add holoboxing assets

.gitattributes

@@ -224,3 +224,42 @@ assets/robots/unitree/G1/modular/meshes/right_hand_index_0_link.STL filter=lfs d
 assets/robots/unitree/G1/modular/meshes/right_hand_index_1_link.STL filter=lfs diff=lfs merge=lfs -text
 assets/robots/unitree/G1/modular/meshes/right_hand_thumb_1_link.STL filter=lfs diff=lfs merge=lfs -text
 assets/robots/unitree/G1/modular/meshes/right_hand_thumb_2_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/head_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/left_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/left_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/left_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/left_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/left_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/left_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/left_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/left_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/left_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/left_wrist_roll_link_5010.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/left_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/left_wrist_yaw_link_5010.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/left_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/logo_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/pelvis_contour_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/pelvis_ver0529.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/pelvis.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/right_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/right_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/right_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/right_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/right_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/right_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/right_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/right_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/right_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/right_wrist_roll_link_5010.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/right_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/right_wrist_yaw_link_5010.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/right_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/torso_link_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/torso_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/waist_support_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/waist_yaw_link_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/meshes/waist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/mode15_boxing_meshes/left_boxing_glove.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/mode15_boxing_meshes/logo_holomotion.STL filter=lfs diff=lfs merge=lfs -text
+holoboxing/mode15_boxing_meshes/right_boxing_glove.STL filter=lfs diff=lfs merge=lfs -text

holoboxing/29dof/g1_29dof_mode_15_boxing_gloves_blue.urdf

@@ -0,0 +1,998 @@
+<robot name="g1_29dof_mode_15_boxing_gloves_blue">
+  <material name="dark">
+    <color rgba="0.16 0.24 0.34 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.68 0.84 0.98 1" />
+  </material>
+  <material name="boxing_red">
+    <color rgba="0.72 0.025 0.02 1" />
+  </material>
+  <material name="boxing_blue">
+    <color rgba="0.04 0.30 0.92 1" />
+  </material>
+  <mujoco>
+    <compiler meshdir="" strippath="false" discardvisual="false" inertiafromgeom="false" />
+  </mujoco>
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="0 0 -0.07605" rpy="0 0 0" />
+      <mass value="3.813" />
+      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/pelvis_ver0529.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision name="pelvis_simple_collision">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../mode15_boxing_meshes/pelvis_contour_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="left_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="left_hip_pitch_link" />
+    <child link="left_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20" />
+  </joint>
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="left_hip_roll_link" />
+    <child link="left_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="left_hip_yaw_link" />
+    <child link="left_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="left_knee_link" />
+    <child link="left_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0.075 -0.0265 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.0500099980" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0395 -0.018 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.167" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.039 -0.01 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.182" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.039 0 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.186" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.039 0.01 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.182" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0395 0.018 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.167" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.075 0.026 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="left_ankle_pitch_link" />
+    <child link="left_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="right_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="right_hip_pitch_link" />
+    <child link="right_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20" />
+  </joint>
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="right_hip_roll_link" />
+    <child link="right_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="right_hip_yaw_link" />
+    <child link="right_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="right_knee_link" />
+    <child link="right_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0.075 -0.026 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.05" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0395 -0.018 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.167" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.039 -0.01 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.182" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.039 0 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.186" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.039 0.01 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.182" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0395 0.018 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.167" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.075 0.026 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="right_ankle_pitch_link" />
+    <child link="right_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="waist_yaw_link">
+    <inertial>
+      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0" />
+      <mass value="0.214" />
+      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/waist_yaw_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_yaw_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="waist_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="88" velocity="32" />
+  </joint>
+  <link name="waist_roll_link">
+    <inertial>
+      <origin xyz="0 2.3E-05 0" rpy="0 0 0" />
+      <mass value="0.086" />
+      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/waist_roll_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_roll_joint" type="revolute">
+    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0" />
+    <parent link="waist_yaw_link" />
+    <child link="waist_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
+  </joint>
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0" />
+      <mass value="6.78" />
+      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="waist_pitch_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="waist_roll_link" />
+    <child link="torso_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
+  </joint>
+  <joint name="logo_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="logo_link" />
+  </joint>
+  <link name="logo_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../mode15_boxing_meshes/logo_holomotion.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+  </link>
+  <link name="head_link">
+    <inertial>
+      <origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0" />
+      <mass value="1.036" />
+      <inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/head_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/head_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="head_link" />
+  </joint>
+  <link name="imu_in_torso" />
+  <joint name="imu_in_torso_joint" type="fixed">
+    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="imu_in_torso" />
+  </joint>
+  <link name="imu_in_pelvis" />
+  <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>
+  <link name="d435_link" />
+  <joint name="d435_joint" type="fixed">
+    <origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0" />
+    <parent link="torso_link" />
+    <child link="d435_link" />
+  </joint>
+  <link name="mid360_link" />
+  <joint name="mid360_joint" type="fixed">
+    <origin xyz="0.0002835 0.00003 0.428434" rpy="3.141592653589793 0.05112069379091391 0" />
+    <parent link="torso_link" />
+    <child link="mid360_link" />
+  </joint>
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159" />
+    <parent link="torso_link" />
+    <child link="left_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0" />
+    <parent link="left_shoulder_pitch_link" />
+    <child link="left_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="left_shoulder_roll_link" />
+    <child link="left_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_elbow_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="left_shoulder_yaw_link" />
+    <child link="left_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="left_elbow_link" />
+    <child link="left_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_wrist_roll_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_wrist_roll_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="left_wrist_roll_link" />
+    <child link="left_wrist_pitch_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02549150483 -0.00054042511 -0.00054143853" rpy="0 0 0" />
+      <mass value="0.684" />
+      <inertia ixx="0.00025599000747" ixy="-0.00000861777083" ixz="-0.00000857523406" iyy="0.00071633247299" iyz="-0.00000013994720" izz="0.00071591991283" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_wrist_pitch_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_wrist_pitch_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.051 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_wrist_pitch_link" />
+    <child link="left_wrist_yaw_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_wrist_yaw_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_wrist_yaw_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 0.003 0" rpy="0 0 0" />
+    <parent link="left_wrist_yaw_link" />
+    <child link="left_rubber_hand" />
+  </joint>
+  <link name="left_rubber_hand">
+    <inertial>
+      <origin xyz="0.05361310808 -0.00295905240 0.00215413091" rpy="0 0 0" />
+      <mass value="0.170" />
+      <inertia ixx="0.00010099485234748" ixy="0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="0.00000330189743286" izz="0.00021894770413514" />
+    </inertial>
+    <visual name="left_glove_visual">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../mode15_boxing_meshes/left_boxing_glove.STL" />
+      </geometry>
+      <material name="boxing_blue" />
+    </visual>
+    <collision name="left_glove_collision">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../mode15_boxing_meshes/left_boxing_glove_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159" />
+    <parent link="torso_link" />
+    <child link="right_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0" />
+    <parent link="right_shoulder_pitch_link" />
+    <child link="right_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="right_shoulder_roll_link" />
+    <child link="right_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="right_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </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="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="right_shoulder_yaw_link" />
+    <child link="right_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="right_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="right_elbow_link" />
+    <child link="right_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="right_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_wrist_roll_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_wrist_roll_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="right_wrist_roll_link" />
+    <child link="right_wrist_pitch_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02549150483 0.00054042511 -0.00054143853" rpy="0 0 0" />
+      <mass value="0.684" />
+      <inertia ixx="0.00025599000747" ixy="0.00000861777083" ixz="0.00000857523406" iyy="0.00071633247299" iyz="-0.00000013994720" izz="0.00071591991283" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_wrist_pitch_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_wrist_pitch_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.051 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_wrist_pitch_link" />
+    <child link="right_wrist_yaw_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_wrist_yaw_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_wrist_yaw_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 -0.003 0" rpy="0 0 0" />
+    <parent link="right_wrist_yaw_link" />
+    <child link="right_rubber_hand" />
+  </joint>
+  <link name="right_rubber_hand">
+    <inertial>
+      <origin xyz="0.05361310808 0.00295905240 0.00215413091" rpy="0 0 0" />
+      <mass value="0.170" />
+      <inertia ixx="0.00010099485234748" ixy="-0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="-0.00000330189743286" izz="0.00021894770413514" />
+    </inertial>
+    <visual name="right_glove_visual">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../mode15_boxing_meshes/right_boxing_glove.STL" />
+      </geometry>
+      <material name="boxing_blue" />
+    </visual>
+    <collision name="right_glove_collision">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../mode15_boxing_meshes/right_boxing_glove_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

