enable visualize

.gitattributes

@@ -57,3 +57,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text

README.md

@@ -8,6 +8,23 @@ license: bsd-3-clause-clear
 
 To make the motion of humanoid robots more natural, we retargeted [LAFAN1](https://github.com/ubisoft/ubisoft-laforge-animation-dataset) motion capture data to [Unitree](https://www.unitree.com/)'s humanoid robots, supporting three models: [H1, H1_2](https://www.unitree.com/h1), and [G1](https://www.unitree.com/g1). This retargeting was achieved through numerical optimization based on [Interaction Mesh](https://ieeexplore.ieee.org/document/6651585) and IK, considering end-effector pose constraints, as well as joint position and velocity constraints, to prevent foot slippage. It is important to note that the retargeting only accounted for kinematic constraints and did not include dynamic constraints or actuator limitations. As a result, the robot cannot perfectly execute the retargeted trajectories.
 
+**How to visualize robot trajectories?**
+
+```shell
+# Step 1: Set up a Conda virtual environment
+conda create -n retarget python=3.10
+conda activate retarget
+
+# Step 2: Install dependencies
+conda install pinocchio -c conda-forge
+pip install numpy rerun-sdk trimesh
+
+# Step 3: Run the script
+python rerun_visualize.py
+# run the script with parameters:
+# python rerun_visualize.py --file_name dance1_subject2 --robot_type [g1|h1|h1_2]
+```
+
 This database stores the retargeted trajectories in CSV format. Each row in the CSV file corresponds to the original motion capture data for each frame, recording the configurations of all joints in the humanoid robot in the following order:
 
 ```txt

rerun_visualize.py

@@ -0,0 +1,124 @@
+import argparse
+import numpy as np
+import pinocchio as pin
+import rerun as rr
+import trimesh
+
+class RerunURDF():
+    def __init__(self, robot_type):
+        self.name = robot_type
+        match robot_type:
+            case 'g1':
+                self.robot = pin.RobotWrapper.BuildFromURDF('robot_description/g1/g1_29dof_rev_1_0.urdf', 'robot_description/g1', pin.JointModelFreeFlyer())
+                self.Tpose = np.array([0,0,0.785,0,0,0,1,
+                                      -0.15,0,0,0.3,-0.15,0,
+                                      -0.15,0,0,0.3,-0.15,0,
+                                      0,0,0,
+                                      0, 1.57,0,1.57,0,0,0,
+                                      0,-1.57,0,1.57,0,0,0]).astype(np.float32)
+            case 'h1_2':
+                self.robot = pin.RobotWrapper.BuildFromURDF('robot_description/h1_2/h1_2_wo_hand.urdf', 'robot_description/h1_2', pin.JointModelFreeFlyer())
+                assert self.robot.model.nq == 7 + 12+1+14
+                self.Tpose = np.array([0,0,1.02,0,0,0,1,
+                                       0,-0.15,0,0.3,-0.15,0,
+                                       0,-0.15,0,0.3,-0.15,0,
+                                       0,
+                                       0, 1.57,0,1.57,0,0,0,
+                                       0,-1.57,0,1.57,0,0,0]).astype(np.float32)
+            case 'h1':
+                self.robot = pin.RobotWrapper.BuildFromURDF('robot_description/h1/h1.urdf', 'robot_description/h1', pin.JointModelFreeFlyer())
+                assert self.robot.model.nq == 7 + 10+1+8
+                self.Tpose = np.array([0,0,1.03,0,0,0,1,
+                                       0,0,-0.15,0.3,-0.15,
+                                       0,0,-0.15,0.3,-0.15,
+                                       0,
+                                       0, 1.57,0,1.57,
+                                       0,-1.57,0,1.57]).astype(np.float32)
+            case _:
+                print(robot_type)
+                raise ValueError('Invalid robot type')
+        
+        # print all joints names
+        # for i in range(self.robot.model.njoints):
+        #     print(self.robot.model.names[i])
+        
+        self.link2mesh = self.get_link2mesh()
+        self.load_visual_mesh()
+        self.update()
+    
+    def get_link2mesh(self):
+        link2mesh = {}
+        for visual in self.robot.visual_model.geometryObjects:
+            mesh = trimesh.load_mesh(visual.meshPath)
+            name = visual.name[:-2]
+            mesh.visual = trimesh.visual.ColorVisuals()
+            mesh.visual.vertex_colors = visual.meshColor
+            link2mesh[name] = mesh
+        return link2mesh
+   
+    def load_visual_mesh(self):       
+        self.robot.framesForwardKinematics(pin.neutral(self.robot.model))
+        for visual in self.robot.visual_model.geometryObjects:
+            frame_name = visual.name[:-2]
+            mesh = self.link2mesh[frame_name]
+            
+            frame_id = self.robot.model.getFrameId(frame_name)
+            parent_joint_id = self.robot.model.frames[frame_id].parentJoint
