_actor_dof_states(self.env, self.right_handle, np.zeros(self.dof, gymapi.DofState.dtype),
+                                      gymapi.STATE_ALL)
+        right_idx = self.gym.get_actor_index(self.env, self.right_handle, gymapi.DOMAIN_SIM)
+
+        self.root_state_tensor = self.gym.acquire_actor_root_state_tensor(self.sim)
+        self.gym.refresh_actor_root_state_tensor(self.sim)
+        self.root_states = gymtorch.wrap_tensor(self.root_state_tensor)
+        self.left_root_states = self.root_states[left_idx]
+        self.right_root_states = self.root_states[right_idx]
+
+        # create default viewer
+        self.viewer = self.gym.create_viewer(self.sim, gymapi.CameraProperties())
+        if self.viewer is None:
+            print("*** Failed to create viewer")
+            quit()
+        cam_pos = gymapi.Vec3(1, 1, 2)
+        cam_target = gymapi.Vec3(0, 0, 1)
+        self.gym.viewer_camera_look_at(self.viewer, None, cam_pos, cam_target)
+
+        self.cam_lookat_offset = np.array([1, 0, 0])
+        self.left_cam_offset = np.array([0, 0.033, 0])
+        self.right_cam_offset = np.array([0, -0.033, 0])
+        self.cam_pos = np.array([-0.6, 0, 1.6])
+
+        # create left 1st preson viewer
+        camera_props = gymapi.CameraProperties()
+        camera_props.width = 1280
+        camera_props.height = 720
+        self.left_camera_handle = self.gym.create_camera_sensor(self.env, camera_props)
+        self.gym.set_camera_location(self.left_camera_handle,
+                                     self.env,
+                                     gymapi.Vec3(*(self.cam_pos + self.left_cam_offset)),
+                                     gymapi.Vec3(*(self.cam_pos + self.left_cam_offset + self.cam_lookat_offset)))
+
+        # create right 1st preson viewer
+        camera_props = gymapi.CameraProperties()
+        camera_props.width = 1280
+        camera_props.height = 720
+        self.right_camera_handle = self.gym.create_camera_sensor(self.env, camera_props)
+        self.gym.set_camera_location(self.right_camera_handle,
+                                     self.env,
+                                     gymapi.Vec3(*(self.cam_pos + self.right_cam_offset)),
+                                     gymapi.Vec3(*(self.cam_pos + self.right_cam_offset + self.cam_lookat_offset)))
+
+    def step(self, head_rmat, left_pose, right_pose, left_qpos, right_qpos):
+
+        if self.print_freq:
+            start = time.time()
+
+        self.left_root_states[0:7] = torch.tensor(left_pose, dtype=float)
+        self.right_root_states[0:7] = torch.tensor(right_pose, dtype=float)
+        self.gym.set_actor_root_state_tensor(self.sim, gymtorch.unwrap_tensor(self.root_states))
+
+        left_states = np.zeros(self.dof, dtype=gymapi.DofState.dtype)
+        left_states['pos'] = left_qpos
+        self.gym.set_actor_dof_states(self.env, self.left_handle, left_states, gymapi.STATE_POS)
+
+        right_states = np.zeros(self.dof, dtype=gymapi.DofState.dtype)
+        right_states['pos'] = right_qpos
+        self.gym.set_actor_dof_states(self.env, self.right_handle, right_states, gymapi.STATE_POS)
+
+        # step the physics
+        self.gym.simulate(self.sim)
+        self.gym.fetch_results(self.sim, True)
+        self.gym.step_graphics(self.sim)
+        self.gym.render_all_camera_sensors(self.sim)
+        self.gym.refresh_actor_root_state_tensor(self.sim)
+
+        curr_lookat_offset = self.cam_lookat_offset @ head_rmat.T
+        curr_left_offset = self.left_cam_offset @ head_rmat.T
+        curr_right_offset = self.right_cam_offset @ head_rmat.T
+
+        self.gym.set_camera_location(self.left_camera_handle,
+                                     self.env,
+                                     gymapi.Vec3(*(self.cam_pos + curr_left_offset)),
+                                     gymapi.Vec3(*(self.cam_pos + curr_left_offset + curr_lookat_offset)))
+        self.gym.set_camera_location(self.right_camera_handle,
+                                     self.env,
+                                     gymapi.Vec3(*(self.cam_pos + curr_right_offset)),
+                                     gymapi.Vec3(*(self.cam_pos + curr_right_offset + curr_lookat_offset)))
+        left_image = self.gym.get_camera_image(self.sim, self.env, self.left_camera_handle, gymapi.IMAGE_COLOR)
+        right_image = self.gym.get_camera_image(self.sim, self.env, self.right_camera_handle, gymapi.IMAGE_COLOR)
+        left_image = left_image.reshape(left_image.shape[0], -1, 4)[..., :3]
+        right_image = right_image.reshape(right_image.shape[0], -1, 4)[..., :3]
+
+        self.gym.draw_viewer(self.viewer, self.sim, True)
+        self.gym.sync_frame_time(self.sim)
+
+        if self.print_freq:
+            end = time.time()
+            print('Frequency:', 1 / (end - start))
+
+        return left_image, right_image
+
+    def end(self):
+        self.gym.destroy_viewer(self.viewer)
+        self.gym.destroy_sim(self.sim)
+
+
+if __name__ == '__main__':
+    teleoperator = VuerTeleop('inspire_hand.yml')