holoboxing/29dof/g1_29dof_mode_15_boxing_gloves_blue.xml

@@ -0,0 +1,259 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="g1_29dof_mode_15_boxing_gloves_blue">
+  <compiler angle="radian" />
+
+  <asset>
+    <mesh name="pelvis_ver0529" file="../meshes/pelvis_ver0529.STL" />
+    <mesh name="pelvis_contour_collision" file="../mode15_boxing_meshes/pelvis_contour_collision.STL" />
+    <mesh name="left_hip_pitch_link" file="../meshes/left_hip_pitch_link.STL" />
+    <mesh name="left_hip_roll_link" file="../meshes/left_hip_roll_link.STL" />
+    <mesh name="left_hip_yaw_link" file="../meshes/left_hip_yaw_link.STL" />
+    <mesh name="left_knee_link" file="../meshes/left_knee_link.STL" />
+    <mesh name="left_ankle_pitch_link" file="../meshes/left_ankle_pitch_link.STL" />
+    <mesh name="left_ankle_roll_link" file="../meshes/left_ankle_roll_link.STL" />
+    <mesh name="right_hip_pitch_link" file="../meshes/right_hip_pitch_link.STL" />
+    <mesh name="right_hip_roll_link" file="../meshes/right_hip_roll_link.STL" />
+    <mesh name="right_hip_yaw_link" file="../meshes/right_hip_yaw_link.STL" />
+    <mesh name="right_knee_link" file="../meshes/right_knee_link.STL" />
+    <mesh name="right_ankle_pitch_link" file="../meshes/right_ankle_pitch_link.STL" />
+    <mesh name="right_ankle_roll_link" file="../meshes/right_ankle_roll_link.STL" />
+    <mesh name="waist_yaw_link_rev_1_0" file="../meshes/waist_yaw_link_rev_1_0.STL" />
+    <mesh name="waist_roll_link_rev_1_0" file="../meshes/waist_roll_link_rev_1_0.STL" />
+    <mesh name="torso_link_rev_1_0" file="../meshes/torso_link_rev_1_0.STL" />
+    <mesh name="logo_holomotion" file="../mode15_boxing_meshes/logo_holomotion.STL" />
+    <mesh name="head_link" file="../meshes/head_link.STL" />
+    <mesh name="left_shoulder_pitch_link" file="../meshes/left_shoulder_pitch_link.STL" />
+    <mesh name="left_shoulder_roll_link" file="../meshes/left_shoulder_roll_link.STL" />
+    <mesh name="left_shoulder_yaw_link" file="../meshes/left_shoulder_yaw_link.STL" />
+    <mesh name="left_elbow_link" file="../meshes/left_elbow_link.STL" />
+    <mesh name="left_wrist_roll_link_5010" file="../meshes/left_wrist_roll_link_5010.STL" />
+    <mesh name="left_wrist_pitch_link_5010" file="../meshes/left_wrist_pitch_link_5010.STL" />
+    <mesh name="left_wrist_yaw_link_5010" file="../meshes/left_wrist_yaw_link_5010.STL" />
+    <mesh name="left_boxing_glove" file="../mode15_boxing_meshes/left_boxing_glove.STL" />
+    <mesh name="left_boxing_glove_collision" file="../mode15_boxing_meshes/left_boxing_glove_collision.STL" />
+    <mesh name="right_shoulder_pitch_link" file="../meshes/right_shoulder_pitch_link.STL" />
+    <mesh name="right_shoulder_roll_link" file="../meshes/right_shoulder_roll_link.STL" />
+    <mesh name="right_shoulder_yaw_link" file="../meshes/right_shoulder_yaw_link.STL" />
+    <mesh name="right_elbow_link" file="../meshes/right_elbow_link.STL" />
+    <mesh name="right_wrist_roll_link_5010" file="../meshes/right_wrist_roll_link_5010.STL" />
+    <mesh name="right_wrist_pitch_link_5010" file="../meshes/right_wrist_pitch_link_5010.STL" />
+    <mesh name="right_wrist_yaw_link_5010" file="../meshes/right_wrist_yaw_link_5010.STL" />
+    <mesh name="right_boxing_glove" file="../mode15_boxing_meshes/right_boxing_glove.STL" />
+    <mesh name="right_boxing_glove_collision" file="../mode15_boxing_meshes/right_boxing_glove_collision.STL" />
+  </asset>
+
+  <worldbody>
+    <body name="pelvis">
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.16 0.24 0.34 1" mesh="pelvis_ver0529" />
+      <geom name="pelvis_simple_collision" type="mesh" rgba="0.16 0.24 0.34 1" mesh="pelvis_contour_collision" />
+      <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="-139 139" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.16 0.24 0.34 1" mesh="left_hip_pitch_link" />
+        <geom type="mesh" rgba="0.16 0.24 0.34 1" mesh="left_hip_pitch_link" />
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="left_hip_roll_link" />
+          <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="left_hip_roll_link" />
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="left_hip_yaw_link" />
+            <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="left_hip_yaw_link" />
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458" />
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="left_knee_link" />
+              <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="left_knee_link" />
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-35 35" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="left_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="left_ankle_pitch_link" />
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-35 35" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.16 0.24 0.34 1" mesh="left_ankle_roll_link" />
+                  <geom size="0.01 0.025005" pos="0.075 -0.0265 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                  <geom size="0.01 0.0835" pos="0.0395 -0.018 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                  <geom size="0.01 0.091" pos="0.039 -0.01 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                  <geom size="0.01 0.093" pos="0.039 0 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                  <geom size="0.01 0.091" pos="0.039 0.01 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                  <geom size="0.01 0.0835" pos="0.0395 0.018 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                  <geom size="0.01 0.025" pos="0.075 0.026 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_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="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-139 139" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.16 0.24 0.34 1" mesh="right_hip_pitch_link" />
+        <geom type="mesh" rgba="0.16 0.24 0.34 1" mesh="right_hip_pitch_link" />
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="right_hip_roll_link" />
+          <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="right_hip_roll_link" />
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="right_hip_yaw_link" />
+            <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="right_hip_yaw_link" />
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452" />
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="right_knee_link" />
+              <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="right_knee_link" />
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-35 35" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="right_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="right_ankle_pitch_link" />
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-35 35" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.16 0.24 0.34 1" mesh="right_ankle_roll_link" />
+                  <geom size="0.01 0.025" pos="0.075 -0.026 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                  <geom size="0.008 0.0835" pos="0.0395 -0.018 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                  <geom size="0.01 0.091" pos="0.039 -0.01 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                  <geom size="0.01 0.093" pos="0.039 0 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                  <geom size="0.01 0.091" pos="0.039 0.01 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                  <geom size="0.008 0.0835" pos="0.0395 0.018 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                  <geom size="0.01 0.025" pos="0.075 0.026 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.16 0.24 0.34 1" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205" />
+        <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="waist_yaw_link_rev_1_0" />
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06" />
+          <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-35 35" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="waist_roll_link_rev_1_0" />
+          <body name="torso_link">
+            <inertial pos="0.000931 0.000346 0.15082" quat="0.99965 -0.000442591 0.0264193 0.00143178" mass="6.78" diaginertia="0.0591438 0.0470139 0.0255583" />
+            <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-35 35" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="torso_link_rev_1_0" />
+            <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="torso_link_rev_1_0" />
+            <body name="logo_link" pos="0.0039635 0 -0.044">
+              <inertial pos="0 0 0" mass="0.001" diaginertia="1e-07 1e-07 1e-07" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.16 0.24 0.34 1" mesh="logo_holomotion" />
+            </body>
+            <body name="head_link" pos="0.0039635 0 -0.044">
+              <inertial pos="0.005267 0.000299 0.449869" quat="0.698214 0.0103452 0.0112083 0.715727" mass="1.036" diaginertia="0.00418528 0.00408711 0.00180579" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.16 0.24 0.34 1" mesh="head_link" />
+              <geom type="mesh" rgba="0.16 0.24 0.34 1" mesh="head_link" />
+            </body>
+            <body name="imu_in_torso" pos="-0.03959 -0.00224 0.14792" />
+            <body name="d435_link" pos="0.0576235 0.01753 0.42987" quat="0.91496 0 0.403545 0" />
+            <body name="mid360_link" pos="0.0002835 3e-05 0.428434" quat="0 0.999673 0 -0.0255576" />
+            <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" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="left_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.68 0.84 0.98 1" />
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="left_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.68 0.84 0.98 1" />
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="left_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="left_shoulder_yaw_link" />
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="left_elbow_link" />
+                    <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="left_elbow_link" />
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="left_wrist_roll_link_5010" />
+                      <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="left_wrist_roll_link_5010" />
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0254915 -0.000540425 -0.000541439" quat="0.48716 0.502863 0.487661 0.521527" mass="0.684" diaginertia="0.000716495 0.000716079 0.000255669" />
+                        <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-13.4 13.4" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="left_wrist_pitch_link_5010" />
+                        <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="left_wrist_pitch_link_5010" />
+                        <body name="left_wrist_yaw_link" pos="0.051 0 0">
+                          <inertial pos="0.0220038 0.000494851 0.000538611" quat="0.682761 -0.121337 -0.135119 0.707713" mass="0.0845765" diaginertia="5.97564e-05 5.09807e-05 3.75684e-05" />
+                          <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-13.4 13.4" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="left_wrist_yaw_link_5010" />
+                          <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="left_wrist_yaw_link_5010" />
+                          <body name="left_rubber_hand" pos="0.0415 0.003 0">
+                            <inertial pos="0.0536131 -0.00295905 0.00215413" quat="0.538123 0.552264 0.435405 0.464597" mass="0.17" diaginertia="0.000288486 0.000218824 9.39911e-05" />
+                            <geom name="left_glove_visual" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.04 0.3 0.92 1" mesh="left_boxing_glove" />
+                            <geom name="left_glove_collision" type="mesh" rgba="0.04 0.3 0.92 1" mesh="left_boxing_glove_collision" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="right_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.68 0.84 0.98 1" />
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="right_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.68 0.84 0.98 1" />
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="right_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="right_shoulder_yaw_link" />
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="right_elbow_link" />
+                    <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="right_elbow_link" />
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="right_wrist_roll_link_5010" />
+                      <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="right_wrist_roll_link_5010" />
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0254915 0.000540425 -0.000541439" quat="0.487661 0.521527 0.48716 0.502863" mass="0.684" diaginertia="0.000716495 0.000716079 0.000255669" />
+                        <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-13.4 13.4" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="right_wrist_pitch_link_5010" />
+                        <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="right_wrist_pitch_link_5010" />
+                        <body name="right_wrist_yaw_link" pos="0.051 0 0">
+                          <inertial pos="0.0220038 -0.000494851 0.000538611" quat="0.707713 -0.135119 -0.121337 0.682761" mass="0.0845765" diaginertia="5.97564e-05 5.09807e-05 3.75684e-05" />
+                          <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-13.4 13.4" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68 0.84 0.98 1" mesh="right_wrist_yaw_link_5010" />
+                          <geom type="mesh" rgba="0.68 0.84 0.98 1" mesh="right_wrist_yaw_link_5010" />
+                          <body name="right_rubber_hand" pos="0.0415 -0.003 0">
+                            <inertial pos="0.0536131 0.00295905 0.00215413" quat="0.464597 0.435405 0.552264 0.538123" mass="0.17" diaginertia="0.000288486 0.000218824 9.39911e-05" />
+                            <geom name="right_glove_visual" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.04 0.3 0.92 1" mesh="right_boxing_glove" />
+                            <geom name="right_glove_collision" type="mesh" rgba="0.04 0.3 0.92 1" mesh="right_boxing_glove_collision" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="imu_in_pelvis" pos="0.04525 0 -0.08339" />
+    <freejoint name="floating_base" /></body>
+  </worldbody>
+</mujoco>

