diff --git a/README.md b/README.md
index 5446f6c..eaa9507 100644
--- a/README.md
+++ b/README.md
@@ -129,17 +129,22 @@ settings > Apps > Safari > Advanced > Feature Flags > Enable WebXR Related Featu
 
 ## Dexterous hands service
 
-On Unitree H1_2's PC, execute command:
+You can refer to Dexterous Hand Development to configure related environments and compile control programs. First, use [this URL](https://oss-global-cdn.unitree.com/static/0a8335f7498548d28412c31ea047d4be.zip) to download the dexterous hand control interface program and copy it to PC of  Unitree H1_2. On Unitree H1_2's PC, execute command:
 
 ```bash
+sudo apt install libboost-all-dev libspdlog-dev
+# Build project
+cd h1_inspire_service & mkdir build & cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release
+make
+# Terminal 1. Run h1 inspire hand service
 sudo ./inspire_hand -s /dev/ttyUSB0
+# Terminal 2. Run example
+./h1_hand_example
 ```
 
-Open another terminal and execute the following command to test. If two hands open and close continuously, it indicates success.
+If two hands open and close continuously, it indicates success. Once successful, close the `./h1_hand_example` program in Terminal 2.
 
-```bash
-./h1_hand_example
-```
 
 ## Image Server
 
@@ -157,6 +162,8 @@ python image_client.py
 
 ## Start
 
+> Warning : Before the program starts, all persons must maintain an adequate safety distance from the robot to avoid danger!
+
 ```bash
 python unitree_human_robot.py
 ```
diff --git a/assets/H1_5/README.md b/assets/h1_2/README.md
similarity index 99%
rename from assets/H1_5/README.md
rename to assets/h1_2/README.md
index b9c139b..6e8f8c5 100644
--- a/assets/H1_5/README.md
+++ b/assets/h1_2/README.md
@@ -5,7 +5,7 @@
 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"/>
+  <img src="h1_2.png" width="500"/>
 </p>
 
 Unitree H1 have 51 DOFs:
diff --git a/assets/H1_5/h1_5.urdf b/assets/h1_2/h1_2.urdf
similarity index 95%
rename from assets/H1_5/h1_5.urdf
rename to assets/h1_2/h1_2.urdf
index 789729c..c3ea576 100644
--- a/assets/H1_5/h1_5.urdf
+++ b/assets/h1_2/h1_2.urdf
@@ -1,4 +1,4 @@
-<robot name="h1_5">
+<robot name="h1_2">
 
   <mujoco>
     <compiler meshdir="meshes" discardvisual="false"/>
@@ -22,7 +22,7 @@
       <geometry>
         <mesh filename="meshes/pelvis.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -46,7 +46,7 @@
       <geometry>
         <mesh filename="meshes/left_hip_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -75,7 +75,7 @@
       <geometry>
         <mesh filename="meshes/left_hip_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -104,7 +104,7 @@
       <geometry>
         <mesh filename="meshes/left_hip_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -133,7 +133,7 @@
       <geometry>
         <mesh filename="meshes/left_knee_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -162,7 +162,7 @@
       <geometry>
         <mesh filename="meshes/left_ankle_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -191,7 +191,7 @@
       <geometry>
         <mesh filename="meshes/left_ankle_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -222,7 +222,7 @@
       <geometry>
         <mesh filename="meshes/right_hip_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -251,7 +251,7 @@
       <geometry>
         <mesh filename="meshes/right_hip_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -280,7 +280,7 @@
       <geometry>
         <mesh filename="meshes/right_hip_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -309,7 +309,7 @@
       <geometry>
         <mesh filename="meshes/right_knee_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -338,7 +338,7 @@
       <geometry>
         <mesh filename="meshes/right_ankle_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -367,7 +367,7 @@
       <geometry>
         <mesh filename="meshes/right_ankle_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -398,7 +398,7 @@
       <geometry>
         <mesh filename="meshes/torso_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -429,7 +429,7 @@
       <geometry>
         <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -458,7 +458,7 @@
       <geometry>
         <mesh filename="meshes/left_shoulder_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -487,7 +487,7 @@
       <geometry>
         <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -503,7 +503,7 @@
     <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"/>
+    <limit lower="-2.66" upper="3.01" effort="18" velocity="20"/>
   </joint>
   <link name="left_elbow_pitch_link">
     <inertial>
@@ -516,7 +516,7 @@
       <geometry>
         <mesh filename="meshes/left_elbow_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -532,7 +532,7 @@
     <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"/>
+    <limit lower="-0.95" upper="3.18" effort="18" velocity="20"/>
   </joint>
 
   <link name="left_elbow_roll_link">
@@ -546,7 +546,7 @@
       <geometry>
         <mesh filename="meshes/left_elbow_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -561,7 +561,7 @@
     <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"/>
+    <limit lower="-3.01" upper="2.75" effort="19" velocity="31.4"/>
   </joint>
 
   <link name="left_wrist_pitch_link">
@@ -575,7 +575,7 @@
       <geometry>
         <mesh filename="meshes/left_wrist_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -590,7 +590,7 @@
     <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"/>
+    <limit lower="-0.47" upper="0.47" effort="19" velocity="31.4"/>
   </joint>
   <link name="left_wrist_yaw_link">
     <inertial>
@@ -603,7 +603,7 @@
       <geometry>
         <mesh filename="meshes/wrist_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -619,7 +619,7 @@
     <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"/>
+    <limit lower="-1.27" upper="1.27" effort="19" velocity="31.4"/>
   </joint>
 
