From d105bfb99549b9fcac80bee979fb5bbefde906f9 Mon Sep 17 00:00:00 2001
From: matheecs <matheecs@qq.com>
Date: Fri, 7 Feb 2025 20:28:22 +0800
Subject: [PATCH] add h1_2_handless

---
 robots/h1_2_description/README.md          |   2 +-
 robots/h1_2_description/h1_2.xml           |  18 +-
 robots/h1_2_description/h1_2_handless.urdf | 871 +++++++++++++++++++++
 robots/h1_2_description/h1_2_handless.xml  | 256 ++++++
 robots/h1_2_description/scene.xml          |  22 -
 5 files changed, 1145 insertions(+), 24 deletions(-)
 create mode 100644 robots/h1_2_description/h1_2_handless.urdf
 create mode 100644 robots/h1_2_description/h1_2_handless.xml
 delete mode 100644 robots/h1_2_description/scene.xml

diff --git a/robots/h1_2_description/README.md b/robots/h1_2_description/README.md
index adf41fc..d49a600 100644
--- a/robots/h1_2_description/README.md
+++ b/robots/h1_2_description/README.md
@@ -17,4 +17,4 @@ This package includes a universal humanoid robot description (URDF & MJCF) for t
    python -m mujoco.viewer
    ```
 
-2. Drag and drop the MJCF model file (`scene.xml`) to the MuJoCo Viewer.
+2. Drag and drop the MJCF model file (`h1_2.xml` or `h1_2_handless.xml`) to the MuJoCo Viewer.
diff --git a/robots/h1_2_description/h1_2.xml b/robots/h1_2_description/h1_2.xml
index 2ff16fd..b510c13 100644
--- a/robots/h1_2_description/h1_2.xml
+++ b/robots/h1_2_description/h1_2.xml
@@ -1,6 +1,5 @@
 <mujoco model="h1_2">
   <compiler angle="radian" meshdir="meshes/" autolimits="true"/>
-  <statistic meansize="0.112107" extent="1.95557" center="0.0256948 1.86841e-05 -0.178443"/>
   <asset>
     <mesh name="pelvis" file="pelvis.STL"/>
     <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
@@ -435,4 +434,21 @@
     <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"/>
   </sensor>
+
+  <!-- setup scene -->
+  <statistic center="1.0 0.7 1.5" extent="0.8"/>
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-140" elevation="-20"/>
+  </visual>
+  <asset>
+    <texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+  <worldbody>
+    <light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
 </mujoco>
\ No newline at end of file
diff --git a/robots/h1_2_description/h1_2_handless.urdf b/robots/h1_2_description/h1_2_handless.urdf
new file mode 100644
index 0000000..da02a4e
--- /dev/null
+++ b/robots/h1_2_description/h1_2_handless.urdf
@@ -0,0 +1,871 @@
+<robot name="h1_2">
+
+  <mujoco>
+    <compiler meshdir="meshes" discardvisual="false"/>
+  </mujoco>
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world"/>
+    <child link="pelvis"/>
+  </joint> -->
+
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="-0.0004 3.7E-05 -0.046864" rpy="0 0 0"/>
+      <mass value="5.983"/>
+      <inertia ixx="49168.411E-06" ixy="-19.869E-06" ixz="-48.460E-06" iyy="9025.844E-06" iyz="3.431E-06" izz="53155.891E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/pelvis.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- L Leg -->
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="0 -0.026197 0.006647" rpy="0 0 0"/>
+      <mass value="2.829"/>
+      <inertia ixx="4553.605E-06" ixy="0.005E-06" ixz="0.817E-06" iyy="5688.730E-06" iyz="-345.157E-06" izz="3548.907E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0"/>
+      <geometry>
+        <cylinder radius="0.01" length="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0 0.0875 -0.1632" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="left_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-0.43" upper="0.43" effort="200" velocity="23"/>
+  </joint>
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="-0.00781 -0.004724 -0.000063" rpy="0 0 0"/>
+      <mass value="2.920"/>
+      <inertia ixx="5594.7E-06" ixy="143.308E-06" ixz="-11.847E-06" iyy="3862.581E-06" iyz="-9.607E-06" izz="4450.563E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.02" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.0755 0" rpy="0 0 0"/>
+    <parent link="left_hip_yaw_link"/>
+    <child link="left_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14" upper="2.5" effort="200" velocity="23"/>
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.004171 -0.008576 -0.194509" rpy="0 0 0"/>
+      <mass value="4.962"/>
+      <inertia ixx="46305.869E-06" ixy="-322.626E-06" ixz="-1199.703E-06" iyy="47955.402E-06" iyz="288.147E-06" izz="8914.518E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hip_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.06 0" rpy="1.5707963267948966192313216916398 0 0"/>
+      <geometry>
+        <cylinder radius="0.02" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="left_hip_pitch_link"/>
+    <child link="left_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.43" upper="3.14" effort="200" velocity="23"/>
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.000179 0.000121 -0.168936" rpy="0 0 0"/>
+      <mass value="3.839"/>