holoboxing/29dof/g1_29dof_mode_15_boxing_gloves_red.urdf

@@ -0,0 +1,998 @@
+<robot name="g1_29dof_mode_15_boxing_gloves_red">
+  <material name="dark">
+    <color rgba="0.34 0.18 0.20 1" />
+  </material>
+  <material name="white">
+    <color rgba="0.98 0.74 0.74 1" />
+  </material>
+  <material name="boxing_red">
+    <color rgba="0.90 0.06 0.08 1" />
+  </material>
+  <material name="boxing_blue">
+    <color rgba="0.025 0.09 0.72 1" />
+  </material>
+  <mujoco>
+    <compiler meshdir="" strippath="false" discardvisual="false" inertiafromgeom="false" />
+  </mujoco>
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="0 0 -0.07605" rpy="0 0 0" />
+      <mass value="3.813" />
+      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/pelvis_ver0529.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision name="pelvis_simple_collision">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../mode15_boxing_meshes/pelvis_contour_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_pitch_joint" type="revolute">
+    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="left_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="left_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_roll_joint" type="revolute">
+    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="left_hip_pitch_link" />
+    <child link="left_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20" />
+  </joint>
+  <link name="left_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="left_hip_roll_link" />
+    <child link="left_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="left_knee_link">
+    <inertial>
+      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_knee_joint" type="revolute">
+    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="left_hip_yaw_link" />
+    <child link="left_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="left_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="left_knee_link" />
+    <child link="left_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="left_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0.075 -0.0265 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.0500099980" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0395 -0.018 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.167" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.039 -0.01 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.182" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.039 0 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.186" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.039 0.01 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.182" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0395 0.018 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.167" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.075 0.026 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="left_ankle_pitch_link" />
+    <child link="left_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="right_hip_pitch_link">
+    <inertial>
+      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0" />
+      <mass value="1.35" />
+      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_hip_pitch_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_pitch_joint" type="revolute">
+    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="right_hip_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.5307" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="right_hip_roll_link">
+    <inertial>
+      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0" />
+      <mass value="1.52" />
+      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_hip_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_hip_roll_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_roll_joint" type="revolute">
+    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0" />
+    <parent link="right_hip_pitch_link" />
+    <child link="right_hip_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20" />
+  </joint>
+  <link name="right_hip_yaw_link">
+    <inertial>
+      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0" />
+      <mass value="1.702" />
+      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_hip_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_hip_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hip_yaw_joint" type="revolute">
+    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0" />
+    <parent link="right_hip_roll_link" />
+    <child link="right_hip_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32" />
+  </joint>
+  <link name="right_knee_link">
+    <inertial>
+      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0" />
+      <mass value="1.932" />
+      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_knee_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_knee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_knee_joint" type="revolute">
+    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0" />
+    <parent link="right_hip_yaw_link" />
+    <child link="right_knee_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20" />
+  </joint>
+  <link name="right_ankle_pitch_link">
+    <inertial>
+      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0" />
+      <mass value="0.074" />
+      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_pitch_joint" type="revolute">
+    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0" />
+    <parent link="right_knee_link" />
+    <child link="right_ankle_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30" />
+  </joint>
+  <link name="right_ankle_roll_link">
+    <inertial>
+      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0" />
+      <mass value="0.608" />
+      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_ankle_roll_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0.075 -0.026 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.05" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0395 -0.018 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.167" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.039 -0.01 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.182" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.039 0 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.186" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.039 0.01 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.182" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0395 0.018 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.167" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.075 0.026 -0.025" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ankle_roll_joint" type="revolute">
+    <origin xyz="0 0 -0.017558" rpy="0 0 0" />
+    <parent link="right_ankle_pitch_link" />
+    <child link="right_ankle_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30" />
+  </joint>
+  <link name="waist_yaw_link">
+    <inertial>
+      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0" />
+      <mass value="0.214" />
+      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/waist_yaw_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_yaw_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="pelvis" />
+    <child link="waist_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="88" velocity="32" />
+  </joint>
+  <link name="waist_roll_link">
+    <inertial>
+      <origin xyz="0 2.3E-05 0" rpy="0 0 0" />
+      <mass value="0.086" />
+      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/waist_roll_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+  </link>
+  <joint name="waist_roll_joint" type="revolute">
+    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0" />
+    <parent link="waist_yaw_link" />
+    <child link="waist_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
+  </joint>
+  <link name="torso_link">
+    <inertial>
+      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0" />
+      <mass value="6.78" />
+      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/torso_link_rev_1_0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="waist_pitch_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="waist_roll_link" />
+    <child link="torso_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.52" upper="0.52" effort="35" velocity="30" />
+  </joint>
+  <joint name="logo_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="logo_link" />
+  </joint>
+  <link name="logo_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../mode15_boxing_meshes/logo_holomotion.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+  </link>
+  <link name="head_link">
+    <inertial>
+      <origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0" />
+      <mass value="1.036" />
+      <inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/head_link.STL" />
+      </geometry>
+      <material name="dark" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/head_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_joint" type="fixed">
+    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="head_link" />
+  </joint>
+  <link name="imu_in_torso" />
+  <joint name="imu_in_torso_joint" type="fixed">
+    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0" />
+    <parent link="torso_link" />
+    <child link="imu_in_torso" />
+  </joint>
+  <link name="imu_in_pelvis" />
+  <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>
+  <link name="d435_link" />
+  <joint name="d435_joint" type="fixed">
+    <origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0" />
+    <parent link="torso_link" />
+    <child link="d435_link" />
+  </joint>
+  <link name="mid360_link" />
+  <joint name="mid360_joint" type="fixed">
+    <origin xyz="0.0002835 0.00003 0.428434" rpy="3.141592653589793 0.05112069379091391 0" />
+    <parent link="torso_link" />
+    <child link="mid360_link" />
+  </joint>
+  <link name="left_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159" />
+    <parent link="torso_link" />
+    <child link="left_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0" />
+    <parent link="left_shoulder_pitch_link" />
+    <child link="left_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37" />
+  </joint>
+  <link name="left_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="left_shoulder_roll_link" />
+    <child link="left_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="left_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_elbow_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_elbow_joint" type="revolute">
+    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="left_shoulder_yaw_link" />
+    <child link="left_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="left_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="left_elbow_link" />
+    <child link="left_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="left_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_wrist_roll_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_wrist_roll_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="left_wrist_roll_link" />
+    <child link="left_wrist_pitch_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02549150483 -0.00054042511 -0.00054143853" rpy="0 0 0" />
+      <mass value="0.684" />
+      <inertia ixx="0.00025599000747" ixy="-0.00000861777083" ixz="-0.00000857523406" iyy="0.00071633247299" iyz="-0.00000013994720" izz="0.00071591991283" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_wrist_pitch_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_wrist_pitch_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.051 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="left_wrist_pitch_link" />
+    <child link="left_wrist_yaw_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="left_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_wrist_yaw_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_wrist_yaw_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 0.003 0" rpy="0 0 0" />
+    <parent link="left_wrist_yaw_link" />
+    <child link="left_rubber_hand" />
+  </joint>
+  <link name="left_rubber_hand">
+    <inertial>
+      <origin xyz="0.05361310808 -0.00295905240 0.00215413091" rpy="0 0 0" />
+      <mass value="0.170" />
+      <inertia ixx="0.00010099485234748" ixy="0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="0.00000330189743286" izz="0.00021894770413514" />
+    </inertial>
+    <visual name="left_glove_visual">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../mode15_boxing_meshes/left_boxing_glove.STL" />
+      </geometry>
+      <material name="boxing_red" />
+    </visual>
+    <collision name="left_glove_collision">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../mode15_boxing_meshes/left_boxing_glove_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_shoulder_pitch_link">
+    <inertial>
+      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0" />
+      <mass value="0.718" />
+      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_pitch_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_pitch_joint" type="revolute">
+    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159" />
+    <parent link="torso_link" />
+    <child link="right_shoulder_pitch_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_roll_link">
+    <inertial>
+      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0" />
+      <mass value="0.643" />
+      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_roll_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_roll_joint" type="revolute">
+    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0" />
+    <parent link="right_shoulder_pitch_link" />
+    <child link="right_shoulder_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37" />
+  </joint>
+  <link name="right_shoulder_yaw_link">
+    <inertial>
+      <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0" />
+      <mass value="0.734" />
+      <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_shoulder_yaw_joint" type="revolute">
+    <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0" />
+    <parent link="right_shoulder_roll_link" />
+    <child link="right_shoulder_yaw_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.618" upper="2.618" effort="25" velocity="37" />
+  </joint>
+  <link name="right_elbow_link">
+    <inertial>
+      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0" />
+      <mass value="0.6" />
+      <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_elbow_link.STL" />
+      </geometry>
+      <material name="white" />
+    </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="0.015783 0 -0.080518" rpy="0 0 0" />
+    <parent link="right_shoulder_yaw_link" />
+    <child link="right_elbow_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37" />
+  </joint>
+  <joint name="right_wrist_roll_joint" type="revolute">
+    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <parent link="right_elbow_link" />
+    <child link="right_wrist_roll_link" />
+    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054" />
+  </joint>
+  <link name="right_wrist_roll_link">
+    <inertial>
+      <origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0" />
+      <mass value="0.08544498" />
+      <inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_wrist_roll_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_wrist_roll_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_pitch_joint" type="revolute">
+    <origin xyz="0.038 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <parent link="right_wrist_roll_link" />
+    <child link="right_wrist_pitch_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_pitch_link">
+    <inertial>
+      <origin xyz="0.02549150483 0.00054042511 -0.00054143853" rpy="0 0 0" />
+      <mass value="0.684" />
+      <inertia ixx="0.00025599000747" ixy="0.00000861777083" ixz="0.00000857523406" iyy="0.00071633247299" iyz="-0.00000013994720" izz="0.00071591991283" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_wrist_pitch_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_wrist_pitch_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_wrist_yaw_joint" type="revolute">
+    <origin xyz="0.051 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <parent link="right_wrist_pitch_link" />
+    <child link="right_wrist_yaw_link" />
+    <limit effort="13.4" velocity="27" lower="-1.614429558" upper="1.614429558" />
+  </joint>
+  <link name="right_wrist_yaw_link">
+    <inertial>
+      <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0" />
+      <mass value="0.08457647" />
+      <inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_wrist_yaw_link_5010.STL" />
+      </geometry>
+      <material name="white" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/right_wrist_yaw_link_5010.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_palm_joint" type="fixed">
+    <origin xyz="0.0415 -0.003 0" rpy="0 0 0" />
+    <parent link="right_wrist_yaw_link" />
+    <child link="right_rubber_hand" />
+  </joint>
+  <link name="right_rubber_hand">
+    <inertial>
+      <origin xyz="0.05361310808 0.00295905240 0.00215413091" rpy="0 0 0" />
+      <mass value="0.170" />
+      <inertia ixx="0.00010099485234748" ixy="-0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="-0.00000330189743286" izz="0.00021894770413514" />
+    </inertial>
+    <visual name="right_glove_visual">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../mode15_boxing_meshes/right_boxing_glove.STL" />
+      </geometry>
+      <material name="boxing_red" />
+    </visual>
+    <collision name="right_glove_collision">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../mode15_boxing_meshes/right_boxing_glove_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

