This task utilizes a simplified version of URDF. We fix some joints and ignore most of the collisions.
### Fixed Joints
We fix all the joints in the hands, wrist and the elbow roll joints, since those joints has very limited effect on the whole body dynamics.
### Collision
We only keep the collision of foot roll links. Early termination is majorly check by angular position of the base.
## Dynamics
Free "light" end effectors can lead to unstable simulation. Thus please be carefull about the control parameters for the joints that may affect such end effectors.