+      <inertia ixx="39002.363e-6" ixy="-72.364e-6" ixz="-794.506e-6" iyy="39042.376e-6" iyz="-18.663e-6" izz="5029.829e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_knee_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.02" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
+    <parent link="left_hip_roll_link"/>
+    <child link="left_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.12" upper="2.19" effort="300" velocity="14"/>
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.000294 0 -0.010794" rpy="0 0 0"/>
+      <mass value="0.102"/>
+      <inertia ixx="0.000023944" ixy="0" ixz="0.000000121" iyy="0.000021837" iyz="0" izz="0.000013414"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <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 0 -0.4" rpy="0 0 0"/>
+    <parent link="left_knee_link"/>
+    <child link="left_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.897334" upper="0.523598" effort="60" velocity="9"/>
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.029589 0 -0.015973" rpy="0 0 0"/>
+      <mass value="0.747"/>
+      <inertia ixx="648.830e-6" ixy="0" ixz="158.380e-6" iyy="3435.339e-6" iyz="0" izz="3583.259e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_ankle_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.02" rpy="0 0 0"/>
+    <parent link="left_ankle_pitch_link"/>
+    <child link="left_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.261799" upper="0.261799" effort="40" velocity="9"/>
+  </joint>
+
+  <!-- R Leg -->
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="0 0.026197 0.006647" rpy="0 0 0"/>
+      <mass value="2.829"/>
+      <inertia ixx="4553.605E-06" ixy="-0.005E-06" ixz="0.817E-06" iyy="5688.730E-06" iyz="345.157E-06" izz="3548.907E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_yaw_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0"/>
+      <geometry>
+        <cylinder radius="0.01" length="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0 -0.0875 -0.1632" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="right_hip_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-0.43" upper="0.43" effort="200" velocity="23"/>
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="-0.00781 0.004724 -0.000063" rpy="0 0 0"/>
+      <mass value="2.920"/>
+      <inertia ixx="5594.7E-06" ixy="-143.308E-06" ixz="-11.847E-06" iyy="3862.581E-06" iyz="9.607E-06" izz="4450.563E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.02" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.0755 0" rpy="0 0 0"/>
+    <parent link="right_hip_yaw_link"/>
+    <child link="right_hip_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14" upper="2.5" effort="200" velocity="23"/>
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.004171 0.008576 -0.194509" rpy="0 0 0"/>
+      <mass value="4.962"/>
+      <inertia ixx="46305.869E-06" ixy="322.626E-06" ixz="-1199.703E-06" iyy="47955.402E-06" iyz="-288.147E-06" izz="8914.518E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hip_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.06 0" rpy="1.5707963267948966192313216916398 0 0"/>
+      <geometry>
+        <cylinder radius="0.02" length="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="right_hip_pitch_link"/>
+    <child link="right_hip_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-3.14" upper="0.43" effort="200" velocity="23"/>
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.000179 -0.000121 -0.168936" rpy="0 0 0"/>
+      <mass value="3.839"/>
+      <inertia ixx="39002.363e-6" ixy="72.364e-6" ixz="-794.506e-6" iyy="39042.376e-6" iyz="18.663e-6" izz="5029.829e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_knee_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.2" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="0.02" length="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
+    <parent link="right_hip_roll_link"/>
+    <child link="right_knee_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.12" upper="2.19" effort="300" velocity="14"/>
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.000294 0 -0.010794" rpy="0 0 0"/>
+      <mass value="0.102"/>
+      <inertia ixx="0.000023944" ixy="0" ixz="0.000000121" iyy="0.000021837" iyz="0" izz="0.000013414"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <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 0 -0.4" rpy="0 0 0"/>
+    <parent link="right_knee_link"/>
+    <child link="right_ankle_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.897334" upper="0.523598" effort="60" velocity="9"/>
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.029589 0 -0.015973" rpy="0 0 0"/>
+      <mass value="0.747"/>
+      <inertia ixx="648.830e-6" ixy="0" ixz="158.380e-6" iyy="3435.339e-6" iyz="0" izz="3583.259e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_ankle_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.02" rpy="0 0 0"/>
+    <parent link="right_ankle_pitch_link"/>
+    <child link="right_ankle_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.261799" upper="0.261799" effort="40" velocity="9"/>
+  </joint>
+
+  <!-- Torso -->