holoboxing/29dof/g1_29dof_mode_15_boxing_gloves_red.xml

@@ -0,0 +1,259 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="g1_29dof_mode_15_boxing_gloves_red">
+  <compiler angle="radian" />
+
+  <asset>
+    <mesh name="pelvis_ver0529" content_type="model/stl" file="../meshes/pelvis_ver0529.STL" />
+    <mesh name="pelvis_contour_collision" content_type="model/stl" file="../mode15_boxing_meshes/pelvis_contour_collision.STL" />
+    <mesh name="left_hip_pitch_link" content_type="model/stl" file="../meshes/left_hip_pitch_link.STL" />
+    <mesh name="left_hip_roll_link" content_type="model/stl" file="../meshes/left_hip_roll_link.STL" />
+    <mesh name="left_hip_yaw_link" content_type="model/stl" file="../meshes/left_hip_yaw_link.STL" />
+    <mesh name="left_knee_link" content_type="model/stl" file="../meshes/left_knee_link.STL" />
+    <mesh name="left_ankle_pitch_link" content_type="model/stl" file="../meshes/left_ankle_pitch_link.STL" />
+    <mesh name="left_ankle_roll_link" content_type="model/stl" file="../meshes/left_ankle_roll_link.STL" />
+    <mesh name="right_hip_pitch_link" content_type="model/stl" file="../meshes/right_hip_pitch_link.STL" />
+    <mesh name="right_hip_roll_link" content_type="model/stl" file="../meshes/right_hip_roll_link.STL" />
+    <mesh name="right_hip_yaw_link" content_type="model/stl" file="../meshes/right_hip_yaw_link.STL" />
+    <mesh name="right_knee_link" content_type="model/stl" file="../meshes/right_knee_link.STL" />
+    <mesh name="right_ankle_pitch_link" content_type="model/stl" file="../meshes/right_ankle_pitch_link.STL" />
+    <mesh name="right_ankle_roll_link" content_type="model/stl" file="../meshes/right_ankle_roll_link.STL" />
+    <mesh name="waist_yaw_link_rev_1_0" content_type="model/stl" file="../meshes/waist_yaw_link_rev_1_0.STL" />
+    <mesh name="waist_roll_link_rev_1_0" content_type="model/stl" file="../meshes/waist_roll_link_rev_1_0.STL" />
+    <mesh name="torso_link_rev_1_0" content_type="model/stl" file="../meshes/torso_link_rev_1_0.STL" />
+    <mesh name="logo_holomotion" content_type="model/stl" file="../mode15_boxing_meshes/logo_holomotion.STL" />
+    <mesh name="head_link" content_type="model/stl" file="../meshes/head_link.STL" />
+    <mesh name="left_shoulder_pitch_link" content_type="model/stl" file="../meshes/left_shoulder_pitch_link.STL" />
+    <mesh name="left_shoulder_roll_link" content_type="model/stl" file="../meshes/left_shoulder_roll_link.STL" />
+    <mesh name="left_shoulder_yaw_link" content_type="model/stl" file="../meshes/left_shoulder_yaw_link.STL" />
+    <mesh name="left_elbow_link" content_type="model/stl" file="../meshes/left_elbow_link.STL" />
+    <mesh name="left_wrist_roll_link_5010" content_type="model/stl" file="../meshes/left_wrist_roll_link_5010.STL" />
+    <mesh name="left_wrist_pitch_link_5010" content_type="model/stl" file="../meshes/left_wrist_pitch_link_5010.STL" />
+    <mesh name="left_wrist_yaw_link_5010" content_type="model/stl" file="../meshes/left_wrist_yaw_link_5010.STL" />
+    <mesh name="left_boxing_glove" content_type="model/stl" file="../mode15_boxing_meshes/left_boxing_glove.STL" />
+    <mesh name="left_boxing_glove_collision" content_type="model/stl" file="../mode15_boxing_meshes/left_boxing_glove_collision.STL" />
+    <mesh name="right_shoulder_pitch_link" content_type="model/stl" file="../meshes/right_shoulder_pitch_link.STL" />
+    <mesh name="right_shoulder_roll_link" content_type="model/stl" file="../meshes/right_shoulder_roll_link.STL" />
+    <mesh name="right_shoulder_yaw_link" content_type="model/stl" file="../meshes/right_shoulder_yaw_link.STL" />
+    <mesh name="right_elbow_link" content_type="model/stl" file="../meshes/right_elbow_link.STL" />
+    <mesh name="right_wrist_roll_link_5010" content_type="model/stl" file="../meshes/right_wrist_roll_link_5010.STL" />
+    <mesh name="right_wrist_pitch_link_5010" content_type="model/stl" file="../meshes/right_wrist_pitch_link_5010.STL" />
+    <mesh name="right_wrist_yaw_link_5010" content_type="model/stl" file="../meshes/right_wrist_yaw_link_5010.STL" />
+    <mesh name="right_boxing_glove" content_type="model/stl" file="../mode15_boxing_meshes/right_boxing_glove.STL" />
+    <mesh name="right_boxing_glove_collision" content_type="model/stl" file="../mode15_boxing_meshes/right_boxing_glove_collision.STL" />
+  </asset>
+
+  <worldbody>
+    <body name="pelvis">
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.34 0.18 0.2 1" mesh="pelvis_ver0529" />
+      <geom name="pelvis_simple_collision" type="mesh" rgba="0.34 0.18 0.2 1" mesh="pelvis_contour_collision" />
+      <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="-139 139" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.34 0.18 0.2 1" mesh="left_hip_pitch_link" />
+        <geom type="mesh" rgba="0.34 0.18 0.2 1" mesh="left_hip_pitch_link" />
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="left_hip_roll_link" />
+          <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="left_hip_roll_link" />
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="left_hip_yaw_link" />
+            <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="left_hip_yaw_link" />
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458" />
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="left_knee_link" />
+              <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="left_knee_link" />
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-35 35" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="left_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="left_ankle_pitch_link" />
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-35 35" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.34 0.18 0.2 1" mesh="left_ankle_roll_link" />
+                  <geom size="0.01 0.025005" pos="0.075 -0.0265 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                  <geom size="0.01 0.0835" pos="0.0395 -0.018 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                  <geom size="0.01 0.091" pos="0.039 -0.01 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                  <geom size="0.01 0.093" pos="0.039 0 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                  <geom size="0.01 0.091" pos="0.039 0.01 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                  <geom size="0.01 0.0835" pos="0.0395 0.018 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                  <geom size="0.01 0.025" pos="0.075 0.026 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_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="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-139 139" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.34 0.18 0.2 1" mesh="right_hip_pitch_link" />
+        <geom type="mesh" rgba="0.34 0.18 0.2 1" mesh="right_hip_pitch_link" />
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="right_hip_roll_link" />
+          <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="right_hip_roll_link" />
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="right_hip_yaw_link" />
+            <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="right_hip_yaw_link" />
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452" />
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="right_knee_link" />
+              <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="right_knee_link" />
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-35 35" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="right_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="right_ankle_pitch_link" />
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-35 35" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.34 0.18 0.2 1" mesh="right_ankle_roll_link" />
+                  <geom size="0.01 0.025" pos="0.075 -0.026 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                  <geom size="0.008 0.0835" pos="0.0395 -0.018 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                  <geom size="0.01 0.091" pos="0.039 -0.01 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                  <geom size="0.01 0.093" pos="0.039 0 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                  <geom size="0.01 0.091" pos="0.039 0.01 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                  <geom size="0.008 0.0835" pos="0.0395 0.018 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                  <geom size="0.01 0.025" pos="0.075 0.026 -0.025" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.34 0.18 0.2 1" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205" />
+        <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="waist_yaw_link_rev_1_0" />
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06" />
+          <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-35 35" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="waist_roll_link_rev_1_0" />
+          <body name="torso_link">
+            <inertial pos="0.000931 0.000346 0.15082" quat="0.99965 -0.000442591 0.0264193 0.00143178" mass="6.78" diaginertia="0.0591438 0.0470139 0.0255583" />
+            <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-35 35" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="torso_link_rev_1_0" />
+            <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="torso_link_rev_1_0" />
+            <body name="logo_link" pos="0.0039635 0 -0.044">
+              <inertial pos="0 0 0" mass="0.001" diaginertia="1e-07 1e-07 1e-07" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.34 0.18 0.2 1" mesh="logo_holomotion" />
+            </body>
+            <body name="head_link" pos="0.0039635 0 -0.044">
+              <inertial pos="0.005267 0.000299 0.449869" quat="0.698214 0.0103452 0.0112083 0.715727" mass="1.036" diaginertia="0.00418528 0.00408711 0.00180579" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.34 0.18 0.2 1" mesh="head_link" />
+              <geom type="mesh" rgba="0.34 0.18 0.2 1" mesh="head_link" />
+            </body>
+            <body name="imu_in_torso" pos="-0.03959 -0.00224 0.14792" />
+            <body name="d435_link" pos="0.0576235 0.01753 0.42987" quat="0.91496 0 0.403545 0" />
+            <body name="mid360_link" pos="0.0002835 3e-05 0.428434" quat="0 0.999673 0 -0.0255576" />
+            <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" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="left_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.98 0.74 0.74 1" />
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="left_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.98 0.74 0.74 1" />
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="left_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="left_shoulder_yaw_link" />
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="left_elbow_link" />
+                    <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="left_elbow_link" />
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="left_wrist_roll_link_5010" />
+                      <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="left_wrist_roll_link_5010" />
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0254915 -0.000540425 -0.000541439" quat="0.48716 0.502863 0.487661 0.521527" mass="0.684" diaginertia="0.000716495 0.000716079 0.000255669" />
+                        <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-13.4 13.4" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="left_wrist_pitch_link_5010" />
+                        <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="left_wrist_pitch_link_5010" />
+                        <body name="left_wrist_yaw_link" pos="0.051 0 0">
+                          <inertial pos="0.0220038 0.000494851 0.000538611" quat="0.682761 -0.121337 -0.135119 0.707713" mass="0.0845765" diaginertia="5.97564e-05 5.09807e-05 3.75684e-05" />
+                          <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-13.4 13.4" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="left_wrist_yaw_link_5010" />
+                          <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="left_wrist_yaw_link_5010" />
+                          <body name="left_rubber_hand" pos="0.0415 0.003 0">
+                            <inertial pos="0.0536131 -0.00295905 0.00215413" quat="0.538123 0.552264 0.435405 0.464597" mass="0.17" diaginertia="0.000288486 0.000218824 9.39911e-05" />
+                            <geom name="left_glove_visual" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.9 0.06 0.08 1" mesh="left_boxing_glove" />
+                            <geom name="left_glove_collision" type="mesh" rgba="0.9 0.06 0.08 1" mesh="left_boxing_glove_collision" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="right_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.98 0.74 0.74 1" />
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="right_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.98 0.74 0.74 1" />
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="right_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="right_shoulder_yaw_link" />
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="right_elbow_link" />
+                    <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="right_elbow_link" />
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="right_wrist_roll_link_5010" />
+                      <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="right_wrist_roll_link_5010" />
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0254915 0.000540425 -0.000541439" quat="0.487661 0.521527 0.48716 0.502863" mass="0.684" diaginertia="0.000716495 0.000716079 0.000255669" />
+                        <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-13.4 13.4" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="right_wrist_pitch_link_5010" />
+                        <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="right_wrist_pitch_link_5010" />
+                        <body name="right_wrist_yaw_link" pos="0.051 0 0">
+                          <inertial pos="0.0220038 -0.000494851 0.000538611" quat="0.707713 -0.135119 -0.121337 0.682761" mass="0.0845765" diaginertia="5.97564e-05 5.09807e-05 3.75684e-05" />
+                          <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-13.4 13.4" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98 0.74 0.74 1" mesh="right_wrist_yaw_link_5010" />
+                          <geom type="mesh" rgba="0.98 0.74 0.74 1" mesh="right_wrist_yaw_link_5010" />
+                          <body name="right_rubber_hand" pos="0.0415 -0.003 0">
+                            <inertial pos="0.0536131 0.00295905 0.00215413" quat="0.464597 0.435405 0.552264 0.538123" mass="0.17" diaginertia="0.000288486 0.000218824 9.39911e-05" />
+                            <geom name="right_glove_visual" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.9 0.06 0.08 1" mesh="right_boxing_glove" />
+                            <geom name="right_glove_collision" type="mesh" rgba="0.9 0.06 0.08 1" mesh="right_boxing_glove_collision" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="imu_in_pelvis" pos="0.04525 0 -0.08339" />
+    <freejoint name="floating_base" /></body>
+  </worldbody>
+</mujoco>

