diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..c32087057d9663a8ee4f0170160ee0f18981d416 100644
--- a/.gitattributes
+++ b/.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
diff --git a/README.md b/README.md
index 3048137c37cea18369743e26d6600ef7ffe4a132..b5df7d3adeac74dbb70e065b417898be8586e67a 100644
--- a/README.md
+++ b/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
diff --git a/rerun_visualize.py b/rerun_visualize.py
new file mode 100644
index 0000000000000000000000000000000000000000..5df9c64d49fe3752dfd8d6a4fd74498068921f6a
--- /dev/null
+++ b/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)
diff --git a/robot_description/g1/g1_29dof_rev_1_0.urdf b/robot_description/g1/g1_29dof_rev_1_0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e7a551d11b53f507bee412faa8c77cbc91b75b1c
--- /dev/null
+++ b/robot_description/g1/g1_29dof_rev_1_0.urdf
@@ -0,0 +1,1058 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/robot_description/g1/meshes/head_link.STL b/robot_description/g1/meshes/head_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..401f822751c33dab53c6cee77eb62890aca5cd8f
--- /dev/null
+++ b/robot_description/g1/meshes/head_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:005fb67fbd3eff94aa8bf4a6e83238174e9f91b6721f7111594322f223724411
+size 932784
diff --git a/robot_description/g1/meshes/left_ankle_pitch_link.STL b/robot_description/g1/meshes/left_ankle_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7cd705218062fc63478e2ad98418eaaf021f25c7
--- /dev/null
+++ b/robot_description/g1/meshes/left_ankle_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d49e3abc6f5b12e532062cd575b87b5ef40cd2a3fc18f54a1ca5bba4f773d51d
+size 71184
diff --git a/robot_description/g1/meshes/left_ankle_roll_link.STL b/robot_description/g1/meshes/left_ankle_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..cb69f65c6a8059fc6720cb393540f579b4d0c26e
--- /dev/null
+++ b/robot_description/g1/meshes/left_ankle_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4092af943141d4d9f74232f3cfa345afc6565f46a077793b8ae0e68b39dc33f
+size 653384
diff --git a/robot_description/g1/meshes/left_elbow_link.STL b/robot_description/g1/meshes/left_elbow_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7fa05272ef8e4c48ba57532175c7388784414369
--- /dev/null
+++ b/robot_description/g1/meshes/left_elbow_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa752198accd104d5c4c3a01382e45165b944fbbc5acce085059223324e5bed3
+size 88784
diff --git a/robot_description/g1/meshes/left_hip_pitch_link.STL b/robot_description/g1/meshes/left_hip_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..4cf7475bf6bbaef47d5b3f7644a34c73b3d64037
--- /dev/null
+++ b/robot_description/g1/meshes/left_hip_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4725168105ee768ee31638ef22b53f6be2d7641bfd7cfefe803488d884776fa4
+size 181684
diff --git a/robot_description/g1/meshes/left_hip_roll_link.STL b/robot_description/g1/meshes/left_hip_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..585f6040c38571177d55519417a0f46ca7b29381
--- /dev/null
+++ b/robot_description/g1/meshes/left_hip_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f25922ee8a7c3152790051bebad17b4d9cd243569c38fe340285ff93a97acf
+size 192184
diff --git a/robot_description/g1/meshes/left_hip_yaw_link.STL b/robot_description/g1/meshes/left_hip_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..b46a74134f90c568cbdfb8484eeb83a0503b4504
--- /dev/null
+++ b/robot_description/g1/meshes/left_hip_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a16d88aa6ddac8083aa7ad55ed317bea44b1fa003d314fba88965b7ed0f3b55b
+size 296284
diff --git a/robot_description/g1/meshes/left_knee_link.STL b/robot_description/g1/meshes/left_knee_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..2dcf84e4018ab9e4cff48cecdafe433601c48480
--- /dev/null
+++ b/robot_description/g1/meshes/left_knee_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d92b9e3d3a636761150bb8025e32514c4602b91c7028d523ee42b3e632de477
+size 854884
diff --git a/robot_description/g1/meshes/left_rubber_hand.STL b/robot_description/g1/meshes/left_rubber_hand.STL
new file mode 100644
index 0000000000000000000000000000000000000000..04a2fa22b7f60f2d00c64ec996b33a5219c2b633
--- /dev/null
+++ b/robot_description/g1/meshes/left_rubber_hand.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cff2221a690fa69303f61fce68f2d155c1517b52efb6ca9262dd56e0bc6e70fe
+size 2287484
diff --git a/robot_description/g1/meshes/left_shoulder_pitch_link.STL b/robot_description/g1/meshes/left_shoulder_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..926d9807f1cbf6ad0d41170904785eb30427c848
--- /dev/null