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000489 0.002797 0.20484" rpy="0 0 0"/>
+      <mass value="17.789"/>
+      <inertia ixx="0.4873" ixy="-0.00053763" ixz="0.0020276" iyy="0.40963" iyz="-0.00074582" izz="0.12785"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/torso_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.15" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.08 0.16 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="pelvis"/>
+    <child link="torso_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.35" upper="2.35" effort="200" velocity="23"/>
+  </joint>
+
+  <!-- L arm -->
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0.003053 0.06042 -0.0059" rpy="0 0 0"/>
+      <mass value="1.327"/>
+      <inertia ixx="0.00058661" ixy="-2.0157E-05" ixz="2.985E-06" iyy="0.0003989" iyz="2.238E-05" izz="0.00052936"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <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 0.14806 0.42333" rpy="0.2618 0 0"/>
+    <parent link="torso_link"/>
+    <child link="left_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14" upper="1.57" effort="40" velocity="9"/>
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.030932 -1E-06 -0.10609" rpy="0 0 0"/>
+      <mass value="1.393"/>
+      <inertia ixx="0.0018408" ixy="3.98E-07" ixz="-0.00048324" iyy="0.001934638" iyz="1.61E-07" izz="0.000617733"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <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="0.0342 0.061999 -0.0060011" rpy="-0.2618 0 0"/>
+    <parent link="left_shoulder_pitch_link"/>
+    <child link="left_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.38" upper="3.4" effort="40" velocity="9"/>
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.004583 0.001128 -0.001128" rpy="0 0 0"/>
+      <mass value="1.505"/>
+      <inertia ixx="0.004199" ixy="-1.7786E-05" ixz="0.00018372" iyy="0.0043139" iyz="9.278E-05" izz="0.00065755"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <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="-0.0342 0 -0.1456" rpy="0 0 0"/>
+    <parent link="left_shoulder_roll_link"/>
+    <child link="left_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.66" upper="3.01" effort="18" velocity="20"/>
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.077092 -0.028751 -0.009714 " rpy="0 0 0"/>
+      <mass value="0.691"/>
+      <inertia ixx="0.000318491" ixy="0.000224554" ixz="6.62076E-05" iyy="0.000861224" iyz="-2.3329E-05" izz="0.000897899"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_elbow_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="0.006 0.0329 -0.182" rpy="0 0 0"/>
+    <parent link="left_shoulder_yaw_link"/>
+    <child link="left_elbow_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.95" upper="3.18" effort="18" velocity="20"/>
+  </joint>
+
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.035281 -0.002320 0.000337" rpy="0 0 0"/>
+      <mass value="0.683"/>
+      <inertia ixx="0.000313275" ixy="0.000016521" ixz="-0.000002501" iyy="0.000310412" iyz="0.000005435" izz="0.000345998"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/left_wrist_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.121 -0.0329 -0.011" rpy="0 0 0"/>
+    <parent link="left_elbow_link"/>
+    <child link="left_wrist_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-3.01" upper="2.75" effort="19" velocity="31.4"/>
+  </joint>
+
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.020395 0.000036 -0.002973" rpy="0 0 0"/>
+      <mass value="0.484"/>
+      <inertia ixx="0.000071364" ixy="0.000000308" ixz="0.000001485" iyy="0.000069915" iyz="-0.000000088" izz="0.000070702"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/left_wrist_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.087 0 0" rpy="0 0 0"/>
+    <parent link="left_wrist_roll_link"/>
+    <child link="left_wrist_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.4625" upper="0.4625" effort="19" velocity="31.4"/>
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.027967 0.000096 0.000739" rpy="0 0 0"/>
+      <mass value="0.124"/>
+      <inertia ixx="137.3e-6" ixy="-0.171e-6" ixz="2.942e-6" iyy="169.998e-6" iyz="-0.025e-6" izz="84.808e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wrist_yaw_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wrist_yaw_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.020 0 0" rpy="0 0 0"/>
+    <parent link="left_wrist_pitch_link"/>
+    <child link="left_wrist_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.27" upper="1.27" effort="19" velocity="31.4"/>
+  </joint>
+
+  <!-- R arm -->
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0.003053 -0.06042 -0.0059" rpy="0 0 0"/>
+      <mass value="1.327"/>
+      <inertia ixx="0.00058661" ixy="2.0157E-05" ixz="2.985E-06" iyy="0.0003989" iyz="-2.238E-05" izz="0.00052936"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <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 -0.14806 0.42333" rpy="-0.2618 0 0"/>