   <!-- R arm -->
@@ -634,7 +634,7 @@
       <geometry>
         <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -650,7 +650,7 @@
     <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"/>
+    <limit lower="-3.14" upper="1.57" effort="40" velocity="9"/>
   </joint>
   <link name="right_shoulder_roll_link">
     <inertial>
@@ -663,7 +663,7 @@
       <geometry>
         <mesh filename="meshes/right_shoulder_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -693,7 +693,7 @@
       <geometry>
         <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -709,7 +709,7 @@
     <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"/>
+    <limit lower="-3.01" upper="2.66" effort="18" velocity="20"/>
   </joint>
   <link name="right_elbow_pitch_link">
     <inertial>
@@ -722,7 +722,7 @@
       <geometry>
         <mesh filename="meshes/right_elbow_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -738,7 +738,7 @@
     <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"/>
+    <limit lower="-0.95" upper="3.18" effort="18" velocity="20"/>
   </joint>
 
   <link name="right_elbow_roll_link">
@@ -752,7 +752,7 @@
       <geometry>
         <mesh filename="meshes/right_elbow_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -767,7 +767,7 @@
     <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"/>
+    <limit lower="-2.75" upper="3.01" effort="19" velocity="31.4"/>
   </joint>
 
   <link name="right_wrist_pitch_link">
@@ -781,7 +781,7 @@
       <geometry>
         <mesh filename="meshes/right_wrist_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -796,7 +796,7 @@
     <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"/>
+    <limit lower="-0.47" upper="0.47" effort="19" velocity="31.4"/>
   </joint>
   <link name="right_wrist_yaw_link">
     <inertial>
@@ -809,7 +809,7 @@
       <geometry>
         <mesh filename="meshes/wrist_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -825,7 +825,7 @@
     <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"/>
+    <limit lower="-1.27" upper="1.27" effort="19" velocity="31.4"/>
   </joint>
 
   <!-- LOGO -->
@@ -835,7 +835,7 @@
       <geometry>
         <mesh filename="meshes/logo_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="1 1 1 1"/>
       </material>
     </visual>
@@ -872,7 +872,7 @@
       <geometry>
         <mesh filename="meshes/L_hand_base_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -894,7 +894,7 @@
       <geometry>
         <mesh filename="meshes/link11_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -923,7 +923,7 @@
       <geometry>
         <mesh filename="meshes/link12_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -952,7 +952,7 @@
       <geometry>
         <mesh filename="meshes/link13_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -982,7 +982,7 @@
       <geometry>
         <mesh filename="meshes/link14_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1012,7 +1012,7 @@
       <geometry>
         <mesh filename="meshes/link15_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1041,7 +1041,7 @@
       <geometry>
         <mesh filename="meshes/link16_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1071,7 +1071,7 @@
       <geometry>
         <mesh filename="meshes/link17_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1100,7 +1100,7 @@
       <geometry>
         <mesh filename="meshes/link18_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1130,7 +1130,7 @@
       <geometry>
         <mesh filename="meshes/link19_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1159,7 +1159,7 @@
       <geometry>
         <mesh filename="meshes/link20_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1189,7 +1189,7 @@
       <geometry>
         <mesh filename="meshes/link21_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1218,7 +1218,7 @@
       <geometry>
         <mesh filename="meshes/link22_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1255,7 +1255,7 @@
       <geometry>
         <mesh filename="meshes/R_hand_base_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1277,7 +1277,7 @@
       <geometry>
         <mesh filename="meshes/link11_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1306,7 +1306,7 @@
       <geometry>
         <mesh filename="meshes/link12_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1335,7 +1335,7 @@
       <geometry>
         <mesh filename="meshes/link13_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1365,7 +1365,7 @@
       <geometry>
         <mesh filename="meshes/link14_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1395,7 +1395,7 @@
       <geometry>
         <mesh filename="meshes/link15_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1424,7 +1424,7 @@
       <geometry>
         <mesh filename="meshes/link16_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1454,7 +1454,7 @@
       <geometry>
         <mesh filename="meshes/link17_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1483,7 +1483,7 @@
       <geometry>
         <mesh filename="meshes/link18_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1513,7 +1513,7 @@
       <geometry>
         <mesh filename="meshes/link19_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1542,7 +1542,7 @@
       <geometry>
         <mesh filename="meshes/link20_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1572,7 +1572,7 @@
       <geometry>
         <mesh filename="meshes/link21_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1601,7 +1601,7 @@
       <geometry>
         <mesh filename="meshes/link22_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
diff --git a/assets/H1_5/h1_5.xml b/assets/h1_2/h1_2.xml
similarity index 83%
rename from assets/H1_5/h1_5.xml
rename to assets/h1_2/h1_2.xml
index d946402..00ee6b0 100644
--- a/assets/H1_5/h1_5.xml
+++ b/assets/h1_2/h1_2.xml
@@ -1,4 +1,4 @@
-<mujoco model="h1_5">
+<mujoco model="h1_2">
   <compiler angle="radian" meshdir="meshes/" autolimits="true"/>
   <statistic meansize="0.112107" extent="1.95557" center="0.0256948 1.86841e-05 -0.178443"/>
   <asset>
@@ -60,37 +60,37 @@
   <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"/>
+      <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
       <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"/>
+        <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43" actuatorfrcrange="-200 200"/>
         <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"/>
+          <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5" actuatorfrcrange="-200 200"/>
           <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"/>
+            <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.43 3.14" actuatorfrcrange="-200 200"/>
             <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"/>
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05" actuatorfrcrange="-300 300"/>
               <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"/>
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598" actuatorfrcrange="-60 60"/>
                 <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"/>
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799" actuatorfrcrange="-40 40"/>
                   <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>
@@ -101,32 +101,32 @@
       </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"/>
+        <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43" actuatorfrcrange="-200 200"/>
         <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"/>
+          <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5" actuatorfrcrange="-200 200"/>
           <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"/>
+            <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.14 0.43" actuatorfrcrange="-200 200"/>
             <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"/>
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05" actuatorfrcrange="-300 300"/>
               <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"/>
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598" actuatorfrcrange="-60 60"/>
                 <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"/>
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799" actuatorfrcrange="-40 40"/>
                   <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>
@@ -137,65 +137,65 @@
       </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"/>
+        <joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-2.35 2.35" actuatorfrcrange="-200 200"/>
         <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"/>
+          <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57" actuatorfrcrange="-40 40"/>
           <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"/>
+            <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.38 3.4" actuatorfrcrange="-40 40"/>
             <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"/>
+              <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.66 3.01" actuatorfrcrange="-18 18"/>
               <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"/>
+                <joint name="left_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.95 3.18" actuatorfrcrange="-18 18"/>
                 <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"/>
+                  <joint name="left_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.01 2.75" actuatorfrcrange="-19 19"/>
                   <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"/>
+                    <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.47 0.47" actuatorfrcrange="-19 19"/>
                     <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"/>
+                      <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.27 1.27" actuatorfrcrange="-19 19"/>
                       <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"/>
+                        <joint name="L_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" actuatorfrcrange="-1 1"/>
                         <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"/>
+                          <joint name="L_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 0.6" actuatorfrcrange="-1 1"/>
                           <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"/>
+                            <joint name="L_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8" actuatorfrcrange="-1 1"/>
                             <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"/>
+                              <joint name="L_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2" actuatorfrcrange="-1 1"/>
                               <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>
@@ -204,48 +204,48 @@
                       </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"/>
+                        <joint name="L_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <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"/>
+                          <joint name="L_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <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"/>
+                        <joint name="L_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <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"/>
+                          <joint name="L_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <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"/>
+                        <joint name="L_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <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"/>
+                          <joint name="L_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <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"/>
+                        <joint name="L_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <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"/>
+                          <joint name="L_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <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>
@@ -259,58 +259,58 @@
         </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"/>
+          <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57" actuatorfrcrange="-40 40"/>
           <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"/>
+            <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.4 0.38" actuatorfrcrange="-40 40"/>
             <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"/>
+              <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.01 2.66" actuatorfrcrange="-18 18"/>
               <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"/>
+                <joint name="right_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.95 3.18" actuatorfrcrange="-18 18"/>
                 <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"/>
+                  <joint name="right_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.75 3.01" actuatorfrcrange="-19 19"/>
                   <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"/>
+                    <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.47 0.47" actuatorfrcrange="-19 19"/>
                     <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"/>
+                      <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.27 1.27" actuatorfrcrange="-19 19"/>
                       <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"/>
+                        <joint name="R_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3" actuatorfrcrange="-1 1"/>
                         <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"/>
+                          <joint name="R_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.1 0.6" actuatorfrcrange="-1 1"/>
                           <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"/>
+                            <joint name="R_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8" actuatorfrcrange="-1 1"/>
                             <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"/>
+                              <joint name="R_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2" actuatorfrcrange="-1 1"/>
                               <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>
@@ -319,48 +319,48 @@
                       </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"/>
+                        <joint name="R_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <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"/>
+                          <joint name="R_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <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"/>
+                        <joint name="R_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <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"/>
+                          <joint name="R_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <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"/>
+                        <joint name="R_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <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"/>
+                          <joint name="R_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <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"/>
+                        <joint name="R_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <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"/>
+                          <joint name="R_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <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>
@@ -378,57 +378,57 @@
 