+    simulator = Sim()
+
+    try:
+        while True:
+            time1 = time.time()
+            head_rmat, left_pose, right_pose, left_qpos, right_qpos = teleoperator.step()
+            time2 = time.time()
+            print(f"TV time:{time2-time1}")
+            left_img, right_img = simulator.step(head_rmat, left_pose, right_pose, left_qpos, right_qpos)
+            time3 = time.time()
+            print(f"sim time:{time3-time2}")
+            np.copyto(teleoperator.img_array, np.hstack((left_img, right_img)))
+            time4 =time.time()
+            print(f"copy image:{time4-time3},total time:{time4-time1}")
+
+    except KeyboardInterrupt:
+        simulator.end()
+        exit(0)
diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py
new file mode 100644
index 0000000..a347995
--- /dev/null
+++ b/teleop/teleop_hand_and_arm.py
@@ -0,0 +1,160 @@
+import numpy as np
+
+from TeleVision import OpenTeleVision
+from Preprocessor import VuerPreprocessor
+from constants_vuer import tip_indices
+from dex_retargeting.retargeting_config import RetargetingConfig
+
+from pathlib import Path
+import time
+import yaml
+from multiprocessing import Process, shared_memory, Queue, Manager, Event, Lock
+
+import cv2
+import zmq
+import pickle
+import zlib
+
+from robot_control.robot_hand import H1HandController
+from teleop.robot_control.robot_arm import H1ArmController
+from teleop.robot_control.robot_arm_ik import Arm_IK
+
+
+def image_receiver(image_queue, resolution, crop_size_w, crop_size_h):
+    context = zmq.Context()
+    socket = context.socket(zmq.PULL)
+    socket.connect("tcp://192.168.123.162:5555")
+    
+    while True:
+        compressed_data = b''
+        while True:
+            chunk = socket.recv()
+            compressed_data += chunk
+            if len(chunk) < 60000:
+                break
+        data = zlib.decompress(compressed_data)
+        frame_data = pickle.loads(data)
+
+        # Decode and display the image
+        frame = cv2.imdecode(frame_data, cv2.IMREAD_COLOR)
+        sm.write_image(frame)
+        # Control receiving frequency
+        time.sleep(0.01)
+
+class SharedMemoryImage:
+    def __init__(self, img_shape):
+        self.resolution = img_shape#(720, 1280)
+        self.crop_size_w = 0
+        self.crop_size_h = 0
+        self.resolution_cropped = (self.resolution[0]-self.crop_size_h, self.resolution[1] - 2 * self.crop_size_w)
+
+        self.img_shape = (self.resolution_cropped[0], 2 * self.resolution_cropped[1], 3)
+        self.img_height, self.img_width = self.resolution_cropped[:2]
+
+        self.shm = shared_memory.SharedMemory(create=True, size=np.prod(self.img_shape) * np.uint8().itemsize)
+        self.img_array = np.ndarray((self.img_shape[0], self.img_shape[1], 3), dtype=np.uint8, buffer=self.shm.buf)
+        self.lock = Lock()
+
+    def write_image(self, image):
+        with self.lock:
+            np.copyto(self.img_array, image)
+
+    def read_image(self):
+        with self.lock:
+            image_copy = self.img_array.copy()
+            return image_copy
+
+    def cleanup(self):
+        self.shm.close()
+        self.shm.unlink()
+
+class VuerTeleop:
+    def __init__(self, config_file_path):
+        self.resolution = (480,640) #(720, 1280)
+        self.crop_size_w = 0
+        self.crop_size_h = 0
+        self.resolution_cropped = (self.resolution[0]-self.crop_size_h, self.resolution[1]-2*self.crop_size_w)
+
+        self.img_shape = (self.resolution_cropped[0], 2 * self.resolution_cropped[1], 3)
+        self.img_height, self.img_width = self.resolution_cropped[:2]
+
+        self.shm = shared_memory.SharedMemory(create=True, size=np.prod(self.img_shape) * np.uint8().itemsize)
+        self.img_array = np.ndarray((self.img_shape[0], self.img_shape[1], 3), dtype=np.uint8, buffer=self.shm.buf)
+        image_queue = Queue()
+        toggle_streaming = Event()
+        self.tv = OpenTeleVision(self.resolution_cropped, self.shm.name, image_queue, toggle_streaming)
+        self.processor = VuerPreprocessor()
+
+        RetargetingConfig.set_default_urdf_dir('../assets')
+        with Path(config_file_path).open('r') as f:
+            cfg = yaml.safe_load(f)
+        left_retargeting_config = RetargetingConfig.from_dict(cfg['left'])
+        right_retargeting_config = RetargetingConfig.from_dict(cfg['right'])
+        self.left_retargeting = left_retargeting_config.build()
+        self.right_retargeting = right_retargeting_config.build()
+    
+    def step(self):
+        head_mat, left_wrist_mat, right_wrist_mat, left_hand_mat, right_hand_mat = self.processor.process(self.tv)
+        head_rmat = head_mat[:3, :3]
+
+        left_wrist_mat[2, 3] +=0.45
+        right_wrist_mat[2,3] +=0.45
+        left_wrist_mat[0, 3] +=0.20
+        right_wrist_mat[0,3] +=0.20
+
+        left_qpos = self.left_retargeting.retarget(left_hand_mat[tip_indices])[[4, 5, 6, 7, 10, 11, 8, 9, 0, 1, 2, 3]]
+        right_qpos = self.right_retargeting.retarget(right_hand_mat[tip_indices])[[4, 5, 6, 7, 10, 11, 8, 9, 0, 1, 2, 3]]