holoboxing/README.md

@@ -0,0 +1,96 @@
+# HoloBoxing resources
+
+This directory contains the robot, arena and replay assets used by HoloBoxing.
+Keep the complete directory and its relative layout when distributing it.
+The frozen HoloMotion controller and competitor policies are separate model files.
+
+## Contents and purpose
+
+| Group | Purpose | Source and license |
+| --- | --- | --- |
+| `29dof/` | Red/blue URDFs for training kinematics and XML robots for replay | Existing G1 boxing variants; base Unitree notice in `UNITREE_LICENSE`; modifications require review |
+| `meshes/` | Complete robot mesh dependencies, including simulator mesh names | Existing G1 resource files; exact bytes are recorded in `resources.json` |
+| `mode15_boxing_meshes/` | Boxing-glove and collision mesh variants | Existing boxing modifications; redistribution authorization is not established |
+| `arena/g1_dual_29dof.xml` | Shared two-robot physics scene | Existing boxing scene with the same bodies, joints and collision geometry |
+| `smpl-ring-v2/` | Adapted SMPLOlympics ring, corner collision description, source credit and upstream license | See [source and attribution](smpl-ring-v2/SOURCE.md) |
+| `dark-arena/` | Current floor texture, including the Horizon Robotics and HoloMotion branding | Existing texture; authorization requires review |
+| `initial-state.json` | Existing boxing reset pose and named joint order; not a replayed motion reference | Only the initial frame is retained |
+| `resources.json` | Versioned inventory, byte sizes, SHA256 and entry points | Authoritative local integrity manifest |
+| `manifest.json` | Robot and file entries consumed by the existing replay player | Generated from the same resource tree |
+
+The resource version is `boxing-v5-resources`.
+Every payload file has its actual byte size and SHA256 in `resources.json`.
+Robot URDF/XML and physics-scene relative references must resolve inside this root.
+The required physics scene remains `arena/g1_dual_29dof.xml`.
+The legacy `smpl-ring/` directory and old `arena/arena.xml`, `arena/scene.json`,
+and `arena/canvas_texture.png` were removed. The unused unsuffixed
+`29dof/g1_29dof_mode_15_boxing_gloves.urdf` was also removed.
+The red/blue robot descriptions and their XML display entries remain.
+Legacy asset paths are not bundled.
+This tree supports the current `smplolympics-boxing-ring-v2` replay scene.
+The standalone evaluation player built from the current source rejects older scene versions.
+Historical demo recordings and preview scripts may require their original assets.
+The ring mesh comes from SMPLOlympics; the adapted model retains upstream credit
+and license text in `smpl-ring-v2/`. The original independent mesh artist and
+asset-specific license have not been established; see the source note.
+Do not infer redistribution rights from a passing integrity check.
+The Unitree notice does not cover every modification, arena or texture.
+
+## Local use
+
+Pass this root explicitly with `--assets /path/to/huggingface-resources`.
+The evaluation tool and player must not discover resources from a sibling repository.
+The expected commands from the public HoloMotion checkout are:
+
+```bash
+python -m holoboxing assets --assets /path/to/huggingface-resources
+python -m holoboxing validate upper.onnx --assets /path/to/huggingface-resources --lower /path/to/v2-bundle --output validation.json
+python -m holoboxing match red.onnx blue.onnx --assets /path/to/huggingface-resources --lower /path/to/v2-bundle --output-dir results
+python -m holoboxing view results/replay.hdf5 --assets /path/to/huggingface-resources
+```
+
+Use a HoloMotion checkout that includes the `holoboxing` package and these CLI commands.
+Keep its code revision with the resource version used for each result.
+The frozen V2 checkpoint is separate and remains read-only during evaluation.
+For playback from source, build the browser player once:
+
+```bash
+cd holoboxing/evaluation/viewer
+npm ci
+node build.mjs
+```
+
+Previously built v8 images bundle `boxing-v4-resources` and the frozen V2 controller.
+This local directory is now `boxing-v5-resources`; deleting local files does not
+modify an existing image. The required physics scene and retained geometry are
+byte-identical to v4; the cleanup removes legacy resources and adds attribution.
+By default, only competitor policies and an output directory need mounts.
+Resource and controller mounts are optional replacements and must remain read-only.
+The example below uses a local image tag; load or build that image first.
+
+```bash
+docker run --rm --gpus '"device=0"' \
+  -v /absolute/policies:/policies:ro \
+  -v /absolute/results:/results \
+  holoboxing-eval:local-v8 match /policies/red.onnx /policies/blue.onnx \
+  --output-dir /results
+```
+
+To override resources, mount this root read-only at `/assets` and pass `--assets /assets`.
+For an alternate verified controller mount, use `--lower /lower`.
+
+The browser reads saved states and events.
+It does not rerun physics or policy inference.
+Existing play, seek, scores, markers and MP4 export are retained.
+MP4 availability depends on the browser's MediaRecorder codec support.
+
+## Distribution and provenance
+
+Payload files are present locally and ignored by ordinary Git.
+Metadata, notices and attribution are retained in Git.
+For a manual Hugging Face upload, preserve the same relative tree with this README and both manifests.
+Use the resource directory's contents as the repository root, so `resources.json` is directly accessible.
+Record the actual Hugging Face repository revision after uploading.
+
+Images may also be transferred using `docker save` and `docker load`.
+Keep the image digest, public code commit and resource/model revisions together.

holoboxing/UNITREE_LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2016-2024 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