+++ b/robot_description/g1/meshes/left_shoulder_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0d1cfd02fcf0d42f95e678eeca33da3afbcc366ffba5c052847773ec4f31d52
+size 176784
diff --git a/robot_description/g1/meshes/left_shoulder_roll_link.STL b/robot_description/g1/meshes/left_shoulder_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..4c6840b93ea15d1ba7b4dac0f18f94655867cab7
--- /dev/null
+++ b/robot_description/g1/meshes/left_shoulder_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb9df21687773522598dc384f1a2945c7519f11cbc8bd372a49170316d6eee88
+size 400284
diff --git a/robot_description/g1/meshes/left_shoulder_yaw_link.STL b/robot_description/g1/meshes/left_shoulder_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..89b0e0661275ed832c674a46893239ad2e5bef85
--- /dev/null
+++ b/robot_description/g1/meshes/left_shoulder_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aa97e9748e924336567992181f78c7cd0652fd52a4afcca3df6b2ef6f9e712e
+size 249184
diff --git a/robot_description/g1/meshes/left_wrist_pitch_link.STL b/robot_description/g1/meshes/left_wrist_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..f9c9e4f6b974a9e46c8f62ec9903f3e34287a335
--- /dev/null
+++ b/robot_description/g1/meshes/left_wrist_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b251d8e05047f695d0f536cd78c11973cfa4e78d08cfe82759336cc3471de3a9
+size 85984
diff --git a/robot_description/g1/meshes/left_wrist_roll_link.STL b/robot_description/g1/meshes/left_wrist_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..2097ca3e5bbc0af985d150e5dcda4d8ba9bcf43f
--- /dev/null
+++ b/robot_description/g1/meshes/left_wrist_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc387c9a0ba8c2237e9b296d32531426fabeb6f53e58df45c76106bca74148c
+size 356184
diff --git a/robot_description/g1/meshes/left_wrist_roll_rubber_hand.STL b/robot_description/g1/meshes/left_wrist_roll_rubber_hand.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7c58819795c4cdfe406a008bfdbe7ea19d765497
--- /dev/null
+++ b/robot_description/g1/meshes/left_wrist_roll_rubber_hand.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e81030abd023bd9e4a308ef376d814a2c12d684d8a7670c335bbd5cd7809c909
+size 3484884
diff --git a/robot_description/g1/meshes/left_wrist_yaw_link.STL b/robot_description/g1/meshes/left_wrist_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..692f4b07105fa0ec4ffd989dc60be9b2a33ac9c3
--- /dev/null
+++ b/robot_description/g1/meshes/left_wrist_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83f8fb3a726bf9613d65dd14f0f447cb918c3c95b3938042a0c9c09749267d3b
+size 318684
diff --git a/robot_description/g1/meshes/logo_link.STL b/robot_description/g1/meshes/logo_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..6c25961c594c714ada9d32e922250d326c121f4a
--- /dev/null
+++ b/robot_description/g1/meshes/logo_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8571a0a19bc4916fa55f91449f51d5fdefd751000054865a842449429d5f155b
+size 243384
diff --git a/robot_description/g1/meshes/pelvis.STL b/robot_description/g1/meshes/pelvis.STL
new file mode 100644
index 0000000000000000000000000000000000000000..f98a88dbf6c7698791ba694e16cbcc180c40663c
--- /dev/null
+++ b/robot_description/g1/meshes/pelvis.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ba6bbc888e630550140d3c26763f10206da8c8bd30ed886b8ede41c61f57a31
+size 1060884
diff --git a/robot_description/g1/meshes/pelvis_contour_link.STL b/robot_description/g1/meshes/pelvis_contour_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..8025bc070cd65550f345e9e97bc44a8ff9740dea
--- /dev/null
+++ b/robot_description/g1/meshes/pelvis_contour_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc5c2c7a312329e3feeb2b03d3fc09fc29705bd01864f6767e51be959662420
+size 1805184
diff --git a/robot_description/g1/meshes/right_ankle_pitch_link.STL b/robot_description/g1/meshes/right_ankle_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..94a586a487180b7e6e5a5a5c1a8abdd3f50f6da3
--- /dev/null
+++ b/robot_description/g1/meshes/right_ankle_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15be426539ec1be70246d4d82a168806db64a41301af8b35c197a33348c787a9
+size 71184
diff --git a/robot_description/g1/meshes/right_ankle_roll_link.STL b/robot_description/g1/meshes/right_ankle_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..3c38507b9060eda2c40e5e2bb1b174ef5bda0390
--- /dev/null
+++ b/robot_description/g1/meshes/right_ankle_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b66222ea56653e627711b56d0a8949b4920da5df091da0ceb343f54e884e3a5
+size 653784
diff --git a/robot_description/g1/meshes/right_elbow_link.STL b/robot_description/g1/meshes/right_elbow_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..52aa0ebf0159aa4e6dd47890ebc8136e039107b1