+
+        return head_rmat, left_wrist_mat, right_wrist_mat, left_qpos, right_qpos
+
+
+if __name__ == '__main__':
+    manager = Manager()
+    image_queue = manager.Queue()
+    teleoperator = VuerTeleop('inspire_hand.yml')
+    h1hand = H1HandController()
+    h1arm = H1ArmController()
+    arm_ik = Arm_IK()
+    sm = SharedMemoryImage((480,640))
+    image_process = Process(target=image_receiver, args=(sm, teleoperator.resolution, teleoperator.crop_size_w, teleoperator.crop_size_h))
+    image_process.start()
+            
+    try:
+        user_input = input("Please enter the start signal (enter 's' to start the subsequent program):")
+        if user_input.lower() == 's':
+            while True:
+                armstate = None
+                armv = None 
+                frame = sm.read_image()
+                np.copyto(teleoperator.img_array, np.array(frame))
+                handstate = h1hand.get_hand_state()
+
+                q_poseList=np.zeros(30)
+                q_tau_ff=np.zeros(30)
+                armstate,armv = h1arm.GetMotorState()
+
+                head_rmat, left_pose, right_pose, left_qpos, right_qpos = teleoperator.step()
+                sol_q ,tau_ff, flag = arm_ik.ik_fun(left_pose, right_pose, armstate,armv)
+                
+                if flag:
+                    q_poseList[13:27] = sol_q
+                    q_tau_ff[13:27] = tau_ff
+                else:
+                    q_poseList[13:27] = armstate
+                    q_tau_ff = np.zeros(30)
+
+                h1arm.SetMotorPose(q_poseList, q_tau_ff)
+
+                if right_pose is not None and left_qpos is not None:
+                    # 4,5: index 6,7: middle, 0,1: pinky, 2,3: ring, 8,9: thumb
+                    right_angles = [1.7 - right_qpos[i] for i in [4, 6, 2, 0]]
+                    right_angles.append(1.2 - right_qpos[8])
+                    right_angles.append(0.5 - right_qpos[9])
+
+                    left_angles = [1.7- left_qpos[i] for i in  [4, 6, 2, 0]]
+                    left_angles.append(1.2 - left_qpos[8])
+                    left_angles.append(0.5 - left_qpos[9])
+                    h1hand.crtl(right_angles,left_angles)
+
+    except KeyboardInterrupt:
+        exit(0)
diff --git a/teleop/webrtc/client.js b/teleop/webrtc/client.js
new file mode 100644
index 0000000..b4e8c6c
--- /dev/null
+++ b/teleop/webrtc/client.js
@@ -0,0 +1,77 @@
+var pc = null;
+
+function negotiate() {
+    pc.addTransceiver('video', { direction: 'recvonly' });
+    pc.addTransceiver('audio', { direction: 'recvonly' });
+    return pc.createOffer().then((offer) => {
+        return pc.setLocalDescription(offer);
+    }).then(() => {
+        // wait for ICE gathering to complete
+        return new Promise((resolve) => {
+            if (pc.iceGatheringState === 'complete') {
+                resolve();
+            } else {
+                const checkState = () => {
+                    if (pc.iceGatheringState === 'complete') {
+                        pc.removeEventListener('icegatheringstatechange', checkState);
+                        resolve();
+                    }
+                };
+                pc.addEventListener('icegatheringstatechange', checkState);
+            }
+        });
+    }).then(() => {
+        var offer = pc.localDescription;
+        return fetch('/offer', {
+            body: JSON.stringify({
+                sdp: offer.sdp,
+                type: offer.type,
+            }),
+            headers: {
+                'Content-Type': 'application/json'
+            },
+            method: 'POST'
+        });
+    }).then((response) => {
+        return response.json();
+    }).then((answer) => {
+        console.log(">>>", answer);
+        return pc.setRemoteDescription(answer);
+    }).catch((e) => {
+        alert(e);
+    });
+}
+
+function start() {
+    var config = {
+        sdpSemantics: 'unified-plan'
+    };
+
+    if (document.getElementById('use-stun').checked) {
+        config.iceServers = [{ urls: ['stun:stun.l.google.com:19302'] }];
+    }
+
+    pc = new RTCPeerConnection(config);
+
+    // connect audio / video
+    pc.addEventListener('track', (evt) => {
+        if (evt.track.kind == 'video') {
+            document.getElementById('video').srcObject = evt.streams[0];
+        } else {
+            document.getElementById('audio').srcObject = evt.streams[0];
+        }
+    });
+
+    document.getElementById('start').style.display = 'none';
+    negotiate();
+    document.getElementById('stop').style.display = 'inline-block';
+}
+
+function stop() {
+    document.getElementById('stop').style.display = 'none';
+
+    // close peer connection
+    setTimeout(() => {
+        pc.close();
+    }, 500);
+}
\ No newline at end of file
diff --git a/teleop/webrtc/index.html b/teleop/webrtc/index.html
new file mode 100644
index 0000000..159ff99
--- /dev/null
+++ b/teleop/webrtc/index.html
@@ -0,0 +1,43 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <meta charset="UTF-8"/>