 
   <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"/>
+    <motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
+    <motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
+    <motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
+    <motor name="left_knee_joint" joint="left_knee_joint"/>
+    <motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
+    <motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
+    <motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
+    <motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
+    <motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
+    <motor name="right_knee_joint" joint="right_knee_joint"/>
+    <motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
+    <motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
+    <motor name="torso_joint" joint="torso_joint"/>
+    <motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
+    <motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
+    <motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
+    <motor name="left_elbow_pitch_joint" joint="left_elbow_pitch_joint"/>
+    <motor name="left_elbow_roll_joint" joint="left_elbow_roll_joint"/>
+    <motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
+    <motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
+    <motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
+    <motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
+    <motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
+    <motor name="right_elbow_pitch_joint" joint="right_elbow_pitch_joint"/>
+    <motor name="right_elbow_roll_joint" joint="right_elbow_roll_joint"/>
+    <motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
+    <motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
+    <motor name="L_index_proximal_joint" joint="L_index_proximal_joint"/>
+    <motor name="L_index_intermediate_joint" joint="L_index_intermediate_joint"/>
+    <motor name="L_middle_proximal_joint" joint="L_middle_proximal_joint"/>
+    <motor name="L_middle_intermediate_joint" joint="L_middle_intermediate_joint"/>
+    <motor name="L_ring_proximal_joint" joint="L_ring_proximal_joint"/>
+    <motor name="L_ring_intermediate_joint" joint="L_ring_intermediate_joint"/>
+    <motor name="L_pinky_proximal_joint" joint="L_pinky_proximal_joint"/>
+    <motor name="L_pinky_intermediate_joint" joint="L_pinky_intermediate_joint"/>
+    <motor name="L_thumb_proximal_yaw_joint" joint="L_thumb_proximal_yaw_joint"/>
+    <motor name="L_thumb_proximal_pitch_joint" joint="L_thumb_proximal_pitch_joint"/>
+    <motor name="L_thumb_intermediate_joint" joint="L_thumb_intermediate_joint"/>
+    <motor name="L_thumb_distal_joint" joint="L_thumb_distal_joint"/>
+    <motor name="R_index_proximal_joint" joint="R_index_proximal_joint"/>
+    <motor name="R_index_intermediate_joint" joint="R_index_intermediate_joint"/>
+    <motor name="R_middle_proximal_joint" joint="R_middle_proximal_joint"/>
+    <motor name="R_middle_intermediate_joint" joint="R_middle_intermediate_joint"/>
+    <motor name="R_ring_proximal_joint" joint="R_ring_proximal_joint"/>
+    <motor name="R_ring_intermediate_joint" joint="R_ring_intermediate_joint"/>
+    <motor name="R_pinky_proximal_joint" joint="R_pinky_proximal_joint"/>
+    <motor name="R_pinky_intermediate_joint" joint="R_pinky_intermediate_joint"/>
+    <motor name="R_thumb_proximal_yaw_joint" joint="R_thumb_proximal_yaw_joint"/>
+    <motor name="R_thumb_proximal_pitch_joint" joint="R_thumb_proximal_pitch_joint"/>
+    <motor name="R_thumb_intermediate_joint" joint="R_thumb_intermediate_joint"/>
+    <motor name="R_thumb_distal_joint" joint="R_thumb_distal_joint"/>
   </actuator>
 