--- /dev/null
+++ b/robot_description/g1/meshes/right_elbow_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1be925d7aa268bb8fddf5362b9173066890c7d32092c05638608126e59d1e2ab
+size 88784
diff --git a/robot_description/g1/meshes/right_hip_pitch_link.STL b/robot_description/g1/meshes/right_hip_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..064085fca108bfc2a5a365403ceb6cdac4d5cd5f
--- /dev/null
+++ b/robot_description/g1/meshes/right_hip_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4f3c99d7f4a7d34eadbef9461fc66e3486cb5442db1ec50c86317d459f1a9c6
+size 181284
diff --git a/robot_description/g1/meshes/right_hip_roll_link.STL b/robot_description/g1/meshes/right_hip_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..6544025eeb7dc7d09da549746ae28272e5bcf224
--- /dev/null
+++ b/robot_description/g1/meshes/right_hip_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c254ef66a356f492947f360dd931965477b631e3fcc841f91ccc46d945d54f6
+size 192684
diff --git a/robot_description/g1/meshes/right_hip_yaw_link.STL b/robot_description/g1/meshes/right_hip_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..0ad7bee36419f85b490debe929957c6932df393f
--- /dev/null
+++ b/robot_description/g1/meshes/right_hip_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e479c2936ca2057e9eb2f7dff6c189b7419d7b8484dea0b298cbb36a2a6aa668
+size 296284
diff --git a/robot_description/g1/meshes/right_knee_link.STL b/robot_description/g1/meshes/right_knee_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..65e8a708a7e86f1f242cd32e8959a560ea66c2d7
--- /dev/null
+++ b/robot_description/g1/meshes/right_knee_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63c4008449c9bbe701a6e2b557b7a252e90cf3a5abcf54cee46862b9a69f8ec8
+size 852284
diff --git a/robot_description/g1/meshes/right_rubber_hand.STL b/robot_description/g1/meshes/right_rubber_hand.STL
new file mode 100644
index 0000000000000000000000000000000000000000..58148fb9e7307176d43f71da139781a77b63d156
--- /dev/null
+++ b/robot_description/g1/meshes/right_rubber_hand.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99533b778bca6246144fa511bb9d4e555e075c641f2a0251e04372869cd99d67
+size 2192684
diff --git a/robot_description/g1/meshes/right_shoulder_pitch_link.STL b/robot_description/g1/meshes/right_shoulder_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..48a1c46009929341f2c312966acf81c3c733d7ec
--- /dev/null
+++ b/robot_description/g1/meshes/right_shoulder_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24cdb387e0128dfe602770a81c56cdce3a0181d34d039a11d1aaf8819b7b8c02
+size 176784
diff --git a/robot_description/g1/meshes/right_shoulder_roll_link.STL b/robot_description/g1/meshes/right_shoulder_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..2a5d22f9e17a986ec8c958a6ff7668d65878a907
--- /dev/null
+++ b/robot_description/g1/meshes/right_shoulder_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:962b97c48f9ce9e8399f45dd9522e0865d19aa9fd299406b2d475a8fc4a53e81
+size 401884
diff --git a/robot_description/g1/meshes/right_shoulder_yaw_link.STL b/robot_description/g1/meshes/right_shoulder_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..0882a567fc1a11f0cf821182154551058b0517f3
--- /dev/null
+++ b/robot_description/g1/meshes/right_shoulder_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0b76489271da0c72461a344c9ffb0f0c6e64f019ea5014c1624886c442a2fe5
+size 249984
diff --git a/robot_description/g1/meshes/right_wrist_pitch_link.STL b/robot_description/g1/meshes/right_wrist_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..2efd25c443f3233ad4d8eeff94a87ab6f661c79c
--- /dev/null
+++ b/robot_description/g1/meshes/right_wrist_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d22f8f3b3127f15a63e5be1ee273cd5075786c3142f1c3d9f76cbf43d2a26477
+size 79584
diff --git a/robot_description/g1/meshes/right_wrist_roll_link.STL b/robot_description/g1/meshes/right_wrist_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..77d23a77ad6ab659884db4d540e0bd9fd0675d0f
--- /dev/null
+++ b/robot_description/g1/meshes/right_wrist_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7ee9212ff5b94d6cb7f52bb1bbf3f352194d5b598acff74f4c77d340c5b344f
+size 356084
diff --git a/robot_description/g1/meshes/right_wrist_roll_rubber_hand.STL b/robot_description/g1/meshes/right_wrist_roll_rubber_hand.STL
new file mode 100644
index 0000000000000000000000000000000000000000..6f122afac362873186f291d520a255c575a4bf02
--- /dev/null
+++ b/robot_description/g1/meshes/right_wrist_roll_rubber_hand.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0729aff1ac4356f9314de13a46906267642e58bc47f0d8a7f17f6590a6242ccf
+size 3481584