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>WebRTC webcam</title>
+    <style>
+    button {
+        padding: 8px 16px;
+    }
+
+    video {
+        width: 100%;
+    }
+
+    .option {
+        margin-bottom: 8px;
+    }
+
+    #media {
+        max-width: 1280px;
+    }
+    </style>
+</head>
+<body>
+
+<div class="option">
+    <input id="use-stun" type="checkbox"/>
+    <label for="use-stun">Use STUN server</label>
+</div>
+<button id="start" onclick="start()">Start</button>
+<button id="stop" style="display: none" onclick="stop()">Stop</button>
+
+<div id="media">
+    <h2>Media</h2>
+
+    <audio id="audio" autoplay="true"></audio>
+    <video id="video" autoplay="true" playsinline="true"></video>
+</div>
+
+<script src="client.js"></script>
+</body>
+</html>
\ No newline at end of file
diff --git a/teleop/webrtc/orig_webcam_example.py b/teleop/webrtc/orig_webcam_example.py
new file mode 100644
index 0000000..a486be1
--- /dev/null
+++ b/teleop/webrtc/orig_webcam_example.py
@@ -0,0 +1,164 @@
+import argparse
+import asyncio
+import json
+import logging
+import os
+import platform
+import ssl
+
+from aiohttp import web
+from aiortc import RTCPeerConnection, RTCSessionDescription
+from aiortc.contrib.media import MediaPlayer, MediaRelay
+from aiortc.rtcrtpsender import RTCRtpSender
+
+ROOT = os.path.dirname(__file__)
+
+
+relay = None
+webcam = None
+
+
+def create_local_tracks(play_from, decode):
+    global relay, webcam
+
+    if play_from:
+        player = MediaPlayer(play_from, decode=decode)
+        return player.audio, player.video
+    else:
+        options = {"framerate": "30", "video_size": "640x480"}
+        if relay is None:
+            if platform.system() == "Darwin":
+                webcam = MediaPlayer(
+                    "default:none", format="avfoundation", options=options
+                )
+            elif platform.system() == "Windows":
+                webcam = MediaPlayer(
+                    "video=Integrated Camera", format="dshow", options=options
+                )
+            else:
+                webcam = MediaPlayer("/dev/video0", format="v4l2", options=options)
+            relay = MediaRelay()
+        return None, relay.subscribe(webcam.video)
+
+
+def force_codec(pc, sender, forced_codec):
+    kind = forced_codec.split("/")[0]
+    codecs = RTCRtpSender.getCapabilities(kind).codecs
+    transceiver = next(t for t in pc.getTransceivers() if t.sender == sender)
+    transceiver.setCodecPreferences(
+        [codec for codec in codecs if codec.mimeType == forced_codec]
+    )
+
+
+async def index(request):
+    content = open(os.path.join(ROOT, "index.html"), "r").read()
+    return web.Response(content_type="text/html", text=content)
+
+
+async def javascript(request):
+    content = open(os.path.join(ROOT, "client.js"), "r").read()
+    return web.Response(content_type="application/javascript", text=content)
+
+
+async def offer(request):
+    params = await request.json()
+    offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"])
+
+    pc = RTCPeerConnection()
+    pcs.add(pc)
+
+    @pc.on("connectionstatechange")
+    async def on_connectionstatechange():
+        print("Connection state is %s" % pc.connectionState)
+        if pc.connectionState == "failed":
+            await pc.close()
+            pcs.discard(pc)
+
+    # open media source
+    audio, video = create_local_tracks(
+        args.play_from, decode=not args.play_without_decoding
+    )
+
+    if audio:
+        audio_sender = pc.addTrack(audio)
+        if args.audio_codec:
+            force_codec(pc, audio_sender, args.audio_codec)
+        elif args.play_without_decoding:
+            raise Exception("You must specify the audio codec using --audio-codec")
+
+    if video:
+        video_sender = pc.addTrack(video)
+        if args.video_codec:
+            force_codec(pc, video_sender, args.video_codec)
+        elif args.play_without_decoding:
+            raise Exception("You must specify the video codec using --video-codec")
+
+    await pc.setRemoteDescription(offer)
+
+    answer = await pc.createAnswer()
+    await pc.setLocalDescription(answer)
+
+    return web.Response(
+        content_type="application/json",
+        text=json.dumps(
+            {"sdp": pc.localDescription.sdp, "type": pc.localDescription.type}
+        ),
+    )
+
+
+pcs = set()
+
+
+async def on_shutdown(app):
+    # close peer connections
+    coros = [pc.close() for pc in pcs]
+    await asyncio.gather(*coros)
+    pcs.clear()
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="WebRTC webcam demo")
+    parser.add_argument("--cert-file", help="SSL certificate file (for HTTPS)")
+    parser.add_argument("--key-file", help="SSL key file (for HTTPS)")
+    parser.add_argument("--play-from", help="Read the media from a file and sent it.")
+    parser.add_argument(
+        "--play-without-decoding",
+        help=(
+            "Read the media without decoding it (experimental). "
+            "For now it only works with an MPEGTS container with only H.264 video."