+            parent_joint_name = self.robot.model.names[parent_joint_id]
+            frame_tf = self.robot.data.oMf[frame_id]
+            joint_tf = self.robot.data.oMi[parent_joint_id]
+            rr.log(f'urdf_{self.name}/{parent_joint_name}',
+                   rr.Transform3D(translation=joint_tf.translation,
+                                  mat3x3=joint_tf.rotation,
+                                  axis_length=0.01))
+            
+            relative_tf = frame_tf * joint_tf.inverse()
+            mesh.apply_transform(relative_tf.homogeneous)
+            rr.log(f'urdf_{self.name}/{parent_joint_name}/{frame_name}',
+                   rr.Mesh3D(
+                       vertex_positions=mesh.vertices,
+                       triangle_indices=mesh.faces,
+                       vertex_normals=mesh.vertex_normals,
+                       vertex_colors=mesh.visual.vertex_colors,
+                       albedo_texture=None,
+                       vertex_texcoords=None,
+                   ),
+                   timeless=True)
+    
+    def update(self, configuration = None):
+        self.robot.framesForwardKinematics(self.Tpose if configuration is None else configuration)
+        for visual in self.robot.visual_model.geometryObjects:
+            frame_name = visual.name[:-2]
+            frame_id = self.robot.model.getFrameId(frame_name)
+            parent_joint_id = self.robot.model.frames[frame_id].parentJoint
+            parent_joint_name = self.robot.model.names[parent_joint_id]
+            joint_tf = self.robot.data.oMi[parent_joint_id]
+            rr.log(f'urdf_{self.name}/{parent_joint_name}',
+                   rr.Transform3D(translation=joint_tf.translation,
+                                  mat3x3=joint_tf.rotation,
+                                  axis_length=0.01))
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--file_name', type=str, help="File name", default='dance1_subject2')
+    parser.add_argument('--robot_type', type=str, help="Robot type", default='g1')
+    args = parser.parse_args()
+
+    rr.init('Reviz', spawn=True)
+    rr.log('', rr.ViewCoordinates.RIGHT_HAND_Z_UP, timeless=True)
+    rr.set_time_sequence('frame_nr', 0)
+
+    file_name = args.file_name
+    robot_type = args.robot_type
+    rerun_urdf = RerunURDF(robot_type)
+
+    csv_files = robot_type + '/' + file_name + '.csv'
+    data = np.genfromtxt(csv_files, delimiter=',')
+
+    for frame_nr in range(data.shape[0]):
+        rr.set_time_sequence('frame_nr', frame_nr)
+        
+        for rt in ['g1', 'h1_2', 'h1']:
+            configuration = data[frame_nr, :]
+            rerun_urdf.update(configuration)

robot_description/g1/g1_29dof_rev_1_0.urdf

@@ -0,0 +1,1058 @@
+<robot name="g1_29dof_rev_1_0">
+  <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 0 -0.07605" rpy="0 0 0"/>
+      <mass value="3.813"/>
+      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/pelvis.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="pelvis_contour_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/pelvis_contour_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/pelvis_contour_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pelvis_contour_joint" type="fixed">
+    <parent link="pelvis"/>
+    <child link="pelvis_contour_link"/>
+  </joint>
+
+  <!-- Legs -->
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
+      <mass value="1.35"/>
+      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
+    </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="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="left_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
+      <mass value="1.52"/>
+      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
+    <parent link="left_hip_pitch_link"/>
+    <child link="left_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20"/>
+  </joint>
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
+      <mass value="1.702"/>
+      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
+    <parent link="left_hip_roll_link"/>
+    <child link="left_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
+      <mass value="1.932"/>
+      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
+    <parent link="left_hip_yaw_link"/>
+    <child link="left_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
+      <mass value="0.074"/>
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
+    <parent link="left_knee_link"/>
+    <child link="left_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
+      <mass value="0.608"/>
+      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
+    </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="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
+    <parent link="left_ankle_pitch_link"/>
+    <child link="left_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
+      <mass value="1.35"/>