   <sensor>
diff --git a/assets/h1_2/h1_2_simplified.urdf b/assets/h1_2/h1_2_simplified.urdf
new file mode 100644
index 0000000..9129dcc
--- /dev/null
+++ b/assets/h1_2/h1_2_simplified.urdf
@@ -0,0 +1,1369 @@
+<robot name="h1_2">
+
+  <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.08 0.0 -0.04" rpy="1.5707963267948966192313216916398 0.0 0.0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.076"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.17 0.0 -0.04" rpy="1.5707963267948966192313216916398 0.0 0.0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.042"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.027 -0.038 -0.04" rpy="0.0 1.5707963267948966192313216916398 0.0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.21"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.027 0.038 -0.04" rpy="0.0 1.5707963267948966192313216916398 0.0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.21"/>
+      </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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.08 0.0 -0.04" rpy="1.5707963267948966192313216916398 0.0 0.0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.076"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.17 0.0 -0.04" rpy="1.5707963267948966192313216916398 0.0 0.0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.042"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.027 -0.038 -0.04" rpy="0.0 1.5707963267948966192313216916398 0.0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.21"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.027 0.038 -0.04" rpy="0.0 1.5707963267948966192313216916398 0.0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.21"/>
+      </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="dark">
+        <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="-2.66" upper="3.01" 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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="-0.95" upper="3.18" 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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_elbow_roll_joint" type="fixed">
+    <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="-3.01" upper="2.75" 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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="fixed">
+    <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="-0.47" upper="0.47" 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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wrist_yaw_joint" type="fixed">
+    <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="-1.27" upper="1.27" 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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="-3.14" upper="1.57" 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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="-3.01" upper="2.66" 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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="-0.95" upper="3.18" 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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="right_elbow_roll_joint" type="fixed">
+    <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="-2.75" upper="3.01" 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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="right_wrist_pitch_joint" type="fixed">
+    <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="-0.47" upper="0.47" 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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="right_wrist_yaw_joint" type="fixed">
+    <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="-1.27" upper="1.27" 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="white">
+        <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="L_thumb_proximal_yaw_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="L_thumb_proximal_pitch_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="L_thumb_intermediate_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="L_thumb_distal_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="L_index_proximal_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="L_index_intermediate_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="L_middle_proximal_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="L_middle_intermediate_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="L_ring_proximal_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="L_ring_intermediate_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="L_pinky_proximal_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="L_pinky_intermediate_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="R_thumb_proximal_yaw_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="R_thumb_proximal_pitch_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="R_thumb_intermediate_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="R_thumb_distal_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="R_index_proximal_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="R_index_intermediate_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="R_middle_proximal_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="R_middle_intermediate_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="R_ring_proximal_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="R_ring_intermediate_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="R_pinky_proximal_joint" type="fixed">