+        ),
+        action="store_true",
+    )
+    parser.add_argument(
+        "--host", default="0.0.0.0", help="Host for HTTP server (default: 0.0.0.0)"
+    )
+    parser.add_argument(
+        "--port", type=int, default=8080, help="Port for HTTP server (default: 8080)"
+    )
+    parser.add_argument("--verbose", "-v", action="count")
+    parser.add_argument(
+        "--audio-codec", help="Force a specific audio codec (e.g. audio/opus)"
+    )
+    parser.add_argument(
+        "--video-codec", help="Force a specific video codec (e.g. video/H264)"
+    )
+
+    args = parser.parse_args()
+
+    if args.verbose:
+        logging.basicConfig(level=logging.DEBUG)
+    else:
+        logging.basicConfig(level=logging.INFO)
+
+    if args.cert_file:
+        ssl_context = ssl.SSLContext()
+        ssl_context.load_cert_chain(args.cert_file, args.key_file)
+    else:
+        ssl_context = None
+
+    app = web.Application()
+    app.on_shutdown.append(on_shutdown)
+    app.router.add_get("/", index)
+    app.router.add_get("/client.js", javascript)
+    app.router.add_post("/offer", offer)
+    web.run_app(app, host=args.host, port=args.port, ssl_context=ssl_context)
\ No newline at end of file
diff --git a/teleop/webrtc/webcam.py b/teleop/webrtc/webcam.py
new file mode 100644
index 0000000..b95c0f6
--- /dev/null
+++ b/teleop/webrtc/webcam.py
@@ -0,0 +1,206 @@
+import argparse
+import asyncio
+import json
+import logging
+import os
+import ssl
+
+import cv2
+import numpy as np
+import time
+from pyzed import sl
+from aiortc import MediaStreamTrack
+import av
+
+from aiohttp import web
+from aiortc import RTCPeerConnection, RTCSessionDescription
+from aiortc.rtcrtpsender import RTCRtpSender
+
+ROOT = os.path.dirname(__file__)
+
+
+# relay = None
+# webcam = None
+
+left_mat = sl.Mat()
+right_mat = sl.Mat()
+
+class VideoTransformTrack(MediaStreamTrack):
+    kind = "video"
+
+    def __init__(self, camera):
+        super().__init__()
+        self.camera = camera
+        self.runtime_parameters = sl.RuntimeParameters()
+        self._direction = "sendonly"
+        self.start_time = time.time()
+        self.timescale = 1000  # Use a timescale of 1000 for milliseconds
+        self.frame_index = 0
+
+    async def recv(self):
+        frame = await self.get_frame()
+        if frame is not None:
+            # Timestamp is calculated based on the frame index and the frame rate of the video
+            timestamp = int((time.time() - self.start_time) * self.timescale)
+            # Create an aiortc VideoFrame, setting timestamp and time_base accordingly
+            video_frame = av.VideoFrame.from_ndarray(frame, format="bgr24")
+            video_frame.pts = timestamp
+            video_frame.time_base = self.timescale
+            return video_frame
+        else:
+            return None
+
+    async def get_frame(self):
+        if self.camera.grab(self.runtime_parameters) == sl.ERROR_CODE.SUCCESS:
+            self.camera.retrieve_image(left_mat, sl.VIEW.LEFT)
+            self.camera.retrieve_image(right_mat, sl.VIEW.RIGHT)
+            # Convert to BGR format as required by aiortc
+            bgra = np.vstack((left_mat.numpy(), right_mat.numpy()))
+            frame = cv2.cvtColor(bgra, cv2.COLOR_BGRA2BGR)
+            return frame
+        else:
+            return None
+
+    
+def create_local_tracks(play_from, decode):
+    camera = sl.Camera()
+    init_params = sl.InitParameters(camera_resolution=sl.RESOLUTION.HD720, camera_fps=30)
+    if camera.open(init_params) == sl.ERROR_CODE.SUCCESS:
+        print("ZED Camera successfully opened.")
+        return None, VideoTransformTrack(camera)  # Assuming you only want video track
+    else:
+        print("Failed to open ZED camera")
+        return None, None
+    
+
+def force_codec(pc, sender, forced_codec):
+    kind = forced_codec.split("/")[0]
+    codecs = RTCRtpSender.getCapabilities(kind).codecs
+    transceiver = next(t for t in pc.getTransceivers() if t.sender == sender)
+    transceiver.setCodecPreferences(
+        [codec for codec in codecs if codec.mimeType == forced_codec]
+    )
+
+
+async def index(request):
+    content = open(os.path.join(ROOT, "index.html"), "r").read()
+    return web.Response(content_type="text/html", text=content)
+
+
+async def javascript(request):
+    content = open(os.path.join(ROOT, "client.js"), "r").read()
+    return web.Response(content_type="application/javascript", text=content)
+
+
+async def offer(request):
+    params = await request.json()
+    offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"])
+
+    pc = RTCPeerConnection()
+    pcs.add(pc)
+
+    @pc.on('icecandidate')
+    async def on_ice_candidate(event):
+        if event.candidate:
+            if event.candidate.type == 'host':
+                # Handle or signal only the host candidate
+                print(f"Host candidate: {event.candidate}")
+            else:
+                # Ignore non-host candidates
+                pass
+
+    @pc.on("connectionstatechange")
+    async def on_connectionstatechange():
+        print("Connection state is %s" % pc.connectionState)
+        if pc.connectionState == "failed":
+            await pc.close()
+            pcs.discard(pc)
+
+    # open media source
+    audio, video = create_local_tracks(
+        args.play_from, decode=not args.play_without_decoding
+    )
+
+    if audio:
+        audio_sender = pc.addTrack(audio)
+        if args.audio_codec:
+            force_codec(pc, audio_sender, args.audio_codec)
+        elif args.play_without_decoding:
+            raise Exception("You must specify the audio codec using --audio-codec")
+
+    if video:
+        video_sender = pc.addTrack(video)
+        if args.video_codec:
+            force_codec(pc, video_sender, args.video_codec)
+        elif args.play_without_decoding:
+            raise Exception("You must specify the video codec using --video-codec")
+
+    await pc.setRemoteDescription(offer)
+
+    answer = await pc.createAnswer()
+    await pc.setLocalDescription(answer)
+
+    return web.Response(
+        content_type="application/json",
+        text=json.dumps(
+            {"sdp": pc.localDescription.sdp, "type": pc.localDescription.type}
+        ),
+    )
+
+
+pcs = set()
+
+
+async def on_shutdown(app):
+    # close peer connections
+    coros = [pc.close() for pc in pcs]
+    await asyncio.gather(*coros)
+    pcs.clear()
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="WebRTC webcam demo")
+    parser.add_argument("--cert-file", help="SSL certificate file (for HTTPS)")
+    parser.add_argument("--key-file", help="SSL key file (for HTTPS)")
+    parser.add_argument("--play-from", help="Read the media from a file and sent it.")