holoboxing/arena/g1_dual_29dof.xml

@@ -0,0 +1,534 @@
+<mujoco model="g1_dual_29dof">
+  <compiler angle="radian" meshdir="../meshes" />
+  <default>
+    <default class="torso_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2" />
+    </default>
+    <default class="leg_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2" />
+    </default>
+    <default class="ankle_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2" />
+    </default>
+    <default class="arm_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.2" />
+    </default>
+    <default class="wrist_motor">
+      <joint damping="0.05" armature="0.01" frictionloss="0.1" />
+    </default>
+  </default>
+  <asset>
+    <mesh name="pelvis" file="pelvis.STL" />
+    <mesh name="pelvis_contour_link" file="pelvis_contour_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_hip_yaw_link" file="left_hip_yaw_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_pitch_link" file="right_hip_pitch_link.STL" />
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_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="waist_yaw_link" file="waist_yaw_link.STL" />
+    <mesh name="waist_roll_link" file="waist_roll_link.STL" />
+    <mesh name="torso_link" file="torso_link.STL" />
+    <mesh name="logo_link" file="logo_link.STL" />
+    <mesh name="head_link" file="head_link.STL" />
+    <mesh name="waist_support_link" file="waist_support_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="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
+    <mesh name="left_rubber_hand" file="left_rubber_hand.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="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
+    <mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
+    <material name="ring_canvas" rgba="0.72 0.74 0.76 1" />
+    <material name="ring_apron" rgba="0.035 0.045 0.06 1" />
+    <material name="ring_frame" rgba="0.12 0.13 0.15 1" />
+    <material name="ring_white" rgba="0.93 0.94 0.95 1" />
+    <material name="ring_red" rgba="0.82 0.08 0.10 1" />
+    <material name="ring_blue" rgba="0.04 0.28 0.72 1" />
+    <mesh name="smpl_ring_corner_003" vertex="-2.46695692 2.457151295 0.004980568051 -2.42787622 2.277935647 -0.02001829809 -2.1933924 2.496232035 0.004980320795 -2.46695697 2.45716152 1.622752198 -2.43932269 2.21123121 1.622753754 -2.19339248 2.49624227 1.622751951 -2.42787628 2.496231955 0.004980320796 -2.42787627 2.457151157 -0.02001943195 -2.43932265 2.211220965 0.004982124002 -2.46695685 2.222667415 0.004982051583 -2.18194594 2.468597845 0.004980495631 -2.24866078 2.457151207 -0.02001943195 -2.42787632 2.457161698 1.647752218 -2.42787633 2.49624218 1.622751951 -2.42787626 2.277946208 1.647753352 -2.46695689 2.22267765 1.622753682 -2.24866084 2.457161758 1.647752218 -2.18194601 2.46860808 1.622752126 -2.44958775 2.491889655 0.004980348269 -2.46261463 2.478862775 0.004980430687 -2.42787628 2.478861784 -0.01724178931 -2.42787628 2.491888727 -0.008908541726 -2.46261462 2.457151207 -0.008908321948 -2.44958774 2.457151164 -0.01724165195 -2.43805083 2.218633647 -0.008906812897 -2.43423535 2.240871854 -0.01724028359 -2.46388637 2.204026425 0.00498216952 -2.45467497 2.200210935 0.00498219366 -2.44958768 2.247230994 -0.01724032383 -2.46261455 2.228808257 -0.008906877269 -2.17093592 2.483950165 0.0049803985 -2.1747514 2.493161565 0.004980340222 -2.21147855 2.458423064 -0.01724166 -2.18924027 2.462238617 -0.008908354135 -2.20672789 2.491889637 -0.008908541731 -2.22515068 2.478862704 -0.01724178931 -2.44958779 2.457161671 1.644974288 -2.46261467 2.457161608 1.636641078 -2.42787633 2.491899978 1.636640858 -2.42787633 2.478873151 1.644974151 -2.46261468 2.478873 1.622752061 -2.4495878 2.49189988 1.622751978 -2.42914808 2.245969711 1.644975624 -2.43296357 2.223731368 1.636642555 -2.4626146 2.228818678 1.636649693 -2.44958773 2.247241521 1.644982976 -2.45467502 2.20022117 1.622753824 -2.46388641 2.20403666 1.622753799 -2.22515075 2.478873221 1.644974151 -2.20672794 2.491900048 1.636640858 -2.18935877 2.467336338 1.636648184 -2.21159704 2.463520901 1.644981608 -2.17475147 2.4931718 1.62275197 -2.17093598 2.4839604 1.622752028 -2.44958775 2.488028937 -0.007365307305 -2.46261463 2.476449816 -0.002735604047 -2.44958775 2.47644944 -0.01477264404 -2.46261463 2.469212607 -0.007365188258 -2.45169733 2.208846947 -0.008906750978 -2.44276441 2.234755184 -0.01724024489 -2.45988525 2.212238497 -0.008906772436 -2.44788186 2.236874894 -0.01724025831 -2.17427062 2.481123807 -0.007365263618 -2.17565466 2.492454946 -0.002735705308 -2.19226297 2.47942799 -0.01477266289 -2.18623425 2.492030977 -0.007365332626 -2.44958779 2.476460735 1.642505126 -2.46261467 2.469223538 1.635097882 -2.4495878 2.488040148 1.635097763 -2.46261467 2.476460659 1.630468076 -2.44844715 2.222673615 1.642513902 -2.44502548 2.210670178 1.635104168 -2.46002661 2.208695938 1.63510631 -2.45226265 2.202833449 1.630474457 -2.19503143 2.481699495 1.642512073 -2.18896324 2.492606618 1.635102184 -2.17695985 2.483395228 1.635104572 -2.17830441 2.493030529 1.630472431" />
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+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="p1_waist_yaw_link">
+        <inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121" mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05" />
+        <joint name="p1_waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88" class="torso_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link" />
+        <body name="p1_waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047" diaginertia="7.515e-06 6.40206e-06 3.98394e-06" />
+          <joint name="p1_waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50" class="torso_motor" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link" />
+          <body name="p1_torso_link" pos="0 0 0">
+            <inertial pos="0.00331658 0.000261533 0.179856" quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598" diaginertia="0.12407 0.111951 0.0325382" />
+            <joint name="p1_waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50" class="torso_motor" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.054" 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 -0.054" 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" />
+            <body name="p1_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="p1_left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1" />
+              <body name="p1_left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="p1_left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25" class="arm_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1" />
+                <body name="p1_left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="p1_left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
+                  <body name="p1_left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="p1_left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" class="arm_motor" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
+                    <body name="p1_left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="p1_left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
+                      <body name="p1_left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="p1_left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
+                        <body name="p1_left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="p1_left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand" />
+                          <geom name="p1_left_boxing_hand_collision" type="mesh" mesh="left_rubber_hand" pos="0.0415 0.003 0" contype="1" conaffinity="1" density="0" rgba="0 0 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="p1_right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="p1_right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1" />
+              <body name="p1_right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="p1_right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25" class="arm_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1" />
+                <body name="p1_right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="p1_right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
+                  <body name="p1_right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="p1_right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" class="arm_motor" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
+                    <body name="p1_right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="p1_right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
+                      <body name="p1_right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="p1_right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
+                        <body name="p1_right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="p1_right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand" />
+                          <geom name="p1_right_boxing_hand_collision" type="mesh" mesh="right_rubber_hand" pos="0.0415 -0.003 0" contype="1" conaffinity="1" density="0" rgba="0 0 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="p2_pelvis" pos="0 0 0.793">
+      <site name="p2_imu" size="0.01" pos="0.0 0.0 0.0" />
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184" />
+      <joint name="p2_floating_base_joint" type="free" limited="false" actuatorfrclimited="false" />
+      <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" />
+      <body name="p2_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="p2_left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88" class="leg_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link" />
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link" />
+        <body name="p2_left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="p2_left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88" class="leg_motor" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link" />
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link" />
+          <body name="p2_left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="p2_left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88" class="leg_motor" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link" />
+            <body name="p2_left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458" />
+              <joint name="p2_left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139" class="leg_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
+              <body name="p2_left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="p2_left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
+                <body name="p2_left_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="p2_left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link" />
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="p2_right_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="p2_right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88" class="leg_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link" />
+        <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link" />
+        <body name="p2_right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="p2_right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88" class="leg_motor" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link" />
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link" />
+          <body name="p2_right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="p2_right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88" class="leg_motor" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link" />
+            <body name="p2_right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452" />
+              <joint name="p2_right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139" class="leg_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
+              <body name="p2_right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="p2_right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
+                <body name="p2_right_ankle_roll_link" pos="0 0 -0.017558">
+                  <inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="p2_right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link" />
+                  <geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                  <geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="p2_waist_yaw_link">
+        <inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121" mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05" />
+        <joint name="p2_waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88" class="torso_motor" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link" />
+        <body name="p2_waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047" diaginertia="7.515e-06 6.40206e-06 3.98394e-06" />
+          <joint name="p2_waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50" class="torso_motor" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link" />
+          <body name="p2_torso_link" pos="0 0 0">
+            <inertial pos="0.00331658 0.000261533 0.179856" quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598" diaginertia="0.12407 0.111951 0.0325382" />
+            <joint name="p2_waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50" class="torso_motor" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.054" 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 -0.054" 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" />
+            <body name="p2_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="p2_left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1" />
+              <body name="p2_left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="p2_left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25" class="arm_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1" />
+                <body name="p2_left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="p2_left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
+                  <body name="p2_left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="p2_left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" class="arm_motor" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
+                    <body name="p2_left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="p2_left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
+                      <body name="p2_left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="p2_left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
+                        <body name="p2_left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="p2_left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand" />
+                          <geom name="p2_left_boxing_hand_collision" type="mesh" mesh="left_rubber_hand" pos="0.0415 0.003 0" contype="1" conaffinity="1" density="0" rgba="0 0 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="p2_right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="p2_right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link" />
+              <geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1" />
+              <body name="p2_right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="p2_right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25" class="arm_motor" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link" />
+                <geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1" />
+                <body name="p2_right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="p2_right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
+                  <body name="p2_right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="p2_right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" class="arm_motor" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
+                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
+                    <body name="p2_right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="p2_right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
+                      <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
+                      <body name="p2_right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="p2_right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
+                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
+                        <body name="p2_right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="p2_right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
+                          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand" />
+                          <geom name="p2_right_boxing_hand_collision" type="mesh" mesh="right_rubber_hand" pos="0.0415 -0.003 0" contype="1" conaffinity="1" density="0" rgba="0 0 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <geom name="smpl_ring_baseLink" type="box" pos="0.0 0.0 -0.52" size="2.5 2.5 0.5" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
+    <geom name="smpl_ring_wall1" type="box" pos="2.5 0.0 0.6299999999999999" size="0.025 2.5 0.7" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
+    <geom name="smpl_ring_wall2" type="box" pos="-2.5 0.0 0.6299999999999999" size="0.025 2.5 0.7" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
+    <geom name="smpl_ring_wall3" type="box" pos="0.0 -2.5 0.6299999999999999" size="2.5 0.025 0.7" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
+    <geom name="smpl_ring_wall4" type="box" pos="0.0 2.5 0.6299999999999999" size="2.5 0.025 0.7" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
+    <geom name="smpl_ring_corner_003" type="mesh" mesh="smpl_ring_corner_003" contype="1" conaffinity="1" condim="3" margin="0.004" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
+    <geom name="smpl_ring_corner_004" type="mesh" mesh="smpl_ring_corner_004" contype="1" conaffinity="1" condim="3" margin="0.004" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
+    <geom name="smpl_ring_corner_005" type="mesh" mesh="smpl_ring_corner_005" contype="1" conaffinity="1" condim="3" margin="0.004" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
+    <geom name="smpl_ring_corner_006" type="mesh" mesh="smpl_ring_corner_006" contype="1" conaffinity="1" condim="3" margin="0.004" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
+  </worldbody>
+  <actuator>
+    <motor name="p1_left_hip_pitch" joint="p1_left_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="p1_left_hip_roll" joint="p1_left_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="p1_left_hip_yaw" joint="p1_left_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="p1_left_knee" joint="p1_left_knee_joint" ctrlrange="-139 139" />
+    <motor name="p1_left_ankle_pitch" joint="p1_left_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="p1_left_ankle_roll" joint="p1_left_ankle_roll_joint" ctrlrange="-50 50" />
+    <motor name="p1_right_hip_pitch" joint="p1_right_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="p1_right_hip_roll" joint="p1_right_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="p1_right_hip_yaw" joint="p1_right_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="p1_right_knee" joint="p1_right_knee_joint" ctrlrange="-139 139" />
+    <motor name="p1_right_ankle_pitch" joint="p1_right_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="p1_right_ankle_roll" joint="p1_right_ankle_roll_joint" ctrlrange="-50 50" />
+    <motor name="p1_waist_yaw" joint="p1_waist_yaw_joint" ctrlrange="-88 88" />
+    <motor name="p1_waist_roll" joint="p1_waist_roll_joint" ctrlrange="-50 50" />
+    <motor name="p1_waist_pitch" joint="p1_waist_pitch_joint" ctrlrange="-50 50" />
+    <motor name="p1_left_shoulder_pitch" joint="p1_left_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="p1_left_shoulder_roll" joint="p1_left_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="p1_left_shoulder_yaw" joint="p1_left_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="p1_left_elbow" joint="p1_left_elbow_joint" ctrlrange="-25 25" />
+    <motor name="p1_left_wrist_roll" joint="p1_left_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="p1_left_wrist_pitch" joint="p1_left_wrist_pitch_joint" ctrlrange="-5 5" />
+    <motor name="p1_left_wrist_yaw" joint="p1_left_wrist_yaw_joint" ctrlrange="-5 5" />
+    <motor name="p1_right_shoulder_pitch" joint="p1_right_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="p1_right_shoulder_roll" joint="p1_right_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="p1_right_shoulder_yaw" joint="p1_right_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="p1_right_elbow" joint="p1_right_elbow_joint" ctrlrange="-25 25" />
+    <motor name="p1_right_wrist_roll" joint="p1_right_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="p1_right_wrist_pitch" joint="p1_right_wrist_pitch_joint" ctrlrange="-5 5" />
+    <motor name="p1_right_wrist_yaw" joint="p1_right_wrist_yaw_joint" ctrlrange="-5 5" />
+    <motor name="p2_left_hip_pitch" joint="p2_left_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="p2_left_hip_roll" joint="p2_left_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="p2_left_hip_yaw" joint="p2_left_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="p2_left_knee" joint="p2_left_knee_joint" ctrlrange="-139 139" />
+    <motor name="p2_left_ankle_pitch" joint="p2_left_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="p2_left_ankle_roll" joint="p2_left_ankle_roll_joint" ctrlrange="-50 50" />
+    <motor name="p2_right_hip_pitch" joint="p2_right_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="p2_right_hip_roll" joint="p2_right_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="p2_right_hip_yaw" joint="p2_right_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="p2_right_knee" joint="p2_right_knee_joint" ctrlrange="-139 139" />
+    <motor name="p2_right_ankle_pitch" joint="p2_right_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="p2_right_ankle_roll" joint="p2_right_ankle_roll_joint" ctrlrange="-50 50" />
+    <motor name="p2_waist_yaw" joint="p2_waist_yaw_joint" ctrlrange="-88 88" />
+    <motor name="p2_waist_roll" joint="p2_waist_roll_joint" ctrlrange="-50 50" />
+    <motor name="p2_waist_pitch" joint="p2_waist_pitch_joint" ctrlrange="-50 50" />
+    <motor name="p2_left_shoulder_pitch" joint="p2_left_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="p2_left_shoulder_roll" joint="p2_left_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="p2_left_shoulder_yaw" joint="p2_left_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="p2_left_elbow" joint="p2_left_elbow_joint" ctrlrange="-25 25" />
+    <motor name="p2_left_wrist_roll" joint="p2_left_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="p2_left_wrist_pitch" joint="p2_left_wrist_pitch_joint" ctrlrange="-5 5" />
+    <motor name="p2_left_wrist_yaw" joint="p2_left_wrist_yaw_joint" ctrlrange="-5 5" />
+    <motor name="p2_right_shoulder_pitch" joint="p2_right_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="p2_right_shoulder_roll" joint="p2_right_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="p2_right_shoulder_yaw" joint="p2_right_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="p2_right_elbow" joint="p2_right_elbow_joint" ctrlrange="-25 25" />
+    <motor name="p2_right_wrist_roll" joint="p2_right_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="p2_right_wrist_pitch" joint="p2_right_wrist_pitch_joint" ctrlrange="-5 5" />
+    <motor name="p2_right_wrist_yaw" joint="p2_right_wrist_yaw_joint" ctrlrange="-5 5" />
+  </actuator>
+</mujoco>

