diff --git a/robots/g1_description/g1_23dof.urdf b/robots/g1_description/g1_23dof.urdf
index bc03058..21184a2 100644
--- a/robots/g1_description/g1_23dof.urdf
+++ b/robots/g1_description/g1_23dof.urdf
@@ -579,11 +579,18 @@
   </joint>
 
   <!-- IMU -->
-  <link name="imu_link"></link>
-  <joint name="imu_joint" type="fixed">
+  <link name="imu_in_torso"></link>
+  <joint name="imu_in_torso_joint" type="fixed">
     <origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
     <parent link="torso_link"/>
-    <child link="imu_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 -->
diff --git a/robots/g1_description/g1_23dof.xml b/robots/g1_description/g1_23dof.xml
index a0c8f25..a5516f6 100644
--- a/robots/g1_description/g1_23dof.xml
+++ b/robots/g1_description/g1_23dof.xml
@@ -40,6 +40,7 @@
       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
       <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
       <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
         <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
         <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@@ -130,7 +131,7 @@
         <geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
         <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
         <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
-        <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
+        <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
         <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
           <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
           <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
@@ -222,8 +223,10 @@
   </actuator>
 
   <sensor>
-    <gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
-    <accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
   </sensor>
 
 
diff --git a/robots/g1_description/g1_23dof_rev_1_0.urdf b/robots/g1_description/g1_23dof_rev_1_0.urdf
index a7bfaab..bac0e66 100644
--- a/robots/g1_description/g1_23dof_rev_1_0.urdf
+++ b/robots/g1_description/g1_23dof_rev_1_0.urdf
@@ -1,4 +1,4 @@
-<robot name="g1_23dof">
+<robot name="g1_23dof_rev_1_0">
   <mujoco>
     <compiler meshdir="meshes" discardvisual="false"/>
   </mujoco>
@@ -530,11 +530,18 @@
 
 
   <!-- IMU -->
-  <link name="imu_link"></link>
-  <joint name="imu_joint" type="fixed">
+  <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_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 -->
diff --git a/robots/g1_description/g1_23dof_rev_1_0.xml b/robots/g1_description/g1_23dof_rev_1_0.xml
index 752fe05..ff21aaf 100644
--- a/robots/g1_description/g1_23dof_rev_1_0.xml
+++ b/robots/g1_description/g1_23dof_rev_1_0.xml
@@ -1,4 +1,4 @@
-<mujoco model="g1_23dof">
+<mujoco model="g1_23dof_rev_1_0">
   <compiler angle="radian" meshdir="meshes"/>
 
   <asset>
@@ -38,6 +38,7 @@
       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
       <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
       <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
         <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
         <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@@ -125,7 +126,7 @@
         <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
         <geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
         <geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
-        <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
+        <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
         <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
           <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
           <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
@@ -217,8 +218,10 @@
   </actuator>
 
   <sensor>
-    <gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
-    <accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
   </sensor>
 
 
diff --git a/robots/g1_description/g1_29dof.urdf b/robots/g1_description/g1_29dof.urdf
index 714b178..1b765b5 100644
--- a/robots/g1_description/g1_29dof.urdf
+++ b/robots/g1_description/g1_29dof.urdf
@@ -604,11 +604,18 @@
   </joint>
 
   <!-- IMU -->
-  <link name="imu_link"></link>
-  <joint name="imu_joint" type="fixed">
+  <link name="imu_in_torso"></link>
+  <joint name="imu_in_torso_joint" type="fixed">
     <origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
     <parent link="torso_link"/>
-    <child link="imu_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 -->
diff --git a/robots/g1_description/g1_29dof.xml b/robots/g1_description/g1_29dof.xml
index 933ef9d..0e496cf 100644
--- a/robots/g1_description/g1_29dof.xml
+++ b/robots/g1_description/g1_29dof.xml
@@ -47,6 +47,7 @@
       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
       <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
       <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
         <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
         <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@@ -144,7 +145,7 @@
             <geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
             <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
             <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
-            <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
             <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
               <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
               <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
@@ -270,8 +271,10 @@
   </actuator>
 
   <sensor>
-    <gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
-    <accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
   </sensor>
 
 
diff --git a/robots/g1_description/g1_29dof_rev_1_0.urdf b/robots/g1_description/g1_29dof_rev_1_0.urdf
index 1ce8fb1..07691ea 100644
--- a/robots/g1_description/g1_29dof_rev_1_0.urdf
+++ b/robots/g1_description/g1_29dof_rev_1_0.urdf
@@ -1,4 +1,4 @@
-<robot name="g1_29dof">
+<robot name="g1_29dof_rev_1_0">
   <mujoco>
     <compiler meshdir="meshes" discardvisual="false"/>
   </mujoco>
@@ -576,11 +576,18 @@
 