+    parser.add_argument(
+        "--play-without-decoding",
+        help=(
+            "Read the media without decoding it (experimental). "
+            "For now it only works with an MPEGTS container with only H.264 video."
+        ),
+        action="store_true",
+    )
+    parser.add_argument(
+        "--host", default="0.0.0.0", help="Host for HTTP server (default: 0.0.0.0)"
+    )
+    parser.add_argument(
+        "--port", type=int, default=8080, help="Port for HTTP server (default: 8080)"
+    )
+    parser.add_argument("--verbose", "-v", action="count")
+    parser.add_argument(
+        "--audio-codec", help="Force a specific audio codec (e.g. audio/opus)"
+    )
+    parser.add_argument(
+        "--video-codec", help="Force a specific video codec (e.g. video/H264)"
+    )
+
+    args = parser.parse_args()
+
+    if args.verbose:
+        logging.basicConfig(level=logging.DEBUG)
+    else:
+        logging.basicConfig(level=logging.INFO)
+
+    if args.cert_file:
+        ssl_context = ssl.SSLContext()
+        ssl_context.load_cert_chain(args.cert_file, args.key_file)
+    else:
+        ssl_context = None
+
+    app = web.Application()
+    app.on_shutdown.append(on_shutdown)
+    app.router.add_get("/", index)
+    app.router.add_get("/client.js", javascript)
+    app.router.add_post("/offer", offer)
+    web.run_app(app, host=args.host, port=args.port, ssl_context=ssl_context)
\ No newline at end of file
diff --git a/teleop/webrtc/webcam_server.py b/teleop/webrtc/webcam_server.py
new file mode 100644
index 0000000..8b5c49c
--- /dev/null
+++ b/teleop/webrtc/webcam_server.py
@@ -0,0 +1,206 @@
+import asyncio
+import json
+import logging
+import os
+import platform
+import ssl
+
+import aiohttp_cors
+from aiohttp import web
+from aiortc import RTCPeerConnection, RTCSessionDescription
+from aiortc.contrib.media import MediaPlayer, MediaRelay
+from aiortc.rtcrtpsender import RTCRtpSender
+from multiprocessing import Process, Array, Value, shared_memory
+
+ROOT = os.path.dirname(__file__)
+
+relay = None
+webcam = None
+
+
+from aiortc import MediaStreamTrack
+from av import VideoFrame
+import numpy as np
+import time 
+
+class ZedVideoTrack(MediaStreamTrack):
+
+    kind = "video"
+
+    def __init__(self, img_shape, shm_name, fps):
+        super().__init__()  # Initialize base class
+        self.img_shape = (2*img_shape[0], img_shape[1], 3)
+        self.img_height, self.img_width = img_shape[:2]
+        existing_shm = shared_memory.SharedMemory(name=shm_name)
+        self.img_array = np.ndarray((self.img_shape[0], self.img_shape[1], 3), dtype=np.uint8, buffer=existing_shm.buf)
+
+        self.frame_interval = 1 / fps
+        self._last_frame_time = time.time()
+    
+    async def recv(self):
+        """
+        This method is called when a new frame is needed.
+        """
+        now = time.time()
+        wait_time = self._last_frame_time + self.frame_interval - now
+        if wait_time > 0:
+            await asyncio.sleep(wait_time)
+        self._last_frame_time = time.time()
+
+        frame = self.img_array  # Assuming this is an async function to fetch a frame
+        av_frame = VideoFrame.from_ndarray(frame, format='bgr24')  # Convert numpy array to AVFrame
+        av_frame.pts = None
+        av_frame.time_base = None
+        return av_frame
+        
+def create_local_tracks(play_from, decode):
+    global relay, webcam
+    
+    if play_from:
+        player = MediaPlayer(play_from, decode=decode)
+        return player.audio, player.video
+    else:
+        options = {"framerate": "30", "video_size": "640x480"}
+        if relay is None:
+            if platform.system() == "Darwin":
+                webcam = MediaPlayer(
+                    "default:none", format="avfoundation", options=options
+                )
+            elif platform.system() == "Windows":
+                webcam = MediaPlayer(
+                    "video=Integrated Camera", format="dshow", options=options
+                )
+            else:
+                webcam = MediaPlayer("/dev/video0", format=None, options=options)
+            relay = MediaRelay()
+        return None, relay.subscribe(webcam.video)
+
+
+def force_codec(pc, sender, forced_codec):
+    kind = forced_codec.split("/")[0]
+    codecs = RTCRtpSender.getCapabilities(kind).codecs
+    transceiver = next(t for t in pc.getTransceivers() if t.sender == sender)
+    transceiver.setCodecPreferences(
+        [codec for codec in codecs if codec.mimeType == forced_codec]
+    )
+
+
+async def index(request):
+    content = open(os.path.join(ROOT, "index.html"), "r").read()
+    return web.Response(content_type="text/html", text=content)
+
+
+async def javascript(request):
+    content = open(os.path.join(ROOT, "client.js"), "r").read()
+    return web.Response(content_type="application/javascript", text=content)
+
+
+async def offer(request):
+    params = await request.json()
+    offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"])