holoboxing/initial-state.json

@@ -0,0 +1,115 @@
+{
+  "schema_version": 1,
+  "version": "boxing-initial-pose-v1",
+  "dof_names": [
+    "left_hip_pitch_joint",
+    "left_hip_roll_joint",
+    "left_hip_yaw_joint",
+    "left_knee_joint",
+    "left_ankle_pitch_joint",
+    "left_ankle_roll_joint",
+    "right_hip_pitch_joint",
+    "right_hip_roll_joint",
+    "right_hip_yaw_joint",
+    "right_knee_joint",
+    "right_ankle_pitch_joint",
+    "right_ankle_roll_joint",
+    "waist_yaw_joint",
+    "waist_roll_joint",
+    "waist_pitch_joint",
+    "left_shoulder_pitch_joint",
+    "left_shoulder_roll_joint",
+    "left_shoulder_yaw_joint",
+    "left_elbow_joint",
+    "left_wrist_roll_joint",
+    "left_wrist_pitch_joint",
+    "left_wrist_yaw_joint",
+    "right_shoulder_pitch_joint",
+    "right_shoulder_roll_joint",
+    "right_shoulder_yaw_joint",
+    "right_elbow_joint",
+    "right_wrist_roll_joint",
+    "right_wrist_pitch_joint",
+    "right_wrist_yaw_joint"
+  ],
+  "target_fps": 50,
+  "qpos": [
+    [
+      -1.0,
+      0.0,
+      0.8034611940383911,
+      0.999575138092041,
+      0.0006711329333484173,
+      0.029141364619135857,
+      -1.9550323486328125e-05,
+      -0.06117504835128784,
+      -0.06282924115657806,
+      -0.04576651379466057,
+      0.09712379425764084,
+      -0.06930775195360184,
+      0.025946279987692833,
+      -0.08208970725536346,
+      0.07792927324771881,
+      -0.14724287390708923,
+      0.12815487384796143,
+      -0.09023953974246979,
+      -0.07097882032394409,
+      0.026000209152698517,
+      -0.00437621446326375,
+      -0.11538063734769821,
+      0.08069197833538055,
+      1.3409172296524048,
+      0.48071402311325073,
+      1.0908011198043823,
+      -0.2176111489534378,
+      0.19165460765361786,
+      0.6905698776245117,
+      0.106939896941185,
+      -1.336838722229004,
+      -0.5034260153770447,
+      1.1311120986938477,
+      0.267713338136673,
+      0.19971877336502075,
+      -0.729025661945343
+    ],
+    [
+      1.0,
+      0.0,
+      0.8034611940383911,
+      1.9550323486328125e-05,
+      -0.029141364619135857,
+      0.0006711329333484173,
+      0.999575138092041,
+      -0.06117504835128784,
+      -0.06282924115657806,
+      -0.04576651379466057,
+      0.09712379425764084,
+      -0.06930775195360184,
+      0.025946279987692833,
+      -0.08208970725536346,
+      0.07792927324771881,
+      -0.14724287390708923,
+      0.12815487384796143,
+      -0.09023953974246979,
+      -0.07097882032394409,
+      0.026000209152698517,
+      -0.00437621446326375,
+      -0.11538063734769821,
+      0.08069197833538055,
+      1.3409172296524048,
+      0.48071402311325073,
+      1.0908011198043823,
+      -0.2176111489534378,
+      0.19165460765361786,
+      0.6905698776245117,
+      0.106939896941185,
+      -1.336838722229004,
+      -0.5034260153770447,
+      1.1311120986938477,
+      0.267713338136673,
+      0.19971877336502075,
+      -0.729025661945343
+    ]
+  ],
+  "usage": "Initial/reset pose only; never replayed as an upper-policy reference."
+}