+    <parent link="torso_link"/>
+    <child link="right_shoulder_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14" upper="1.57" effort="40" velocity="9"/>
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.030932 1E-06 -0.10609" rpy="0 0 0"/>
+      <mass value="1.393"/>
+      <inertia ixx="0.0018408" ixy="-3.98E-07" ixz="-0.00048324" iyy="0.001934638" iyz="-1.61E-07" izz="0.000617733"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <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="0.0342 -0.061999 -0.0060011" rpy="0.2618 0 0"/>
+    <parent link="right_shoulder_pitch_link"/>
+    <child link="right_shoulder_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-3.4" upper="0.38" effort="40" velocity="9"/>
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.004583 -0.001128 -0.001128" rpy="0 0 0"/>
+      <mass value="1.505"/>
+      <inertia ixx="0.004199" ixy="1.7786E-05" ixz="0.00018372" iyy="0.0043139" iyz="-9.278E-05" izz="0.00065755"/>
+
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <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="-0.0342 0 -0.1456" rpy="0 0 0"/>
+    <parent link="right_shoulder_roll_link"/>
+    <child link="right_shoulder_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.01" upper="2.66" effort="18" velocity="20"/>
+  </joint>
+  <link name="right_elbow_link">
+    <inertial>
+      <origin xyz="0.077092 0.028751 -0.009714 " rpy="0 0 0"/>
+      <mass value="0.691"/>
+      <inertia ixx="0.000318491" ixy="-0.000224554" ixz="6.62076E-05" iyy="0.000861224" iyz="2.3329E-05" izz="0.000897899"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_elbow_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="0.006 -0.0329 -0.182" rpy="0 0 0"/>
+    <parent link="right_shoulder_yaw_link"/>
+    <child link="right_elbow_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.95" upper="3.18" effort="18" velocity="20"/>
+  </joint>
+
+  <link name="right_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.035281 -0.002320 0.000337" rpy="0 0 0"/>
+      <mass value="0.683"/>
+      <inertia ixx="0.000313275" ixy="0.000016521" ixz="-0.000002501" iyy="0.000310412" iyz="0.000005435" izz="0.000345998"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/right_wrist_roll_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_roll_joint" type="revolute">
+    <origin xyz="0.121 0.0329 -0.011" rpy="0 0 0"/>
+    <parent link="right_elbow_link"/>
+    <child link="right_wrist_roll_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.75" upper="3.01" effort="19" velocity="31.4"/>
+  </joint>
+
+  <link name="right_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.020395 0.000036 -0.002973" rpy="0 0 0"/>
+      <mass value="0.484"/>
+      <inertia ixx="0.000071364" ixy="0.000000308" ixz="0.000001485" iyy="0.000069915" iyz="-0.000000088" izz="0.000070702"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/right_wrist_pitch_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.087 0 0" rpy="0 0 0"/>
+    <parent link="right_wrist_roll_link"/>
+    <child link="right_wrist_pitch_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.4625" upper="0.4625" effort="19" velocity="31.4"/>
+  </joint>
+  <link name="right_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.027967 -0.000096 0.000739" rpy="0 0 0"/>
+      <mass value="0.124"/>
+      <inertia ixx="137.3e-6" ixy="0.171e-6" ixz="2.942e-6" iyy="169.998e-6" iyz="0.025e-6" izz="84.808e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wrist_yaw_link.STL"/>
+      </geometry>
+      <material name="dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wrist_yaw_link.STL"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.020 0 0" rpy="0 0 0"/>
+    <parent link="right_wrist_pitch_link"/>
+    <child link="right_wrist_yaw_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.27" upper="1.27" effort="19" velocity="31.4"/>
+  </joint>
+
+  <!-- LOGO -->
+  <link name="logo_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/logo_link.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="logo_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="logo_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+
+  <!-- IMU -->
+  <link name="imu_link"></link>
+  <joint name="imu_joint" type="fixed">
+    <origin xyz="-0.04452 -0.01891 0.27756" rpy="0 0 0"/>
+    <parent link="torso_link"/>
+    <child link="imu_link"/>
+  </joint>
+
+  <!-- Camera&Lidar -->
+  <link name="camera_link"></link>
+  <joint name="camera_joint" type="fixed">
+    <origin xyz="0.11109 0.01750 0.68789" rpy="0 0.8859291283123216 0"/>
+    <parent link="torso_link"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="lidar_link"></link>
+  <joint name="lidar_joint" type="fixed">
+    <origin xyz="0.04874 0 0.67980" rpy="0 0.24015730507441985 0"/>
+    <parent link="torso_link"/>
+    <child link="lidar_link"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/robots/h1_2_description/h1_2_handless.xml b/robots/h1_2_description/h1_2_handless.xml