+    <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="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="R_pinky_intermediate_joint" type="fixed">
+    <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/meshes/L_hand_base_link.STL b/assets/h1_2/meshes/L_hand_base_link.STL
similarity index 100%
rename from assets/H1_5/meshes/L_hand_base_link.STL
rename to assets/h1_2/meshes/L_hand_base_link.STL
diff --git a/assets/H1_5/meshes/L_index_intermediate.STL b/assets/h1_2/meshes/L_index_intermediate.STL
similarity index 100%
rename from assets/H1_5/meshes/L_index_intermediate.STL
rename to assets/h1_2/meshes/L_index_intermediate.STL
diff --git a/assets/H1_5/meshes/L_index_proximal.STL b/assets/h1_2/meshes/L_index_proximal.STL
similarity index 100%
rename from assets/H1_5/meshes/L_index_proximal.STL
rename to assets/h1_2/meshes/L_index_proximal.STL
diff --git a/assets/H1_5/meshes/L_middle_intermediate.STL b/assets/h1_2/meshes/L_middle_intermediate.STL
similarity index 100%
rename from assets/H1_5/meshes/L_middle_intermediate.STL
rename to assets/h1_2/meshes/L_middle_intermediate.STL
diff --git a/assets/H1_5/meshes/L_middle_proximal.STL b/assets/h1_2/meshes/L_middle_proximal.STL
similarity index 100%
rename from assets/H1_5/meshes/L_middle_proximal.STL
rename to assets/h1_2/meshes/L_middle_proximal.STL
diff --git a/assets/H1_5/meshes/L_pinky_intermediate.STL b/assets/h1_2/meshes/L_pinky_intermediate.STL
similarity index 100%
rename from assets/H1_5/meshes/L_pinky_intermediate.STL
rename to assets/h1_2/meshes/L_pinky_intermediate.STL
diff --git a/assets/H1_5/meshes/L_pinky_proximal.STL b/assets/h1_2/meshes/L_pinky_proximal.STL
similarity index 100%
rename from assets/H1_5/meshes/L_pinky_proximal.STL
rename to assets/h1_2/meshes/L_pinky_proximal.STL
diff --git a/assets/H1_5/meshes/L_ring_intermediate.STL b/assets/h1_2/meshes/L_ring_intermediate.STL
similarity index 100%
rename from assets/H1_5/meshes/L_ring_intermediate.STL
rename to assets/h1_2/meshes/L_ring_intermediate.STL
diff --git a/assets/H1_5/meshes/L_ring_proximal.STL b/assets/h1_2/meshes/L_ring_proximal.STL
similarity index 100%
rename from assets/H1_5/meshes/L_ring_proximal.STL
rename to assets/h1_2/meshes/L_ring_proximal.STL
diff --git a/assets/H1_5/meshes/L_thumb_distal.STL b/assets/h1_2/meshes/L_thumb_distal.STL
similarity index 100%
rename from assets/H1_5/meshes/L_thumb_distal.STL
rename to assets/h1_2/meshes/L_thumb_distal.STL
diff --git a/assets/H1_5/meshes/L_thumb_intermediate.STL b/assets/h1_2/meshes/L_thumb_intermediate.STL
similarity index 100%
rename from assets/H1_5/meshes/L_thumb_intermediate.STL
rename to assets/h1_2/meshes/L_thumb_intermediate.STL
diff --git a/assets/H1_5/meshes/L_thumb_proximal.STL b/assets/h1_2/meshes/L_thumb_proximal.STL
similarity index 100%
rename from assets/H1_5/meshes/L_thumb_proximal.STL
rename to assets/h1_2/meshes/L_thumb_proximal.STL
diff --git a/assets/H1_5/meshes/L_thumb_proximal_base.STL b/assets/h1_2/meshes/L_thumb_proximal_base.STL
similarity index 100%
rename from assets/H1_5/meshes/L_thumb_proximal_base.STL
rename to assets/h1_2/meshes/L_thumb_proximal_base.STL
diff --git a/assets/H1_5/meshes/R_hand_base_link.STL b/assets/h1_2/meshes/R_hand_base_link.STL
similarity index 100%
rename from assets/H1_5/meshes/R_hand_base_link.STL
rename to assets/h1_2/meshes/R_hand_base_link.STL
diff --git a/assets/H1_5/meshes/R_index_intermediate.STL b/assets/h1_2/meshes/R_index_intermediate.STL
similarity index 100%
rename from assets/H1_5/meshes/R_index_intermediate.STL
rename to assets/h1_2/meshes/R_index_intermediate.STL
diff --git a/assets/H1_5/meshes/R_index_proximal.STL b/assets/h1_2/meshes/R_index_proximal.STL
similarity index 100%
rename from assets/H1_5/meshes/R_index_proximal.STL
rename to assets/h1_2/meshes/R_index_proximal.STL
diff --git a/assets/H1_5/meshes/R_middle_intermediate.STL b/assets/h1_2/meshes/R_middle_intermediate.STL
similarity index 100%
rename from assets/H1_5/meshes/R_middle_intermediate.STL
rename to assets/h1_2/meshes/R_middle_intermediate.STL
diff --git a/assets/H1_5/meshes/R_middle_proximal.STL b/assets/h1_2/meshes/R_middle_proximal.STL
similarity index 100%
rename from assets/H1_5/meshes/R_middle_proximal.STL
rename to assets/h1_2/meshes/R_middle_proximal.STL
diff --git a/assets/H1_5/meshes/R_pinky_intermediate.STL b/assets/h1_2/meshes/R_pinky_intermediate.STL
similarity index 100%
rename from assets/H1_5/meshes/R_pinky_intermediate.STL
rename to assets/h1_2/meshes/R_pinky_intermediate.STL
diff --git a/assets/H1_5/meshes/R_pinky_proximal.STL b/assets/h1_2/meshes/R_pinky_proximal.STL
similarity index 100%
rename from assets/H1_5/meshes/R_pinky_proximal.STL
rename to assets/h1_2/meshes/R_pinky_proximal.STL
diff --git a/assets/H1_5/meshes/R_ring_intermediate.STL b/assets/h1_2/meshes/R_ring_intermediate.STL