+      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
+    </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="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="right_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
+      <mass value="1.52"/>
+      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
+    <parent link="right_hip_pitch_link"/>
+    <child link="right_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20"/>
+  </joint>
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
+      <mass value="1.702"/>
+      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
+    <parent link="right_hip_roll_link"/>
+    <child link="right_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
+      <mass value="1.932"/>
+      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
+    <parent link="right_hip_yaw_link"/>
+    <child link="right_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
+      <mass value="0.074"/>
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
+    <parent link="right_knee_link"/>
+    <child link="right_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
+      <mass value="0.608"/>
+      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
+    </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="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
+    <parent link="right_ankle_pitch_link"/>
+    <child link="right_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
+  </joint>
+
+  <!-- Torso -->
+  <link name="waist_yaw_link">
+    <inertial>
+      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0"/>
+      <mass value="0.214"/>
+      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/waist_yaw_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="waist_yaw_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="waist_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
+  </joint>
+  <link name="waist_roll_link">
+    <inertial>
+      <origin xyz="0 2.3E-05 0" rpy="0 0 0"/>
+      <mass value="0.086"/>
+      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/waist_roll_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="waist_roll_joint" type="revolute">
+    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
+    <parent link="waist_yaw_link"/>
+    <child link="waist_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
+  </joint>
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
+      <mass value="6.78"/>
+      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/torso_link_rev_1_0.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="waist_pitch_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="waist_roll_link"/>
+    <child link="torso_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
+  </joint>
+
+  <!-- LOGO -->
+  <joint name="logo_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="logo_link"/>
+  </joint>
+  <link name="logo_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/logo_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/logo_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Head -->
+  <link name="head_link">
+    <inertial>
+      <origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
+      <mass value="1.036"/>
+      <inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/head_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/head_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="head_link"/>
+  </joint>
+
+
+  <!-- IMU -->
+  <link name="imu_in_torso"></link>
+  <joint name="imu_in_torso_joint" type="fixed">
+    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="imu_in_torso"/>
+  </joint>
+
+  <link name="imu_in_pelvis"></link>
+  <joint name="imu_in_pelvis_joint" type="fixed">
+    <origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="imu_in_pelvis"/>
+  </joint>
+
+  <!-- d435 -->
+  <link name="d435_link"></link>
+  <joint name="d435_joint" type="fixed">
+    <origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0"/>
+    <parent link="torso_link"/>
+    <child link="d435_link"/>
+  </joint>
+
+  <!-- mid360 -->
+  <link name="mid360_link"></link>
+  <joint name="mid360_joint" type="fixed">
+    <origin xyz="0.0002835 0.00003 0.41618" rpy="0 0.04014257279586953 0"/>
+    <parent link="torso_link"/>
+    <child link="mid360_link"/>
+  </joint>
+
+  <!-- Arm -->
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
+      <mass value="0.718"/>
+      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
+    <parent link="torso_link"/>
+    <child link="left_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
+      <mass value="0.643"/>
+      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
+    <parent link="left_shoulder_pitch_link"/>
+    <child link="left_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
+      <mass value="0.734"/>
+      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
+    <parent link="left_shoulder_roll_link"/>