new file mode 100644
index 0000000..4f90d65
--- /dev/null
+++ b/robots/h1_2_description/h1_2_handless.xml
@@ -0,0 +1,256 @@
+<mujoco model="h1_2">
+  <compiler angle="radian" meshdir="meshes/" autolimits="true"/>
+  <asset>
+    <mesh name="pelvis" file="pelvis.STL"/>
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
+    <mesh name="left_knee_link" file="left_knee_link.STL"/>
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
+    <mesh name="right_knee_link" file="right_knee_link.STL"/>
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
+    <mesh name="torso_link" file="torso_link.STL"/>
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
+    <mesh name="left_elbow_link" file="left_elbow_link.STL"/>
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
+    <mesh name="wrist_yaw_link" file="wrist_yaw_link.STL"/>
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
+    <mesh name="right_elbow_link" file="right_elbow_link.STL"/>
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
+    <mesh name="logo_link" file="logo_link.STL"/>
+  </asset>
+  <worldbody>
+    <body name="pelvis" pos="0 0 1.03">
+      <inertial pos="-0.0004 3.7e-05 -0.046864" quat="0.497097 0.496809 -0.503132 0.502925" mass="5.983" diaginertia="0.0531565 0.0491678 0.00902583"/>
+      <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="pelvis"/>
+      <geom size="0.05" rgba="0.1 0.1 0.1 1"/>
+      <body name="left_hip_yaw_link" pos="0 0.0875 -0.1632">
+        <inertial pos="0 -0.026197 0.006647" quat="0.704899 -0.0553755 0.0548434 0.705013" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
+        <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43" actuatorfrcrange="-200 200"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_yaw_link"/>
+        <geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+        <body name="left_hip_pitch_link" pos="0 0.0755 0">
+          <inertial pos="-0.00781 -0.004724 -6.3e-05" quat="0.701575 0.711394 0.0330266 0.0249149" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
+          <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5" actuatorfrcrange="-200 200"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_pitch_link"/>
+          <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+          <body name="left_hip_roll_link">
+            <inertial pos="0.004171 -0.008576 -0.194509" quat="0.634842 0.0146079 0.0074063 0.772469" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
+            <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.43 3.14" actuatorfrcrange="-200 200"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_roll_link"/>
+            <geom size="0.02 0.005" pos="0 0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+            <body name="left_knee_link" pos="0 0 -0.4">
+              <inertial pos="0.000179 0.000121 -0.168936" quat="0.416585 0.0104983 0.00514003 0.909021" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.12 2.19" actuatorfrcrange="-300 300"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_knee_link"/>
+              <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+              <body name="left_ankle_pitch_link" pos="0 0 -0.4">
+                <inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598" actuatorfrcrange="-60 60"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
+                <body name="left_ankle_roll_link" pos="0 0 -0.02">
+                  <inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799" actuatorfrcrange="-40 40"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
+                  <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_yaw_link" pos="0 -0.0875 -0.1632">
+        <inertial pos="0 0.026197 0.006647" quat="0.705013 0.0548434 -0.0553755 0.704899" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
+        <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43" actuatorfrcrange="-200 200"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_yaw_link"/>
+        <geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+        <body name="right_hip_pitch_link" pos="0 -0.0755 0">
+          <inertial pos="-0.00781 0.004724 -6.3e-05" quat="0.711394 0.701575 -0.0249149 -0.0330266" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
+          <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5" actuatorfrcrange="-200 200"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_pitch_link"/>
+          <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+          <body name="right_hip_roll_link">
+            <inertial pos="0.004171 0.008576 -0.194509" quat="0.772469 0.0074063 0.0146079 0.634842" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
+            <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.14 0.43" actuatorfrcrange="-200 200"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_roll_link"/>
+            <geom size="0.02 0.005" pos="0 -0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+            <body name="right_knee_link" pos="0 0 -0.4">