+
+    pc = RTCPeerConnection()
+    pcs.add(pc)
+
+    @pc.on("connectionstatechange")
+    async def on_connectionstatechange():
+        print("Connection state is %s" % pc.connectionState)
+        if pc.connectionState == "failed":
+            await pc.close()
+            pcs.discard(pc)
+
+    # open media source
+    audio, video = create_local_tracks(
+        Args.play_from, decode=not Args.play_without_decoding
+    )
+
+    if audio:
+        audio_sender = pc.addTrack(audio)
+        if Args.audio_codec:
+            force_codec(pc, audio_sender, Args.audio_codec)
+        elif Args.play_without_decoding:
+            raise Exception("You must specify the audio codec using --audio-codec")
+
+    if video:
+        video_sender = pc.addTrack(video)
+        if Args.video_codec:
+            force_codec(pc, video_sender, Args.video_codec)
+        elif Args.play_without_decoding:
+            raise Exception("You must specify the video codec using --video-codec")
+
+    await pc.setRemoteDescription(offer)
+
+    answer = await pc.createAnswer()
+    await pc.setLocalDescription(answer)
+
+    return web.Response(
+        content_type="application/json",
+        text=json.dumps(
+            {"sdp": pc.localDescription.sdp, "type": pc.localDescription.type}
+        ),
+    )
+
+
+pcs = set()
+
+
+async def on_shutdown(app):
+    # close peer connections
+    coros = [pc.close() for pc in pcs]
+    await asyncio.gather(*coros)
+    pcs.clear()
+
+
+from params_proto import ParamsProto, Proto, Flag
+
+
+class Args(ParamsProto):
+    description = "WebRTC webcam demo"
+    cert_file = Proto(help="SSL certificate file (for HTTPS)")
+    key_file = Proto(help="SSL key file (for HTTPS)")
+
+    host = Proto(default="0.0.0.0", help="Host for HTTP server (default: 0.0.0.0)")
+    port = Proto(default=8080, dtype=int, help="Port for HTTP server (default: 8080)")
+
+    play_from = Proto(help="Read the media from a file and send it.")
+    play_without_decoding = Flag(
+        "Read the media without decoding it (experimental). "
+        "For now it only works with an MPEGTS container with only H.264 video."
+    )
+
+    audio_codec = Proto(help="Force a specific audio codec (e.g. audio/opus)")
+    video_codec = Proto(help="Force a specific video codec (e.g. video/H264)")
+
+    verbose = Flag()
+
+
+if __name__ == '__main__':
+
+    if Args.verbose:
+        logging.basicConfig(level=logging.DEBUG)
+    else:
+        logging.basicConfig(level=logging.INFO)
+
+    if Args.cert_file:
+        print("Using SSL certificate file: %s" % Args.cert_file)
+        ssl_context = ssl.SSLContext()
+        ssl_context.load_cert_chain(Args.cert_file, Args.key_file)
+    else:
+        ssl_context = None
+
+    app = web.Application()
+    cors = aiohttp_cors.setup(app, defaults={
+        "*": aiohttp_cors.ResourceOptions(
+            allow_credentials=True,
+            expose_headers="*",
+            allow_headers="*",
+            allow_methods="*",
+        )
+    })
+
+    app.on_shutdown.append(on_shutdown)
+    cors.add(app.router.add_get("/", index))
+    cors.add(app.router.add_get("/client.js", javascript))
+    cors.add(app.router.add_post("/offer", offer))
+
+    web.run_app(app, host=Args.host, port=Args.port, ssl_context=ssl_context)
\ No newline at end of file
diff --git a/teleop/webrtc/zed_server.py b/teleop/webrtc/zed_server.py
new file mode 100644
index 0000000..b036168
--- /dev/null
+++ b/teleop/webrtc/zed_server.py
@@ -0,0 +1,195 @@
+import asyncio
+import json
+import logging
+import os
+import platform
+import ssl
+
+import aiohttp_cors
+from aiohttp import web
+from aiortc import RTCPeerConnection, RTCSessionDescription
+from aiortc.contrib.media import MediaPlayer, MediaRelay
+from aiortc.rtcrtpsender import RTCRtpSender
+from multiprocessing import Process, Array, Value, shared_memory
+
+ROOT = os.path.dirname(__file__)
+
+relay = None
+webcam = None
+
+
+from aiortc import MediaStreamTrack
+from av import VideoFrame
+import numpy as np
+import time 
+
+class ZedVideoTrack(MediaStreamTrack):
+    kind = "video"
+    def __init__(self, queue, toggle_streaming, fps):
+        super().__init__()  # Initialize base class
+        # self.img_shape = (2*img_shape[0], img_shape[1], 3)
+        # self.img_height, self.img_width = img_shape[:2]
+        # self.shm_name = shm_name
+        # existing_shm = shared_memory.SharedMemory(name=shm_name)
+        # self.img_array = np.ndarray((self.img_shape[0], self.img_shape[1], 3), dtype=np.uint8, buffer=existing_shm.buf)
+        self.img_queue = queue
+        self.toggle_streaming = toggle_streaming
+        self.streaming_started = False
+        self.timescale = 1000  # Use a timescale of 1000 for milliseconds
+        # self.frame_interval = 1 / fps
+        self._last_frame_time = time.time()
+        self.start_time = time.time()
+    
+    async def recv(self):
+        """
+        This method is called when a new frame is needed.