similarity index 100%
rename from assets/H1_5/meshes/R_ring_intermediate.STL
rename to assets/h1_2/meshes/R_ring_intermediate.STL
diff --git a/assets/H1_5/meshes/R_ring_proximal.STL b/assets/h1_2/meshes/R_ring_proximal.STL
similarity index 100%
rename from assets/H1_5/meshes/R_ring_proximal.STL
rename to assets/h1_2/meshes/R_ring_proximal.STL
diff --git a/assets/H1_5/meshes/R_thumb_distal.STL b/assets/h1_2/meshes/R_thumb_distal.STL
similarity index 100%
rename from assets/H1_5/meshes/R_thumb_distal.STL
rename to assets/h1_2/meshes/R_thumb_distal.STL
diff --git a/assets/H1_5/meshes/R_thumb_intermediate.STL b/assets/h1_2/meshes/R_thumb_intermediate.STL
similarity index 100%
rename from assets/H1_5/meshes/R_thumb_intermediate.STL
rename to assets/h1_2/meshes/R_thumb_intermediate.STL
diff --git a/assets/H1_5/meshes/R_thumb_proximal.STL b/assets/h1_2/meshes/R_thumb_proximal.STL
similarity index 100%
rename from assets/H1_5/meshes/R_thumb_proximal.STL
rename to assets/h1_2/meshes/R_thumb_proximal.STL
diff --git a/assets/H1_5/meshes/R_thumb_proximal_base.STL b/assets/h1_2/meshes/R_thumb_proximal_base.STL
similarity index 100%
rename from assets/H1_5/meshes/R_thumb_proximal_base.STL
rename to assets/h1_2/meshes/R_thumb_proximal_base.STL
diff --git a/assets/H1_5/meshes/left_ankle_A_link.STL b/assets/h1_2/meshes/left_ankle_A_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_ankle_A_link.STL
rename to assets/h1_2/meshes/left_ankle_A_link.STL
diff --git a/assets/H1_5/meshes/left_ankle_A_rod_link.STL b/assets/h1_2/meshes/left_ankle_A_rod_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_ankle_A_rod_link.STL
rename to assets/h1_2/meshes/left_ankle_A_rod_link.STL
diff --git a/assets/H1_5/meshes/left_ankle_B_link.STL b/assets/h1_2/meshes/left_ankle_B_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_ankle_B_link.STL
rename to assets/h1_2/meshes/left_ankle_B_link.STL
diff --git a/assets/H1_5/meshes/left_ankle_B_rod_link.STL b/assets/h1_2/meshes/left_ankle_B_rod_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_ankle_B_rod_link.STL
rename to assets/h1_2/meshes/left_ankle_B_rod_link.STL
diff --git a/assets/H1_5/meshes/left_ankle_pitch_link.STL b/assets/h1_2/meshes/left_ankle_pitch_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_ankle_pitch_link.STL
rename to assets/h1_2/meshes/left_ankle_pitch_link.STL
diff --git a/assets/H1_5/meshes/left_ankle_roll_link.STL b/assets/h1_2/meshes/left_ankle_roll_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_ankle_roll_link.STL
rename to assets/h1_2/meshes/left_ankle_roll_link.STL
diff --git a/assets/H1_5/meshes/left_elbow_pitch_link.STL b/assets/h1_2/meshes/left_elbow_pitch_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_elbow_pitch_link.STL
rename to assets/h1_2/meshes/left_elbow_pitch_link.STL
diff --git a/assets/H1_5/meshes/left_elbow_roll_link.STL b/assets/h1_2/meshes/left_elbow_roll_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_elbow_roll_link.STL
rename to assets/h1_2/meshes/left_elbow_roll_link.STL
diff --git a/assets/H1_5/meshes/left_hand_link.STL b/assets/h1_2/meshes/left_hand_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_hand_link.STL
rename to assets/h1_2/meshes/left_hand_link.STL
diff --git a/assets/H1_5/meshes/left_hip_pitch_link.STL b/assets/h1_2/meshes/left_hip_pitch_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_hip_pitch_link.STL
rename to assets/h1_2/meshes/left_hip_pitch_link.STL
diff --git a/assets/H1_5/meshes/left_hip_roll_link.STL b/assets/h1_2/meshes/left_hip_roll_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_hip_roll_link.STL
rename to assets/h1_2/meshes/left_hip_roll_link.STL
diff --git a/assets/H1_5/meshes/left_hip_yaw_link.STL b/assets/h1_2/meshes/left_hip_yaw_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_hip_yaw_link.STL
rename to assets/h1_2/meshes/left_hip_yaw_link.STL
diff --git a/assets/H1_5/meshes/left_knee_link.STL b/assets/h1_2/meshes/left_knee_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_knee_link.STL
rename to assets/h1_2/meshes/left_knee_link.STL
diff --git a/assets/H1_5/meshes/left_shoulder_pitch_link.STL b/assets/h1_2/meshes/left_shoulder_pitch_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_shoulder_pitch_link.STL
rename to assets/h1_2/meshes/left_shoulder_pitch_link.STL
diff --git a/assets/H1_5/meshes/left_shoulder_roll_link.STL b/assets/h1_2/meshes/left_shoulder_roll_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_shoulder_roll_link.STL
rename to assets/h1_2/meshes/left_shoulder_roll_link.STL
diff --git a/assets/H1_5/meshes/left_shoulder_yaw_link.STL b/assets/h1_2/meshes/left_shoulder_yaw_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_shoulder_yaw_link.STL
rename to assets/h1_2/meshes/left_shoulder_yaw_link.STL
diff --git a/assets/H1_5/meshes/left_wrist_pitch_link.STL b/assets/h1_2/meshes/left_wrist_pitch_link.STL
similarity index 100%
rename from assets/H1_5/meshes/left_wrist_pitch_link.STL
rename to assets/h1_2/meshes/left_wrist_pitch_link.STL
diff --git a/assets/H1_5/meshes/link11_L.STL b/assets/h1_2/meshes/link11_L.STL
similarity index 100%