+              <inertial pos="0.000179 -0.000121 -0.168936" quat="0.909021 0.00514003 0.0104983 0.416585" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.12 2.19" actuatorfrcrange="-300 300"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_knee_link"/>
+              <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
+              <body name="right_ankle_pitch_link" pos="0 0 -0.4">
+                <inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598" actuatorfrcrange="-60 60"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
+                <body name="right_ankle_roll_link" pos="0 0 -0.02">
+                  <inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799" actuatorfrcrange="-40 40"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
+                  <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="torso_link">
+        <inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789" diaginertia="0.487315 0.409628 0.127837"/>
+        <joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-2.35 2.35" actuatorfrcrange="-200 200"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="torso_link"/>
+        <geom size="0.04 0.08 0.05" pos="0 0 0.15" type="box" rgba="0.1 0.1 0.1 1"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="logo_link"/>
+        <site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
+        <body name="left_shoulder_pitch_link" pos="0 0.14806 0.42333" quat="0.991445 0.130526 0 0">
+          <inertial pos="0.003053 0.06042 -0.0059" quat="0.761799 0.645681 -0.0378496 -0.0363943" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
+          <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57" actuatorfrcrange="-40 40"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
+          <body name="left_shoulder_roll_link" pos="0.0342 0.061999 -0.0060011" quat="0.991445 -0.130526 0 0">
+            <inertial pos="-0.030932 -1e-06 -0.10609" quat="0.986055 0.000456937 0.166408 0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
+            <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.38 3.4" actuatorfrcrange="-40 40"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
+            <body name="left_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
+              <inertial pos="0.004583 0.001128 -0.001128" quat="0.663644 -0.0108866 -0.0267235 0.747492" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
+              <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.66 3.01" actuatorfrcrange="-18 18"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
+              <body name="left_elbow_link" pos="0.006 0.0329 -0.182">
+                <inertial pos="0.077092 -0.028751 -0.009714" quat="0.544921 0.610781 0.423352 0.388305" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
+                <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-0.95 3.18" actuatorfrcrange="-18 18"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_link"/>
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_link"/>
+                <body name="left_wrist_roll_link" pos="0.121 -0.0329 -0.011">
+                  <inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
+                  <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.01 2.75" actuatorfrcrange="-19 19"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_wrist_roll_link"/>
+                  <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_wrist_roll_link"/>
+                  <body name="left_wrist_pitch_link" pos="0.087 0 0">
+                    <inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
+                    <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.4625 0.4625" actuatorfrcrange="-19 19"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
+                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
+                    <body name="left_wrist_yaw_link" pos="0.02 0 0">
+                      <inertial pos="0.027967 9.6e-05 0.000739" quat="0.704961 -0.0198461 -0.019614 0.708697" mass="0.124" diaginertia="0.000169999 0.000137463 8.46436e-05"/>
+                      <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.27 1.27" actuatorfrcrange="-19 19"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="right_shoulder_pitch_link" pos="0 -0.14806 0.42333" quat="0.991445 -0.130526 0 0">
+          <inertial pos="0.003053 -0.06042 -0.0059" quat="0.645681 0.761799 0.0363943 0.0378496" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
+          <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57" actuatorfrcrange="-40 40"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
+          <body name="right_shoulder_roll_link" pos="0.0342 -0.061999 -0.0060011" quat="0.991445 0.130526 0 0">
+            <inertial pos="-0.030932 1e-06 -0.10609" quat="0.986055 -0.000456937 0.166408 -0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