 
   <!-- IMU -->
-  <link name="imu_link"></link>
-  <joint name="imu_joint" type="fixed">
+  <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_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 -->
diff --git a/robots/g1_description/g1_29dof_rev_1_0.xml b/robots/g1_description/g1_29dof_rev_1_0.xml
index 4d07d47..157f0c2 100644
--- a/robots/g1_description/g1_29dof_rev_1_0.xml
+++ b/robots/g1_description/g1_29dof_rev_1_0.xml
@@ -1,4 +1,4 @@
-<mujoco model="g1_29dof">
+<mujoco model="g1_29dof_rev_1_0">
   <compiler angle="radian" meshdir="meshes"/>
 
   <asset>
@@ -46,6 +46,7 @@
       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
       <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
       <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
         <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
         <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@@ -141,7 +142,7 @@
             <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
             <geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
             <geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
-            <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
             <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
               <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
               <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
@@ -267,8 +268,10 @@
   </actuator>
 
   <sensor>
-    <gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
-    <accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
   </sensor>
 
 
diff --git a/robots/g1_description/g1_29dof_with_hand.urdf b/robots/g1_description/g1_29dof_with_hand.urdf
index 62af254..853c84f 100644
--- a/robots/g1_description/g1_29dof_with_hand.urdf
+++ b/robots/g1_description/g1_29dof_with_hand.urdf
@@ -604,11 +604,18 @@
   </joint>
 
   <!-- IMU -->
-  <link name="imu_link"></link>
-  <joint name="imu_joint" type="fixed">
+  <link name="imu_in_torso"></link>
+  <joint name="imu_in_torso_joint" type="fixed">
     <origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
     <parent link="torso_link"/>
-    <child link="imu_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 -->
diff --git a/robots/g1_description/g1_29dof_with_hand.xml b/robots/g1_description/g1_29dof_with_hand.xml
index 89b423e..95f37f1 100644
--- a/robots/g1_description/g1_29dof_with_hand.xml
+++ b/robots/g1_description/g1_29dof_with_hand.xml
@@ -61,6 +61,7 @@
       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
       <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
       <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
         <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
         <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@@ -158,7 +159,7 @@
             <geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
             <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
             <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
-            <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
             <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
               <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
               <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
@@ -384,8 +385,10 @@
   </actuator>
 
   <sensor>
-    <gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
-    <accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
   </sensor>
 
 
diff --git a/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf b/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf
index a578525..2bf2925 100644
--- a/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf
+++ b/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf
@@ -1,4 +1,4 @@
-<robot name="g1_29dof_with_hand">
+<robot name="g1_29dof_with_hand_rev_1_0">
   <mujoco>
     <compiler meshdir="meshes" discardvisual="false"/>
   </mujoco>
@@ -576,11 +576,18 @@
 
 
   <!-- IMU -->
-  <link name="imu_link"></link>
-  <joint name="imu_joint" type="fixed">
+  <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_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 -->
diff --git a/robots/g1_description/g1_29dof_with_hand_rev_1_0.xml b/robots/g1_description/g1_29dof_with_hand_rev_1_0.xml
index 31682ce..033a9bf 100644
--- a/robots/g1_description/g1_29dof_with_hand_rev_1_0.xml
+++ b/robots/g1_description/g1_29dof_with_hand_rev_1_0.xml
@@ -1,4 +1,4 @@
-<mujoco model="g1_29dof_with_hand">
+<mujoco model="g1_29dof_with_hand_rev_1_0">
   <compiler angle="radian" meshdir="meshes"/>
 
   <asset>
@@ -60,6 +60,7 @@
       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
       <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
       <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
         <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
         <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@@ -155,7 +156,7 @@
             <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
             <geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
             <geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
-            <site name="imu" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
             <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
               <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
               <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
@@ -381,8 +382,10 @@
   </actuator>
 
   <sensor>
-    <gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
-    <accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
+    <gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
+    <accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
   </sensor>
 
 
diff --git a/robots/g1_description/g1_dual_arm.urdf b/robots/g1_description/g1_dual_arm.urdf
index 7826938..2c205b6 100644
--- a/robots/g1_description/g1_dual_arm.urdf
+++ b/robots/g1_description/g1_dual_arm.urdf
@@ -168,11 +168,18 @@
   </joint>
 
   <!-- IMU -->
-  <link name="imu_link"></link>
-  <joint name="imu_joint" type="fixed">
+  <link name="imu_in_torso"></link>
+  <joint name="imu_in_torso_joint" type="fixed">
     <origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
     <parent link="torso_link"/>
-    <child link="imu_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 -->