rename from assets/H1_5/meshes/link11_L.STL
rename to assets/h1_2/meshes/link11_L.STL
diff --git a/assets/H1_5/meshes/link11_R.STL b/assets/h1_2/meshes/link11_R.STL
similarity index 100%
rename from assets/H1_5/meshes/link11_R.STL
rename to assets/h1_2/meshes/link11_R.STL
diff --git a/assets/H1_5/meshes/link12_L.STL b/assets/h1_2/meshes/link12_L.STL
similarity index 100%
rename from assets/H1_5/meshes/link12_L.STL
rename to assets/h1_2/meshes/link12_L.STL
diff --git a/assets/H1_5/meshes/link12_R.STL b/assets/h1_2/meshes/link12_R.STL
similarity index 100%
rename from assets/H1_5/meshes/link12_R.STL
rename to assets/h1_2/meshes/link12_R.STL
diff --git a/assets/H1_5/meshes/link13_L.STL b/assets/h1_2/meshes/link13_L.STL
similarity index 100%
rename from assets/H1_5/meshes/link13_L.STL
rename to assets/h1_2/meshes/link13_L.STL
diff --git a/assets/H1_5/meshes/link13_R.STL b/assets/h1_2/meshes/link13_R.STL
similarity index 100%
rename from assets/H1_5/meshes/link13_R.STL
rename to assets/h1_2/meshes/link13_R.STL
diff --git a/assets/H1_5/meshes/link14_L.STL b/assets/h1_2/meshes/link14_L.STL
similarity index 100%
rename from assets/H1_5/meshes/link14_L.STL
rename to assets/h1_2/meshes/link14_L.STL
diff --git a/assets/H1_5/meshes/link14_R.STL b/assets/h1_2/meshes/link14_R.STL
similarity index 100%
rename from assets/H1_5/meshes/link14_R.STL
rename to assets/h1_2/meshes/link14_R.STL
diff --git a/assets/H1_5/meshes/link15_L.STL b/assets/h1_2/meshes/link15_L.STL
similarity index 100%
rename from assets/H1_5/meshes/link15_L.STL
rename to assets/h1_2/meshes/link15_L.STL
diff --git a/assets/H1_5/meshes/link15_R.STL b/assets/h1_2/meshes/link15_R.STL
similarity index 100%
rename from assets/H1_5/meshes/link15_R.STL
rename to assets/h1_2/meshes/link15_R.STL
diff --git a/assets/H1_5/meshes/link16_L.STL b/assets/h1_2/meshes/link16_L.STL
similarity index 100%
rename from assets/H1_5/meshes/link16_L.STL
rename to assets/h1_2/meshes/link16_L.STL
diff --git a/assets/H1_5/meshes/link16_R.STL b/assets/h1_2/meshes/link16_R.STL
similarity index 100%
rename from assets/H1_5/meshes/link16_R.STL
rename to assets/h1_2/meshes/link16_R.STL
diff --git a/assets/H1_5/meshes/link17_L.STL b/assets/h1_2/meshes/link17_L.STL
similarity index 100%
rename from assets/H1_5/meshes/link17_L.STL
rename to assets/h1_2/meshes/link17_L.STL
diff --git a/assets/H1_5/meshes/link17_R.STL b/assets/h1_2/meshes/link17_R.STL
similarity index 100%
rename from assets/H1_5/meshes/link17_R.STL
rename to assets/h1_2/meshes/link17_R.STL
diff --git a/assets/H1_5/meshes/link18_L.STL b/assets/h1_2/meshes/link18_L.STL
similarity index 100%
rename from assets/H1_5/meshes/link18_L.STL
rename to assets/h1_2/meshes/link18_L.STL
diff --git a/assets/H1_5/meshes/link18_R.STL b/assets/h1_2/meshes/link18_R.STL
similarity index 100%
rename from assets/H1_5/meshes/link18_R.STL
rename to assets/h1_2/meshes/link18_R.STL
diff --git a/assets/H1_5/meshes/link19_L.STL b/assets/h1_2/meshes/link19_L.STL
similarity index 100%
rename from assets/H1_5/meshes/link19_L.STL
rename to assets/h1_2/meshes/link19_L.STL
diff --git a/assets/H1_5/meshes/link19_R.STL b/assets/h1_2/meshes/link19_R.STL
similarity index 100%
rename from assets/H1_5/meshes/link19_R.STL
rename to assets/h1_2/meshes/link19_R.STL
diff --git a/assets/H1_5/meshes/link20_L.STL b/assets/h1_2/meshes/link20_L.STL
similarity index 100%
rename from assets/H1_5/meshes/link20_L.STL
rename to assets/h1_2/meshes/link20_L.STL
diff --git a/assets/H1_5/meshes/link20_R.STL b/assets/h1_2/meshes/link20_R.STL
similarity index 100%
rename from assets/H1_5/meshes/link20_R.STL
rename to assets/h1_2/meshes/link20_R.STL
diff --git a/assets/H1_5/meshes/link21_L.STL b/assets/h1_2/meshes/link21_L.STL
similarity index 100%
rename from assets/H1_5/meshes/link21_L.STL
rename to assets/h1_2/meshes/link21_L.STL
diff --git a/assets/H1_5/meshes/link21_R.STL b/assets/h1_2/meshes/link21_R.STL
similarity index 100%
rename from assets/H1_5/meshes/link21_R.STL
rename to assets/h1_2/meshes/link21_R.STL
diff --git a/assets/H1_5/meshes/link22_L.STL b/assets/h1_2/meshes/link22_L.STL
similarity index 100%
rename from assets/H1_5/meshes/link22_L.STL
rename to assets/h1_2/meshes/link22_L.STL
diff --git a/assets/H1_5/meshes/link22_R.STL b/assets/h1_2/meshes/link22_R.STL
similarity index 100%
rename from assets/H1_5/meshes/link22_R.STL
rename to assets/h1_2/meshes/link22_R.STL
diff --git a/assets/H1_5/meshes/logo_link.STL b/assets/h1_2/meshes/logo_link.STL
similarity index 100%
rename from assets/H1_5/meshes/logo_link.STL
rename to assets/h1_2/meshes/logo_link.STL
diff --git a/assets/H1_5/meshes/pelvis.STL b/assets/h1_2/meshes/pelvis.STL
similarity index 100%
rename from assets/H1_5/meshes/pelvis.STL
rename to assets/h1_2/meshes/pelvis.STL
diff --git a/assets/H1_5/meshes/right_ankle_A_link.STL b/assets/h1_2/meshes/right_ankle_A_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_ankle_A_link.STL
rename to assets/h1_2/meshes/right_ankle_A_link.STL
diff --git a/assets/H1_5/meshes/right_ankle_A_rod_link.STL b/assets/h1_2/meshes/right_ankle_A_rod_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_ankle_A_rod_link.STL