+            <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.4 0.38" actuatorfrcrange="-40 40"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
+            <body name="right_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
+              <inertial pos="0.004583 -0.001128 -0.001128" quat="0.747492 -0.0267235 -0.0108866 0.663644" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
+              <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.01 2.66" actuatorfrcrange="-18 18"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
+              <body name="right_elbow_link" pos="0.006 -0.0329 -0.182">
+                <inertial pos="0.077092 0.028751 -0.009714" quat="0.388305 0.423352 0.610781 0.544921" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
+                <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-0.95 3.18" actuatorfrcrange="-18 18"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_link"/>
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_link"/>
+                <body name="right_wrist_roll_link" pos="0.121 0.0329 -0.011">
+                  <inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
+                  <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.75 3.01" actuatorfrcrange="-19 19"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_wrist_roll_link"/>
+                  <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_wrist_roll_link"/>
+                  <body name="right_wrist_pitch_link" pos="0.087 0 0">
+                    <inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
+                    <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.4625 0.4625" actuatorfrcrange="-19 19"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
+                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
+                    <body name="right_wrist_yaw_link" pos="0.02 0 0">
+                      <inertial pos="0.027967 -9.6e-05 0.000739" quat="0.708697 -0.019614 -0.0198461 0.704961" mass="0.124" diaginertia="0.000169999 0.000137463 8.46436e-05"/>
+                      <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.27 1.27" actuatorfrcrange="-19 19"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+
+  <actuator>
+    <motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
+    <motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
+    <motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
+    <motor name="left_knee_joint" joint="left_knee_joint"/>
+    <motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
+    <motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
+    <motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
+    <motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
+    <motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
+    <motor name="right_knee_joint" joint="right_knee_joint"/>
+    <motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
+    <motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
+    <motor name="torso_joint" joint="torso_joint"/>
+    <motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
+    <motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
+    <motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
+    <motor name="left_elbow_joint" joint="left_elbow_joint"/>
+    <motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
+    <motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
+    <motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
+    <motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
+    <motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
+    <motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
+    <motor name="right_elbow_joint" joint="right_elbow_joint"/>
+    <motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
+    <motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
+    <motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
+  </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"/>
+  </sensor>
+
+  <!-- setup scene -->
+  <statistic center="1.0 0.7 1.5" extent="0.8"/>
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-140" elevation="-20"/>
+  </visual>
+  <asset>
+    <texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+  <worldbody>
+    <light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/robots/h1_2_description/scene.xml b/robots/h1_2_description/scene.xml
deleted file mode 100644
index c2375fe..0000000
--- a/robots/h1_2_description/scene.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<mujoco model="h1 scene">
-  <include file="h1_2.xml"/>
-
-  <statistic center="1.0 0.7 1.5" extent="0.8"/>
-
-  <visual>
-    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global azimuth="-140" elevation="-20"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
-    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
-  </asset>
-
-  <worldbody>
-    <light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
-    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
-  </worldbody>
-</mujoco>
\ No newline at end of file