diff --git a/robot_description/g1/meshes/right_wrist_yaw_link.STL b/robot_description/g1/meshes/right_wrist_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..77edbb4135bb5b9b64357a0226431fd665d794b2
--- /dev/null
+++ b/robot_description/g1/meshes/right_wrist_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc9dece2d12509707e0057ba2e48df8f3d56db0c79410212963a25e8a50f61a6
+size 341484
diff --git a/robot_description/g1/meshes/torso_link_rev_1_0.STL b/robot_description/g1/meshes/torso_link_rev_1_0.STL
new file mode 100644
index 0000000000000000000000000000000000000000..836b9923b3edac7a1c06ecd2f11bfbbc0dedf7e0
--- /dev/null
+++ b/robot_description/g1/meshes/torso_link_rev_1_0.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11ddb46f2098efbbd8816b1d65893632d8e78be936376c7cdcd6771899ccc723
+size 2570584
diff --git a/robot_description/g1/meshes/waist_roll_link_rev_1_0.STL b/robot_description/g1/meshes/waist_roll_link_rev_1_0.STL
new file mode 100644
index 0000000000000000000000000000000000000000..36a5a70ef6704deb82407a42ad908886f2f08147
--- /dev/null
+++ b/robot_description/g1/meshes/waist_roll_link_rev_1_0.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67c347a05abc3e8ddae600d98a082bee273bb39f8e651647708b0a7140a8a97
+size 85884
diff --git a/robot_description/g1/meshes/waist_support_link.STL b/robot_description/g1/meshes/waist_support_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..4a50f94fe3e60c6c128874488869779be9fef816
--- /dev/null
+++ b/robot_description/g1/meshes/waist_support_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fae9e1bb609848a1667d32eed8d6083ae443538a306843056a2a660f1b2926a
+size 150484
diff --git a/robot_description/g1/meshes/waist_yaw_link_rev_1_0.STL b/robot_description/g1/meshes/waist_yaw_link_rev_1_0.STL
new file mode 100644
index 0000000000000000000000000000000000000000..dc628fbdda04129fda29140243d148cbd2c81c83
--- /dev/null
+++ b/robot_description/g1/meshes/waist_yaw_link_rev_1_0.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec6db442b11f25eed898b5add07940c85d804f300de24dcbd264ccd8be7d554c
+size 619984
diff --git a/robot_description/h1/h1.urdf b/robot_description/h1/h1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..53ba990497b3dd0e2a4f264c6d81429a1d3fab09
--- /dev/null
+++ b/robot_description/h1/h1.urdf
@@ -0,0 +1,611 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/robot_description/h1/meshes/left_ankle_link.STL b/robot_description/h1/meshes/left_ankle_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..e7d2d06741039066171cc60e37f91c0e34607bcf
--- /dev/null
+++ b/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
diff --git a/robot_description/h1/meshes/left_elbow_link.STL b/robot_description/h1/meshes/left_elbow_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c7ccd491029c9448b44a14c46c5bdfe1c50bf3d6
--- /dev/null
+++ b/robot_description/h1/meshes/left_elbow_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ccf9bc83a751c1965b692e75534e57ee3c8a0916cbcff2ccccd8fe2b9d818d7
+size 258684
diff --git a/robot_description/h1/meshes/left_hip_pitch_link.STL b/robot_description/h1/meshes/left_hip_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..e476201842930cc5155194c5806477f596e5be46
--- /dev/null
+++ b/robot_description/h1/meshes/left_hip_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa790c31ffc100cd182f2bf4480e7bfda675edc58ed8f361b6553a4975c9de3b
+size 452384
diff --git a/robot_description/h1/meshes/left_hip_roll_link.STL b/robot_description/h1/meshes/left_hip_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..75ecfa87cc1ae20f1aa6a7d18e07a18fd5d45936
--- /dev/null
+++ b/robot_description/h1/meshes/left_hip_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ed880cf1171e048cfe50489fe2546c32790ac0c24a2b3b4c560495401013552
+size 769284
diff --git a/robot_description/h1/meshes/left_hip_yaw_link.STL b/robot_description/h1/meshes/left_hip_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..ca8f3e4777ce7ec6afcdebcc7fa03a0eca1208b2
--- /dev/null
+++ b/robot_description/h1/meshes/left_hip_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:103a854e684b84e1baba7d073822079069c64d0fa7b1592f29d38bd29f545bfb
+size 885884
diff --git a/robot_description/h1/meshes/left_knee_link.STL b/robot_description/h1/meshes/left_knee_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..06f127af6b22180e68c90b31a98ef319cd07cdfc
--- /dev/null
+++ b/robot_description/h1/meshes/left_knee_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efda8a6c54406c788102c0d6e59ea95e24114607bc2da9a2bf7f287ef7e48109
+size 660384
diff --git a/robot_description/h1/meshes/left_shoulder_pitch_link.STL b/robot_description/h1/meshes/left_shoulder_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7b517f0fcc59b0a669f9910961d1684bcf1c5f49