+    <child link="left_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
+      <mass value="0.6"/>
+      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
+    <parent link="left_shoulder_yaw_link"/>
+    <child link="left_elbow_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
+  </joint>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="left_elbow_link"/>
+    <child link="left_wrist_roll_link"/>
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
+  </joint>
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0"/>
+      <mass value="0.08544498"/>
+      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="left_wrist_roll_link"/>
+    <child link="left_wrist_pitch_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0 0 0"/>
+      <mass value="0.48404956"/>
+      <inertia ixx="0.00016579646273" ixy="-0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="0.00000081417712" izz="0.00042953697654"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.046 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="left_wrist_pitch_link"/>
+    <child link="left_wrist_yaw_link"/>
+    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0"/>
+      <mass value="0.08457647"/>
+      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 0.003 0" rpy="0 0 0"/>
+    <parent link="left_wrist_yaw_link"/>
+    <child link="left_rubber_hand"/>
+  </joint>
+  <link name="left_rubber_hand">
+    <inertial>
+      <origin xyz="0.05361310808 -0.00295905240 0.00215413091" rpy="0 0 0"/>
+      <mass value="0.170"/>
+      <inertia ixx="0.00010099485234748" ixy="0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="0.00000330189743286" izz="0.00021894770413514"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_rubber_hand.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
+      <mass value="0.718"/>
+      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
+    <parent link="torso_link"/>
+    <child link="right_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
+      <mass value="0.643"/>
+      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.03" length="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
+    <parent link="right_shoulder_pitch_link"/>
+    <child link="right_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
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+    <parent link="right_shoulder_roll_link"/>
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+    <parent link="right_shoulder_yaw_link"/>
+    <child link="right_elbow_link"/>
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+    <axis xyz="1 0 0"/>
+    <parent link="right_elbow_link"/>
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+    <axis xyz="0 1 0"/>
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+    <axis xyz="0 0 1"/>
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+    <child link="right_rubber_hand"/>
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+<robot name="h1">
+  <mujoco>
+    <compiler meshdir="meshes" discardvisual="false"/>
+  </mujoco>
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world"/>
+    <child link="pelvis"/>
+  </joint> -->
+
+  <link name="pelvis">
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+      <mass value="5.39"/>
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+      <material name="dark">
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+    <collision>
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+      <geometry>
+        <mesh filename="meshes/pelvis.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hip_yaw_link">
+    <inertial>
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+      <mass value="2.244"/>
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+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <!-- [CAUTION] use cylinder for hip_yaw_link -->
+    <collision>
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+      <geometry>
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+      </geometry>
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+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
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+    <parent link="pelvis"/>
+    <child link="left_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
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+  </joint>
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+      <mass value="2.232"/>
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+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL"/>
+      </geometry>
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+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
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+    <parent link="left_hip_yaw_link"/>
+    <child link="left_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.43" upper="0.43" effort="200" velocity="23"/>
+  </joint>