+        """
+        # now = time.time()
+        # wait_time = self._last_frame_time + self.frame_interval - now
+        # if wait_time > 0:
+        #     await asyncio.sleep(wait_time)
+        # self._last_frame_time = time.time()
+        # start = time.time()
+        if not self.streaming_started:
+            self.toggle_streaming.set()
+            self.streaming_started = True
+        frame = self.img_queue.get()
+        # self.sem.release()
+        # print("Time to get frame: ", time.time() - start, self.img_queue.qsize())
+        # frame = self.img_array.copy()  # Assuming this is an async function to fetch a frame
+        # frame = np.random.randint(0, 256, size=(480, 640, 3), dtype=np.uint8)
+        # print("recv")
+        # start = time.time()
+        av_frame = VideoFrame.from_ndarray(frame, format='rgb24')  # Convert numpy array to AVFrame
+        timestamp = int((time.time() - self.start_time) * self.timescale)
+        av_frame.pts = timestamp
+        av_frame.time_base = self.timescale
+        # print("Time to process frame: ", time.time() - start)
+        return av_frame
+        
+
+def force_codec(pc, sender, forced_codec):
+    kind = forced_codec.split("/")[0]
+    codecs = RTCRtpSender.getCapabilities(kind).codecs
+    transceiver = next(t for t in pc.getTransceivers() if t.sender == sender)
+    transceiver.setCodecPreferences(
+        [codec for codec in codecs if codec.mimeType == forced_codec]
+    )
+
+
+async def index(request):
+    content = open(os.path.join(ROOT, "index.html"), "r").read()
+    return web.Response(content_type="text/html", text=content)
+
+
+async def javascript(request):
+    content = open(os.path.join(ROOT, "client.js"), "r").read()
+    return web.Response(content_type="application/javascript", text=content)
+
+class RTC():
+    def __init__(self, img_shape, img_queue, toggle_streaming, fps) -> None:
+        self.img_shape = img_shape
+        self.img_queue = img_queue
+        self.fps = fps
+        self.toggle_streaming = toggle_streaming
+
+    async def offer(self, request):
+        params = await request.json()
+        offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"])
+
+        pc = RTCPeerConnection()
+        pcs.add(pc)
+
+        @pc.on("connectionstatechange")
+        async def on_connectionstatechange():
+            print("Connection state is %s" % pc.connectionState)
+            if pc.connectionState == "failed":
+                await pc.close()
+                pcs.discard(pc)
+
+        # open media source
+        zed_track = ZedVideoTrack(self.img_queue, self.toggle_streaming, self.fps)
+        video_sender = pc.addTrack(zed_track)
+        # if Args.video_codec:
+        force_codec(pc, video_sender, "video/H264")
+        # elif Args.play_without_decoding:
+            # raise Exception("You must specify the video codec using --video-codec")
+
+        await pc.setRemoteDescription(offer)
+
+        answer = await pc.createAnswer()
+        await pc.setLocalDescription(answer)
+
+        return web.Response(
+            content_type="application/json",
+            text=json.dumps(
+                {"sdp": pc.localDescription.sdp, "type": pc.localDescription.type}
+            ),
+        )
+
+
+pcs = set()
+
+async def on_shutdown(app):
+    # close peer connections
+    coros = [pc.close() for pc in pcs]
+    await asyncio.gather(*coros)
+    pcs.clear()
+
+
+from params_proto import ParamsProto, Proto, Flag
+
+
+class Args(ParamsProto):
+    description = "WebRTC webcam demo"
+    cert_file = Proto(help="SSL certificate file (for HTTPS)")
+    key_file = Proto(help="SSL key file (for HTTPS)")
+
+    host = Proto(default="0.0.0.0", help="Host for HTTP server (default: 0.0.0.0)")
+    port = Proto(default=8080, dtype=int, help="Port for HTTP server (default: 8080)")
+
+    play_from = Proto(help="Read the media from a file and send it.")
+    play_without_decoding = Flag(
+        "Read the media without decoding it (experimental). "
+        "For now it only works with an MPEGTS container with only H.264 video."
+    )
+
+    audio_codec = Proto(help="Force a specific audio codec (e.g. audio/opus)")
+    video_codec = Proto(help="Force a specific video codec (e.g. video/H264)")
+    img_shape = Proto(help="")
+    shm_name = Proto(help="")
+    fps = Proto(help="")
+
+    verbose = Flag()
+
+
+if __name__ == '__main__':
+
+    if Args.verbose:
+        logging.basicConfig(level=logging.DEBUG)
+    else:
+        logging.basicConfig(level=logging.INFO)
+
+    if Args.cert_file:
+        print("Using SSL certificate file: %s" % Args.cert_file)
+        ssl_context = ssl.SSLContext()
+        ssl_context.load_cert_chain(Args.cert_file, Args.key_file)
+    else:
+        ssl_context = None
+
+    app = web.Application()
+    cors = aiohttp_cors.setup(app, defaults={
+        "*": aiohttp_cors.ResourceOptions(
+            allow_credentials=True,
+            expose_headers="*",
+            allow_headers="*",
+            allow_methods="*",
+        )
+    })
+    rtc = RTC((960, 640), queue)
+    app.on_shutdown.append(on_shutdown)
+    cors.add(app.router.add_get("/", index))
+    cors.add(app.router.add_get("/client.js", javascript))
+    cors.add(app.router.add_post("/offer", rtc.offer))
+
+    web.run_app(app, host=Args.host, port=Args.port, ssl_context=ssl_context)
\ No newline at end of file