--- /dev/null
+++ b/robot_description/h1/meshes/left_shoulder_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e1db49464ca0f44f933114ee426e7f6d6310d20cf104bfa38b5ed4794cfab7
+size 787484
diff --git a/robot_description/h1/meshes/left_shoulder_roll_link.STL b/robot_description/h1/meshes/left_shoulder_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..74a9f099a354a734ff2ad02712679539be3cfd0f
--- /dev/null
+++ b/robot_description/h1/meshes/left_shoulder_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d3bcf767d72a9a5d7dae539eae79dc4132f0159b8803a6f6f2f9ad4b7e94d19
+size 903384
diff --git a/robot_description/h1/meshes/left_shoulder_yaw_link.STL b/robot_description/h1/meshes/left_shoulder_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..6f1af2d339aed8526eec8e4a425023c9c1e5e90d
--- /dev/null
+++ b/robot_description/h1/meshes/left_shoulder_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e22a5b53f8f307e6c5d6c17f9ceae4852c6468547a951cb39dfdec9ee414b515
+size 644184
diff --git a/robot_description/h1/meshes/logo_link.STL b/robot_description/h1/meshes/logo_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..0c9aa80cc5db8edd09377e4c8b83a8d73343977d
--- /dev/null
+++ b/robot_description/h1/meshes/logo_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef9635c847ca7cd61aeaed86ad599935b648fb6f8688867c0448917b1811511b
+size 145484
diff --git a/robot_description/h1/meshes/pelvis.STL b/robot_description/h1/meshes/pelvis.STL
new file mode 100644
index 0000000000000000000000000000000000000000..67a467e437a2e01124ec5df1713138e4abfdd14e
--- /dev/null
+++ b/robot_description/h1/meshes/pelvis.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2cbbeb07d3b63bce9fedeb8cf5252609dca1e89380734d22d5b3c8ded2f15c
+size 672884
diff --git a/robot_description/h1/meshes/right_ankle_link.STL b/robot_description/h1/meshes/right_ankle_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..e7d2d06741039066171cc60e37f91c0e34607bcf
--- /dev/null
+++ b/robot_description/h1/meshes/right_ankle_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4af30aca229a4465b2249d298ebd67d5859a2eeade8c2015035e9c0deb06a33a
+size 439484
diff --git a/robot_description/h1/meshes/right_elbow_link.STL b/robot_description/h1/meshes/right_elbow_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..fba99a9b1b5ec29b6ab9204283da2cbf97d5205e
--- /dev/null
+++ b/robot_description/h1/meshes/right_elbow_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc1b2aa33cffda279b3e6a40b5b932b86de9cce6c41f0c0d860b442e81edcdc2
+size 258584
diff --git a/robot_description/h1/meshes/right_hip_pitch_link.STL b/robot_description/h1/meshes/right_hip_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..f6e17009ea63f7327ef38a0d65c3bc2c36de0035
--- /dev/null
+++ b/robot_description/h1/meshes/right_hip_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c0300dd96432f218857886007e9d4e8be038cd8b85e04e84a59df4de7f90476
+size 452384
diff --git a/robot_description/h1/meshes/right_hip_roll_link.STL b/robot_description/h1/meshes/right_hip_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..4eca1b5d2b26fef1328211a75304c3458fd0bbf3
--- /dev/null
+++ b/robot_description/h1/meshes/right_hip_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e95b01b0a215e1d134545d4073cf7a72ab38ca33e35c606c03f1706d63588c6
+size 768484
diff --git a/robot_description/h1/meshes/right_hip_yaw_link.STL b/robot_description/h1/meshes/right_hip_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..db4c44cd3a83632725ae96aec49505b89a7df20c
--- /dev/null
+++ b/robot_description/h1/meshes/right_hip_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10badbb0ac78e22fc220f421b1c919cfcf59406b412d78313e4b8b06cbc51e47
+size 884484
diff --git a/robot_description/h1/meshes/right_knee_link.STL b/robot_description/h1/meshes/right_knee_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..6f39db40a59266b7403c3669451f711c10e488d4
--- /dev/null
+++ b/robot_description/h1/meshes/right_knee_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6183abbaef2afc775c220853e403b8479022a99954dbeef829b39d71916ddeda
+size 662184
diff --git a/robot_description/h1/meshes/right_shoulder_pitch_link.STL b/robot_description/h1/meshes/right_shoulder_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..00f104889d337a2204d857a09f1b88ba2dd7e7cc
--- /dev/null
+++ b/robot_description/h1/meshes/right_shoulder_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:850ffa7321993bfadcdb8bab1d422239f6a20abe27daa5ef99622f55d4da3217
+size 788484
diff --git a/robot_description/h1/meshes/right_shoulder_roll_link.STL b/robot_description/h1/meshes/right_shoulder_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..046b337bea91ed3a67ed97fbb6537ac04969b3ea