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.00746 -0.02346 -0.08193" rpy="0 0 0"/>
+      <mass value="4.152"/>
+      <inertia ixx="0.082618" ixy="-0.00066654" ixz="0.0040725" iyy="0.081579" iyz="0.0072024" izz="0.0060081"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.11536 0" rpy="0 0 0"/>
+    <parent link="left_hip_roll_link"/>
+    <child link="left_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14" upper="2.53" effort="200" velocity="23"/>
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="-0.00136 -0.00512 -0.1384" rpy="0 0 0"/>
+      <mass value="1.721"/>
+      <inertia ixx="0.012205" ixy="-6.8431E-05" ixz="0.0010862" iyy="0.012509" iyz="0.00022549" izz="0.0020629"/>
+    </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" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
+    <parent link="left_hip_pitch_link"/>
+    <child link="left_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.26" upper="2.05" effort="300" velocity="14"/>
+  </joint>
+  <link name="left_ankle_link">
+    <inertial>
+      <origin xyz="0.042575 -0.000001 -0.044672" rpy="0 0 0"/>
+      <mass value="0.474"/>
+      <inertia ixx="0.000159668" ixy="-0.000000005" ixz="0.000141063" iyy="0.002900286" iyz="0.000000014" izz="0.002805438"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_joint" type="revolute">
+    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
+    <parent link="left_knee_link"/>
+    <child link="left_ankle_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.87" upper="0.52" effort="40" velocity="9"/>
+  </joint>
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.04923 -0.0001 0.0072" rpy="0 0 0"/>
+      <mass value="2.244"/>
+      <inertia ixx="0.0025731" ixy="-9.159E-06" ixz="-0.00051948" iyy="0.0030444" iyz="-1.949E-06" izz="0.0022883"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <!-- [CAUTION] use cylinder for hip_yaw_link -->
+    <collision>
+      <origin xyz="-0.067 0 0" rpy="0 1.57075 0"/>
+      <geometry>
+        <cylinder length="0.07" radius="0.06"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0 -0.0875 -0.1742" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="right_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-0.43" upper="0.43" effort="200" velocity="23"/>
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="-0.0058 0.00319 -9E-05" rpy="0 0 0"/>
+      <mass value="2.232"/>
+      <inertia ixx="0.0020603" ixy="-3.2115E-05" ixz="2.878E-06" iyy="0.0022482" iyz="7.813E-06" izz="0.0024323"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0.039468 0 0" rpy="0 0 0"/>
+    <parent link="right_hip_yaw_link"/>
+    <child link="right_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.43" upper="0.43" effort="200" velocity="23"/>
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.00746 0.02346 -0.08193" rpy="0 0 0"/>
+      <mass value="4.152"/>
+      <inertia ixx="0.082618" ixy="0.00066654" ixz="0.0040725" iyy="0.081579" iyz="-0.0072024" izz="0.0060081"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.11536 0" rpy="0 0 0"/>
+    <parent link="right_hip_roll_link"/>
+    <child link="right_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14" upper="2.53" effort="200" velocity="23"/>
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="-0.00136 0.00512 -0.1384" rpy="0 0 0"/>
+      <mass value="1.721"/>
+      <inertia ixx="0.012205" ixy="6.8431E-05" ixz="0.0010862" iyy="0.012509" iyz="-0.00022549" izz="0.0020629"/>
+    </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" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
+    <parent link="right_hip_pitch_link"/>
+    <child link="right_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.26" upper="2.05" effort="300" velocity="14"/>
+  </joint>
+  <link name="right_ankle_link">
+    <inertial>
+      <origin xyz="0.042575 0.000001 -0.044672" rpy="0 0 0"/>
+      <mass value="0.474"/>
+      <inertia ixx="0.000159668" ixy="0.000000005" ixz="0.000141063" iyy="0.002900286" iyz="-0.000000014" izz="0.002805438"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_joint" type="revolute">
+    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
+    <parent link="right_knee_link"/>
+    <child link="right_ankle_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.87" upper="0.52" effort="40" velocity="9"/>
+  </joint>
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000489 0.002797 0.20484" rpy="0 0 0"/>
+      <mass value="17.789"/>
+      <inertia ixx="0.4873" ixy="-0.00053763" ixz="0.0020276" iyy="0.40963" iyz="-0.00074582" izz="0.12785"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/torso_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/torso_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="torso_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.35" upper="2.35" effort="200" velocity="23"/>
+  </joint>