rename to assets/h1_2/meshes/right_ankle_A_rod_link.STL
diff --git a/assets/H1_5/meshes/right_ankle_B_link.STL b/assets/h1_2/meshes/right_ankle_B_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_ankle_B_link.STL
rename to assets/h1_2/meshes/right_ankle_B_link.STL
diff --git a/assets/H1_5/meshes/right_ankle_B_rod_link.STL b/assets/h1_2/meshes/right_ankle_B_rod_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_ankle_B_rod_link.STL
rename to assets/h1_2/meshes/right_ankle_B_rod_link.STL
diff --git a/assets/H1_5/meshes/right_ankle_link.STL b/assets/h1_2/meshes/right_ankle_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_ankle_link.STL
rename to assets/h1_2/meshes/right_ankle_link.STL
diff --git a/assets/H1_5/meshes/right_ankle_pitch_link.STL b/assets/h1_2/meshes/right_ankle_pitch_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_ankle_pitch_link.STL
rename to assets/h1_2/meshes/right_ankle_pitch_link.STL
diff --git a/assets/H1_5/meshes/right_ankle_roll_link.STL b/assets/h1_2/meshes/right_ankle_roll_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_ankle_roll_link.STL
rename to assets/h1_2/meshes/right_ankle_roll_link.STL
diff --git a/assets/H1_5/meshes/right_elbow_pitch_link.STL b/assets/h1_2/meshes/right_elbow_pitch_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_elbow_pitch_link.STL
rename to assets/h1_2/meshes/right_elbow_pitch_link.STL
diff --git a/assets/H1_5/meshes/right_elbow_roll_link.STL b/assets/h1_2/meshes/right_elbow_roll_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_elbow_roll_link.STL
rename to assets/h1_2/meshes/right_elbow_roll_link.STL
diff --git a/assets/H1_5/meshes/right_hand_link.STL b/assets/h1_2/meshes/right_hand_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_hand_link.STL
rename to assets/h1_2/meshes/right_hand_link.STL
diff --git a/assets/H1_5/meshes/right_hip_pitch_link.STL b/assets/h1_2/meshes/right_hip_pitch_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_hip_pitch_link.STL
rename to assets/h1_2/meshes/right_hip_pitch_link.STL
diff --git a/assets/H1_5/meshes/right_hip_roll_link.STL b/assets/h1_2/meshes/right_hip_roll_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_hip_roll_link.STL
rename to assets/h1_2/meshes/right_hip_roll_link.STL
diff --git a/assets/H1_5/meshes/right_hip_yaw_link.STL b/assets/h1_2/meshes/right_hip_yaw_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_hip_yaw_link.STL
rename to assets/h1_2/meshes/right_hip_yaw_link.STL
diff --git a/assets/H1_5/meshes/right_knee_link.STL b/assets/h1_2/meshes/right_knee_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_knee_link.STL
rename to assets/h1_2/meshes/right_knee_link.STL
diff --git a/assets/H1_5/meshes/right_pitch_link.STL b/assets/h1_2/meshes/right_pitch_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_pitch_link.STL
rename to assets/h1_2/meshes/right_pitch_link.STL
diff --git a/assets/H1_5/meshes/right_shoulder_pitch_link.STL b/assets/h1_2/meshes/right_shoulder_pitch_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_shoulder_pitch_link.STL
rename to assets/h1_2/meshes/right_shoulder_pitch_link.STL
diff --git a/assets/H1_5/meshes/right_shoulder_roll_link.STL b/assets/h1_2/meshes/right_shoulder_roll_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_shoulder_roll_link.STL
rename to assets/h1_2/meshes/right_shoulder_roll_link.STL
diff --git a/assets/H1_5/meshes/right_shoulder_yaw_link.STL b/assets/h1_2/meshes/right_shoulder_yaw_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_shoulder_yaw_link.STL
rename to assets/h1_2/meshes/right_shoulder_yaw_link.STL
diff --git a/assets/H1_5/meshes/right_wrist_pitch_link.STL b/assets/h1_2/meshes/right_wrist_pitch_link.STL
similarity index 100%
rename from assets/H1_5/meshes/right_wrist_pitch_link.STL
rename to assets/h1_2/meshes/right_wrist_pitch_link.STL
diff --git a/assets/H1_5/meshes/torso_link.STL b/assets/h1_2/meshes/torso_link.STL
similarity index 100%
rename from assets/H1_5/meshes/torso_link.STL
rename to assets/h1_2/meshes/torso_link.STL
diff --git a/assets/H1_5/meshes/wrist_yaw_link.STL b/assets/h1_2/meshes/wrist_yaw_link.STL
similarity index 100%
rename from assets/H1_5/meshes/wrist_yaw_link.STL
rename to assets/h1_2/meshes/wrist_yaw_link.STL
diff --git a/assets/H1_5/scene.xml b/assets/h1_2/scene.xml
similarity index 95%
rename from assets/H1_5/scene.xml
rename to assets/h1_2/scene.xml
index fad346e..c2375fe 100644
--- a/assets/H1_5/scene.xml
+++ b/assets/h1_2/scene.xml
@@ -1,5 +1,5 @@
 <mujoco model="h1 scene">
-  <include file="h1_5.xml"/>
+  <include file="h1_2.xml"/>
 
   <statistic center="1.0 0.7 1.5" extent="0.8"/>
 
diff --git a/teleop/robot_control/robot_arm_ik.py b/teleop/robot_control/robot_arm_ik.py
index 4488797..bfd4c6f 100644
--- a/teleop/robot_control/robot_arm_ik.py
+++ b/teleop/robot_control/robot_arm_ik.py
@@ -17,7 +17,7 @@ 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.robot = pin.RobotWrapper.BuildFromURDF('../assets/h1_2/h1_2.urdf', '../assets/h1_2')
 
         self.mixed_jointsToLockIDs = ["left_hip_yaw_joint",
                                       "left_hip_pitch_joint",