--- /dev/null
+++ b/robot_description/h1/meshes/right_shoulder_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9e793e351e09027d27427c06df2c1cb6b37c0205d0f68686b0d73916c6821de
+size 908284
diff --git a/robot_description/h1/meshes/right_shoulder_yaw_link.STL b/robot_description/h1/meshes/right_shoulder_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..799a41f6949066ee20acfacafb144043f38b19cd
--- /dev/null
+++ b/robot_description/h1/meshes/right_shoulder_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c9e4bec895f24c07fb2c4d132fc5e3cc7146155547267e9c270789af6567781
+size 646884
diff --git a/robot_description/h1/meshes/torso_link.STL b/robot_description/h1/meshes/torso_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..b4292c16f4d82c7c6a497cda7dae87bbc3b72e67
--- /dev/null
+++ b/robot_description/h1/meshes/torso_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ab785cbfbd851b0e9c59a46871aabc4718f3f8e726e21a2d14360d217ec7ba8
+size 2339384
diff --git a/robot_description/h1_2/h1_2_wo_hand.urdf b/robot_description/h1_2/h1_2_wo_hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e7bb3ac744d0697e3f48b71a2761c29175de389c
--- /dev/null
+++ b/robot_description/h1_2/h1_2_wo_hand.urdf
@@ -0,0 +1,870 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/robot_description/h1_2/meshes/L_hand_base_link.STL b/robot_description/h1_2/meshes/L_hand_base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..88d668d9b03e3a74577668bb7c073d3a415f27bd
--- /dev/null
+++ b/robot_description/h1_2/meshes/L_hand_base_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33ab4e97801bd5421903a78f5977a44e477ae8653eaf32358d35633e465411e0
+size 1448084
diff --git a/robot_description/h1_2/meshes/R_hand_base_link.STL b/robot_description/h1_2/meshes/R_hand_base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..042016dbf302500a0cd544d3ff51f323a3a39c20
--- /dev/null
+++ b/robot_description/h1_2/meshes/R_hand_base_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4d84504242a99fa915c4ed5195ce4724c67cb94d9217cd4c254cfb5937ecf5c
+size 1472384
diff --git a/robot_description/h1_2/meshes/left_ankle_pitch_link.STL b/robot_description/h1_2/meshes/left_ankle_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..fbc9b3f29d2041d54ff5e74eeed6779ba7d3a48e
--- /dev/null
+++ b/robot_description/h1_2/meshes/left_ankle_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24afc967dfcc867632d756dedff7aa78157c8fdb756a85a3f2a24dde5e5e1d34
+size 34084
diff --git a/robot_description/h1_2/meshes/left_ankle_roll_link.STL b/robot_description/h1_2/meshes/left_ankle_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..dbde661db177402b27964f8848bc13e3371042d0
--- /dev/null
+++ b/robot_description/h1_2/meshes/left_ankle_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d27424a8eab6e4aa469bce2bdcdd349892a855913f388b7908fdac121a58b7eb
+size 200484
diff --git a/robot_description/h1_2/meshes/left_elbow_link.STL b/robot_description/h1_2/meshes/left_elbow_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..b96e28dd6614c3d2933de71e008772a7d8acff5b
--- /dev/null
+++ b/robot_description/h1_2/meshes/left_elbow_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4b22883f24bff1f2f6c259dd4ff44b8e00504e2b2dc6b2993021cc7985d81f3
+size 1287684
diff --git a/robot_description/h1_2/meshes/left_hand_link.STL b/robot_description/h1_2/meshes/left_hand_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..775698f6c1dda44aeaab151eb7557a2df2422f0d
--- /dev/null
+++ b/robot_description/h1_2/meshes/left_hand_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bdf9e424ffcad03646a354fe5a4a08515e523c081070afabcadc9f5f03132e1
+size 147684
diff --git a/robot_description/h1_2/meshes/left_hip_pitch_link.STL b/robot_description/h1_2/meshes/left_hip_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c3b2038e631d674fbf64bc06d2d83e6c99d42f7e
--- /dev/null
+++ b/robot_description/h1_2/meshes/left_hip_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76c2f4824fb656da98f0b26c7f39f39fb0f52fbfe381bfc8bad13673d4688b92
+size 1270184
diff --git a/robot_description/h1_2/meshes/left_hip_roll_link.STL b/robot_description/h1_2/meshes/left_hip_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..8016c15358db784a207b7079ec40e49779a0d011
--- /dev/null
+++ b/robot_description/h1_2/meshes/left_hip_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51aa6f60d69c6dc5fa7adc60ba4927b6215820dd635b8add09e4b9faf8037bfb
+size 383184
diff --git a/robot_description/h1_2/meshes/left_hip_yaw_link.STL b/robot_description/h1_2/meshes/left_hip_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..5087e4a99b1e251bb14b3d9752b09ba36d73f894