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0.005045 0.053657 -0.015715" rpy="0 0 0"/>
+      <mass value="1.033"/>
+      <inertia ixx="0.0012985" ixy="-1.7333E-05" ixz="8.683E-06" iyy="0.00087279" iyz="3.9656E-05" izz="0.00097338"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0055 0.15535 0.42999" rpy="0.43633 0 0"/>
+    <parent link="torso_link"/>
+    <child link="left_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.87" upper="2.87" effort="40" velocity="9"/>
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="0.000679 0.00115 -0.094076" rpy="0 0 0"/>
+      <mass value="0.793"/>
+      <inertia ixx="0.0015742" ixy="2.298E-06" ixz="-7.2265E-05" iyy="0.0016973" iyz="-6.3691E-05" izz="0.0010183"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="-0.0055 0.0565 -0.0165" rpy="-0.43633 0 0"/>
+    <parent link="left_shoulder_pitch_link"/>
+    <child link="left_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.34" upper="3.11" effort="40" velocity="9"/>
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.01365 0.002767 -0.16266" rpy="0 0 0"/>
+      <mass value="0.839"/>
+      <inertia ixx="0.003664" ixy="-1.0671E-05" ixz="0.00034733" iyy="0.0040789" iyz="7.0213E-05" izz="0.00066383"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0 -0.1343" rpy="0 0 0"/>
+    <parent link="left_shoulder_roll_link"/>
+    <child link="left_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.3" upper="4.45" effort="18" velocity="20"/>
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.164862 0.000118 -0.015734" rpy="0 0 0"/>
+      <mass value="0.723"/>
+      <inertia ixx="0.00042388" ixy="-3.6086E-05" ixz="0.00029293" iyy="0.0060062" iyz="4.664E-06" izz="0.0060023"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_elbow_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_joint" type="revolute">
+    <origin xyz="0.0185 0 -0.198" rpy="0 0 0"/>
+    <parent link="left_shoulder_yaw_link"/>
+    <child link="left_elbow_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.25" upper="2.61" effort="18" velocity="20"/>
+  </joint>
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0.005045 -0.053657 -0.015715" rpy="0 0 0"/>
+      <mass value="1.033"/>
+      <inertia ixx="0.0012985" ixy="1.7333E-05" ixz="8.683E-06" iyy="0.00087279" iyz="-3.9656E-05" izz="0.00097338"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0055 -0.15535 0.42999" rpy="-0.43633 0 0"/>
+    <parent link="torso_link"/>
+    <child link="right_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.87" upper="2.87" effort="40" velocity="9"/>
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="0.000679 -0.00115 -0.094076" rpy="0 0 0"/>
+      <mass value="0.793"/>
+      <inertia ixx="0.0015742" ixy="-2.298E-06" ixz="-7.2265E-05" iyy="0.0016973" iyz="6.3691E-05" izz="0.0010183"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="-0.0055 -0.0565 -0.0165" rpy="0.43633 0 0"/>
+    <parent link="right_shoulder_pitch_link"/>
+    <child link="right_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-3.11" upper="0.34" effort="40" velocity="9"/>
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.01365 -0.002767 -0.16266" rpy="0 0 0"/>
+      <mass value="0.839"/>
+      <inertia ixx="0.003664" ixy="1.0671E-05" ixz="0.00034733" iyy="0.0040789" iyz="-7.0213E-05" izz="0.00066383"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0 -0.1343" rpy="0 0 0"/>
+    <parent link="right_shoulder_roll_link"/>
+    <child link="right_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-4.45" upper="1.3" effort="18" velocity="20"/>
+  </joint>
+  <link name="right_elbow_link">
+    <inertial>
+      <origin xyz="0.164862 -0.000118 -0.015734" rpy="0 0 0"/>
+      <mass value="0.723"/>
+      <inertia ixx="0.00042388" ixy="3.6086E-05" ixz="0.00029293" iyy="0.0060062" iyz="-4.664E-06" izz="0.0060023"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_elbow_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_elbow_joint" type="revolute">
+    <origin xyz="0.0185 0 -0.198" rpy="0 0 0"/>
+    <parent link="right_shoulder_yaw_link"/>
+    <child link="right_elbow_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.25" upper="2.61" effort="18" velocity="20"/>
+  </joint>
+  <link name="imu_link"></link>
+  <joint name="imu_joint" type="fixed">
+    <origin xyz="-0.04452 -0.01891 0.27756" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="imu_link"/>
+  </joint>
+  <link name="logo_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/logo_link.STL"/>
+      </geometry>
+      <material name="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>
+</robot>

robot_description/h1/meshes/left_ankle_link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4af30aca229a4465b2249d298ebd67d5859a2eeade8c2015035e9c0deb06a33a
+size 439484

robot_description/h1/meshes/left_elbow_link.STL

@@ -0,0 +1,3 @@
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