--- /dev/null
+++ b/robot_description/h1_2/meshes/left_hip_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02d63215d895626a21eb7a1742699569441dcdb2c7c5f714726b365158dd3cbc
+size 834984
diff --git a/robot_description/h1_2/meshes/left_knee_link.STL b/robot_description/h1_2/meshes/left_knee_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7a758a89118f178b9cf2bb01fe4127e26e936bbd
--- /dev/null
+++ b/robot_description/h1_2/meshes/left_knee_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3da90b2f6ff1d5df395ab4cd6955fd29bc2d713107c0e05405c983f0c6ac8689
+size 212384
diff --git a/robot_description/h1_2/meshes/left_shoulder_pitch_link.STL b/robot_description/h1_2/meshes/left_shoulder_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..b16f796b8601f3fea5aa503fcd0c15755f56ed1f
--- /dev/null
+++ b/robot_description/h1_2/meshes/left_shoulder_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4193b4640d0c1812d91806547a2473f111e6af9f4bb036fcfd98dedace4d755
+size 1968984
diff --git a/robot_description/h1_2/meshes/left_shoulder_roll_link.STL b/robot_description/h1_2/meshes/left_shoulder_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..004818048a4677c2d0c5cc96c3594d1b0685acaf
--- /dev/null
+++ b/robot_description/h1_2/meshes/left_shoulder_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598d50298bbf041202ace731e5dc892e3ef179cb1068cb95861161cf63db6f1b
+size 1993784
diff --git a/robot_description/h1_2/meshes/left_shoulder_yaw_link.STL b/robot_description/h1_2/meshes/left_shoulder_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..df99b5f54623ee0d201d624faab869ad738c620c
--- /dev/null
+++ b/robot_description/h1_2/meshes/left_shoulder_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e760b25bd805395132adeffb7916ad43b07e4e5caaf3a7f732987e19dd9d767
+size 2137684
diff --git a/robot_description/h1_2/meshes/left_wrist_pitch_link.STL b/robot_description/h1_2/meshes/left_wrist_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..fb3d7485e3d33da3e848ea465b782fdd1d5d5460
--- /dev/null
+++ b/robot_description/h1_2/meshes/left_wrist_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7bb3eaf1213e27d3ee7d4193a0f0974823ae61c821ff1ec34459d65b7e39583
+size 630184
diff --git a/robot_description/h1_2/meshes/left_wrist_roll_link.STL b/robot_description/h1_2/meshes/left_wrist_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..cbe5ffa6607f264beca4aa909d952c6d70a80833
--- /dev/null
+++ b/robot_description/h1_2/meshes/left_wrist_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9e5f7c5214f584a91543d0ddfac50331ac8d6316c133140cd1d2397ae23ec50
+size 1243084
diff --git a/robot_description/h1_2/meshes/logo_link.STL b/robot_description/h1_2/meshes/logo_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..0c9aa80cc5db8edd09377e4c8b83a8d73343977d
--- /dev/null
+++ b/robot_description/h1_2/meshes/logo_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef9635c847ca7cd61aeaed86ad599935b648fb6f8688867c0448917b1811511b
+size 145484
diff --git a/robot_description/h1_2/meshes/pelvis.STL b/robot_description/h1_2/meshes/pelvis.STL
new file mode 100644
index 0000000000000000000000000000000000000000..67a467e437a2e01124ec5df1713138e4abfdd14e
--- /dev/null
+++ b/robot_description/h1_2/meshes/pelvis.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2cbbeb07d3b63bce9fedeb8cf5252609dca1e89380734d22d5b3c8ded2f15c
+size 672884
diff --git a/robot_description/h1_2/meshes/right_ankle_pitch_link.STL b/robot_description/h1_2/meshes/right_ankle_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..fbc9b3f29d2041d54ff5e74eeed6779ba7d3a48e
--- /dev/null
+++ b/robot_description/h1_2/meshes/right_ankle_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24afc967dfcc867632d756dedff7aa78157c8fdb756a85a3f2a24dde5e5e1d34
+size 34084
diff --git a/robot_description/h1_2/meshes/right_ankle_roll_link.STL b/robot_description/h1_2/meshes/right_ankle_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..dbde661db177402b27964f8848bc13e3371042d0
--- /dev/null
+++ b/robot_description/h1_2/meshes/right_ankle_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d27424a8eab6e4aa469bce2bdcdd349892a855913f388b7908fdac121a58b7eb
+size 200484
diff --git a/robot_description/h1_2/meshes/right_elbow_link.STL b/robot_description/h1_2/meshes/right_elbow_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..415808a968e54eec828fcef5dc6d40faa02088ea
--- /dev/null
+++ b/robot_description/h1_2/meshes/right_elbow_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92a70241128492294eeb26189697335d11a3535c361c461bafb6a190dda6e4a0
+size 1286984
diff --git a/robot_description/h1_2/meshes/right_hand_link.STL b/robot_description/h1_2/meshes/right_hand_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..775698f6c1dda44aeaab151eb7557a2df2422f0d
--- /dev/null
+++ b/robot_description/h1_2/meshes/right_hand_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bdf9e424ffcad03646a354fe5a4a08515e523c081070afabcadc9f5f03132e1
+size 147684
diff --git a/robot_description/h1_2/meshes/right_hip_pitch_link.STL b/robot_description/h1_2/meshes/right_hip_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..da968dadcbbe906557282b7d2e08c817a0fab588
--- /dev/null
+++ b/robot_description/h1_2/meshes/right_hip_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62083be6d39df68a4899787a314664a6a4f018c6892da9d2aace0ff9d4dede51
+size 1264684
diff --git a/robot_description/h1_2/meshes/right_hip_roll_link.STL b/robot_description/h1_2/meshes/right_hip_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..fcbca3acf41da90e3ae0d11ed69b94764196bd34
--- /dev/null
+++ b/robot_description/h1_2/meshes/right_hip_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d679aad297f168531ece085b56980c0f6c1820f9992e849ff2bbd40506c05f0
+size 386484
diff --git a/robot_description/h1_2/meshes/right_hip_yaw_link.STL b/robot_description/h1_2/meshes/right_hip_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..bf982bdd8a7fc2a83d45d62bfea02fb616e96a07
--- /dev/null
+++ b/robot_description/h1_2/meshes/right_hip_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a88980120a954339419747e44f81662b943288bffd31bdac9b96fca9c8aaf50
+size 840384
diff --git a/robot_description/h1_2/meshes/right_knee_link.STL b/robot_description/h1_2/meshes/right_knee_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7a758a89118f178b9cf2bb01fe4127e26e936bbd
--- /dev/null
+++ b/robot_description/h1_2/meshes/right_knee_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3da90b2f6ff1d5df395ab4cd6955fd29bc2d713107c0e05405c983f0c6ac8689
+size 212384
diff --git a/robot_description/h1_2/meshes/right_shoulder_pitch_link.STL b/robot_description/h1_2/meshes/right_shoulder_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..a954cf1a644ff5fba87508d618c67a5fbfcdb48c
--- /dev/null
+++ b/robot_description/h1_2/meshes/right_shoulder_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3c2e433a8f8706217e68d677cc62b0c7f605ce43d516713be94a285a0124cdc
+size 1966084
diff --git a/robot_description/h1_2/meshes/right_shoulder_roll_link.STL b/robot_description/h1_2/meshes/right_shoulder_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..a4b2ced4bfa274db0c1f131ca908c3020e805ddc
--- /dev/null
+++ b/robot_description/h1_2/meshes/right_shoulder_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cd93c255c14f16b6265131c5beaa015fc3e00a6cf80041a0be44d3ec55b8d9c
+size 2015084
diff --git a/robot_description/h1_2/meshes/right_shoulder_yaw_link.STL b/robot_description/h1_2/meshes/right_shoulder_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..27ea1f7ef6232908ef36287c836d3d85e931262c
--- /dev/null
+++ b/robot_description/h1_2/meshes/right_shoulder_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:547b3c72bfbded71c974c34d128b93b491c36a3af780afff6c3a3684277688cb
+size 2158684
diff --git a/robot_description/h1_2/meshes/right_wrist_pitch_link.STL b/robot_description/h1_2/meshes/right_wrist_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..6ae199436cd4c481d8629637d02289852d4e294f
--- /dev/null
+++ b/robot_description/h1_2/meshes/right_wrist_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11624373f44c3ac8fcccd09abbb2f5eb9490413a41fb0a9f3de71a01509c05ec
+size 630184
diff --git a/robot_description/h1_2/meshes/right_wrist_roll_link.STL b/robot_description/h1_2/meshes/right_wrist_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..2d81779f04c23e417f4b55a4e687aa13ac01b50f
--- /dev/null
+++ b/robot_description/h1_2/meshes/right_wrist_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d06e2e62f80ceef841a88055da884fade9235f21b66e272fc51331367a5ea174
+size 1242984
diff --git a/robot_description/h1_2/meshes/torso_link.STL b/robot_description/h1_2/meshes/torso_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..6b71cf80d3b489cdc77e6585594d7412e9091713
--- /dev/null
+++ b/robot_description/h1_2/meshes/torso_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cff9af548d3997aa44167864115ad0564e6e4f8f42dbcad114f1c88029faf0e2
+size 2122084
diff --git a/robot_description/h1_2/meshes/wrist_yaw_link.STL b/robot_description/h1_2/meshes/wrist_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..e59895818b0c104e6db38ac526cac5b634fd7368
--- /dev/null
+++ b/robot_description/h1_2/meshes/wrist_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8bf30a2ab2358e0b023de02436d1ab94de959a169c88a2cf0e4bfaacde7c7b3
+size 53284