holoboxing/manifest.json

@@ -0,0 +1,139 @@
+{
+  "entry": "29dof/g1_29dof_mode_15_boxing_gloves_red.xml",
+  "entries": {
+    "red": "29dof/g1_29dof_mode_15_boxing_gloves_red.xml",
+    "blue": "29dof/g1_29dof_mode_15_boxing_gloves_blue.xml"
+  },
+  "files": [
+    "29dof/g1_29dof_mode_15_boxing_gloves_blue.urdf",
+    "29dof/g1_29dof_mode_15_boxing_gloves_blue.xml",
+    "29dof/g1_29dof_mode_15_boxing_gloves_red.urdf",
+    "29dof/g1_29dof_mode_15_boxing_gloves_red.xml",
+    "arena/g1_dual_29dof.xml",
+    "dark-arena/floor-v1.webp",
+    "meshes/head_link.STL",
+    "meshes/left_ankle_pitch_link.STL",
+    "meshes/left_ankle_roll_link.STL",
+    "meshes/left_elbow_link.STL",
+    "meshes/left_hip_pitch_link.STL",
+    "meshes/left_hip_roll_link.STL",
+    "meshes/left_hip_yaw_link.STL",
+    "meshes/left_knee_link.STL",
+    "meshes/left_rubber_hand.STL",
+    "meshes/left_shoulder_pitch_link.STL",
+    "meshes/left_shoulder_roll_link.STL",
+    "meshes/left_shoulder_yaw_link.STL",
+    "meshes/left_wrist_pitch_link.STL",
+    "meshes/left_wrist_pitch_link_5010.STL",
+    "meshes/left_wrist_roll_link.STL",
+    "meshes/left_wrist_roll_link_5010.STL",
+    "meshes/left_wrist_yaw_link.STL",
+    "meshes/left_wrist_yaw_link_5010.STL",
+    "meshes/logo_link.STL",
+    "meshes/pelvis.STL",
+    "meshes/pelvis_contour_link.STL",
+    "meshes/pelvis_ver0529.STL",
+    "meshes/right_ankle_pitch_link.STL",
+    "meshes/right_ankle_roll_link.STL",
+    "meshes/right_elbow_link.STL",
+    "meshes/right_hip_pitch_link.STL",
+    "meshes/right_hip_roll_link.STL",
+    "meshes/right_hip_yaw_link.STL",
+    "meshes/right_knee_link.STL",
+    "meshes/right_rubber_hand.STL",
+    "meshes/right_shoulder_pitch_link.STL",
+    "meshes/right_shoulder_roll_link.STL",
+    "meshes/right_shoulder_yaw_link.STL",
+    "meshes/right_wrist_pitch_link.STL",
+    "meshes/right_wrist_pitch_link_5010.STL",
+    "meshes/right_wrist_roll_link.STL",
+    "meshes/right_wrist_roll_link_5010.STL",
+    "meshes/right_wrist_yaw_link.STL",
+    "meshes/right_wrist_yaw_link_5010.STL",
+    "meshes/torso_link.STL",
+    "meshes/torso_link_rev_1_0.STL",
+    "meshes/waist_roll_link.STL",
+    "meshes/waist_roll_link_rev_1_0.STL",
+    "meshes/waist_support_link.STL",
+    "meshes/waist_yaw_link.STL",
+    "meshes/waist_yaw_link_rev_1_0.STL",
+    "mode15_boxing_meshes/left_boxing_glove.STL",
+    "mode15_boxing_meshes/left_boxing_glove_collision.STL",
+    "mode15_boxing_meshes/logo_holomotion.STL",
+    "mode15_boxing_meshes/pelvis_contour_collision.STL",
+    "mode15_boxing_meshes/right_boxing_glove.STL",
+    "mode15_boxing_meshes/right_boxing_glove_collision.STL",
+    "smpl-ring-v2/boxing_ring.obj",
+    "smpl-ring-v2/scene.json",
+    "smpl-ring-v2/SOURCE.md",
+    "smpl-ring-v2/SMPLOlympics-LICENSE.txt"
+  ],
+  "sha256": {
+    "29dof/g1_29dof_mode_15_boxing_gloves_blue.urdf": "b84ba9477a3cd4729b0fae40e6016fd5ef00c718afb9f8dfd5fdde65f24804b7",
+    "29dof/g1_29dof_mode_15_boxing_gloves_blue.xml": "c09af457d2bc521d30fe62c777f1506367653d25c70337bd63609dc57913919e",
+    "29dof/g1_29dof_mode_15_boxing_gloves_red.urdf": "b9d1c59f62243fad1b97fee2d33eb51d48063172b023a30c49974ca026c8feb5",
+    "29dof/g1_29dof_mode_15_boxing_gloves_red.xml": "421e94c6e27edc4836e3ff8d53518948d839524ce7bfa919dedd77ce5d40cb00",
+    "arena/g1_dual_29dof.xml": "c439f536b8825151fc9486b66855fa93ca06e9a2d4f65056788f4b2f8bb17583",
+    "dark-arena/floor-v1.webp": "8d34c115f3932a6f0fb9921897d986971e613e9f658a7510085dfa13b5b0b23b",
+    "meshes/head_link.STL": "005fb67fbd3eff94aa8bf4a6e83238174e9f91b6721f7111594322f223724411",
+    "meshes/left_ankle_pitch_link.STL": "d49e3abc6f5b12e532062cd575b87b5ef40cd2a3fc18f54a1ca5bba4f773d51d",
+    "meshes/left_ankle_roll_link.STL": "c4092af943141d4d9f74232f3cfa345afc6565f46a077793b8ae0e68b39dc33f",
+    "meshes/left_elbow_link.STL": "fa752198accd104d5c4c3a01382e45165b944fbbc5acce085059223324e5bed3",
+    "meshes/left_hip_pitch_link.STL": "4725168105ee768ee31638ef22b53f6be2d7641bfd7cfefe803488d884776fa4",
+    "meshes/left_hip_roll_link.STL": "91f25922ee8a7c3152790051bebad17b4d9cd243569c38fe340285ff93a97acf",
+    "meshes/left_hip_yaw_link.STL": "a16d88aa6ddac8083aa7ad55ed317bea44b1fa003d314fba88965b7ed0f3b55b",
+    "meshes/left_knee_link.STL": "8d92b9e3d3a636761150bb8025e32514c4602b91c7028d523ee42b3e632de477",
+    "meshes/left_rubber_hand.STL": "cff2221a690fa69303f61fce68f2d155c1517b52efb6ca9262dd56e0bc6e70fe",
+    "meshes/left_shoulder_pitch_link.STL": "f0d1cfd02fcf0d42f95e678eeca33da3afbcc366ffba5c052847773ec4f31d52",
+    "meshes/left_shoulder_roll_link.STL": "fb9df21687773522598dc384f1a2945c7519f11cbc8bd372a49170316d6eee88",
+    "meshes/left_shoulder_yaw_link.STL": "1aa97e9748e924336567992181f78c7cd0652fd52a4afcca3df6b2ef6f9e712e",
+    "meshes/left_wrist_pitch_link.STL": "b251d8e05047f695d0f536cd78c11973cfa4e78d08cfe82759336cc3471de3a9",
+    "meshes/left_wrist_pitch_link_5010.STL": "65c91c4681228f28ccb73d9fc7e853bc1c857da199352321e834e15f2cd7a7d4",
+    "meshes/left_wrist_roll_link.STL": "edc387c9a0ba8c2237e9b296d32531426fabeb6f53e58df45c76106bca74148c",
+    "meshes/left_wrist_roll_link_5010.STL": "b5be0d8d17b6db9f74323049ce6a0b8a7d95b2434a34805650cc22050f4992dd",
+    "meshes/left_wrist_yaw_link.STL": "83f8fb3a726bf9613d65dd14f0f447cb918c3c95b3938042a0c9c09749267d3b",
+    "meshes/left_wrist_yaw_link_5010.STL": "d020b9ef67b0899c98b77029d8de80a820c16dba0b7611d0cd7f85033d9241f1",
+    "meshes/logo_link.STL": "8571a0a19bc4916fa55f91449f51d5fdefd751000054865a842449429d5f155b",
+    "meshes/pelvis.STL": "5ba6bbc888e630550140d3c26763f10206da8c8bd30ed886b8ede41c61f57a31",
+    "meshes/pelvis_contour_link.STL": "5cc5c2c7a312329e3feeb2b03d3fc09fc29705bd01864f6767e51be959662420",
+    "meshes/pelvis_ver0529.STL": "9a249feb95d632aa648cd07757b2ccce6da36723875e7630fa75d66a4ae8f036",
+    "meshes/right_ankle_pitch_link.STL": "15be426539ec1be70246d4d82a168806db64a41301af8b35c197a33348c787a9",
+    "meshes/right_ankle_roll_link.STL": "4b66222ea56653e627711b56d0a8949b4920da5df091da0ceb343f54e884e3a5",
+    "meshes/right_elbow_link.STL": "1be925d7aa268bb8fddf5362b9173066890c7d32092c05638608126e59d1e2ab",
+    "meshes/right_hip_pitch_link.STL": "e4f3c99d7f4a7d34eadbef9461fc66e3486cb5442db1ec50c86317d459f1a9c6",
+    "meshes/right_hip_roll_link.STL": "4c254ef66a356f492947f360dd931965477b631e3fcc841f91ccc46d945d54f6",
+    "meshes/right_hip_yaw_link.STL": "e479c2936ca2057e9eb2f7dff6c189b7419d7b8484dea0b298cbb36a2a6aa668",
+    "meshes/right_knee_link.STL": "63c4008449c9bbe701a6e2b557b7a252e90cf3a5abcf54cee46862b9a69f8ec8",
+    "meshes/right_rubber_hand.STL": "99533b778bca6246144fa511bb9d4e555e075c641f2a0251e04372869cd99d67",
+    "meshes/right_shoulder_pitch_link.STL": "24cdb387e0128dfe602770a81c56cdce3a0181d34d039a11d1aaf8819b7b8c02",
+    "meshes/right_shoulder_roll_link.STL": "962b97c48f9ce9e8399f45dd9522e0865d19aa9fd299406b2d475a8fc4a53e81",
+    "meshes/right_shoulder_yaw_link.STL": "a0b76489271da0c72461a344c9ffb0f0c6e64f019ea5014c1624886c442a2fe5",
+    "meshes/right_wrist_pitch_link.STL": "d22f8f3b3127f15a63e5be1ee273cd5075786c3142f1c3d9f76cbf43d2a26477",
+    "meshes/right_wrist_pitch_link_5010.STL": "ac1110adfd93a10396bd32bba7b71ded5ccd757405b9e6d3d0b4ff53dea09582",
+    "meshes/right_wrist_roll_link.STL": "a7ee9212ff5b94d6cb7f52bb1bbf3f352194d5b598acff74f4c77d340c5b344f",
+    "meshes/right_wrist_roll_link_5010.STL": "458d62c3fcb63f526cd258397c7ac88350d50fd444f35646054cb0e2015a2042",
+    "meshes/right_wrist_yaw_link.STL": "bc9dece2d12509707e0057ba2e48df8f3d56db0c79410212963a25e8a50f61a6",
+    "meshes/right_wrist_yaw_link_5010.STL": "fe36d6fe3f09fb0bb27bf3027b4c388110505d3f46678b80afe2e198a5ea7922",
+    "meshes/torso_link.STL": "e96d023f0368a4e3450b86ca5d4f10227d8141156a373e7da8cb3c93266523e0",
+    "meshes/torso_link_rev_1_0.STL": "11ddb46f2098efbbd8816b1d65893632d8e78be936376c7cdcd6771899ccc723",
+    "meshes/waist_roll_link.STL": "34f0aa73f41131230be4d25876c944fdf6c24d62553f199ff8b980c15e8913df",
+    "meshes/waist_roll_link_rev_1_0.STL": "b67c347a05abc3e8ddae600d98a082bee273bb39f8e651647708b0a7140a8a97",
+    "meshes/waist_support_link.STL": "1fae9e1bb609848a1667d32eed8d6083ae443538a306843056a2a660f1b2926a",
+    "meshes/waist_yaw_link.STL": "2883f20e03f09b669b5b4ce10677ee6b5191c0934b584d7cbaef2d0662856ffb",
+    "meshes/waist_yaw_link_rev_1_0.STL": "ec6db442b11f25eed898b5add07940c85d804f300de24dcbd264ccd8be7d554c",
+    "mode15_boxing_meshes/left_boxing_glove.STL": "4dc4904dd59115b05bf83aa595ad383c1db6408cd9188c6847ecc308d799199e",
+    "mode15_boxing_meshes/left_boxing_glove_collision.STL": "987a6675f8a1294d46376d45a55117c3d47181b2ea30e2ea275efb2b2f5e4933",
+    "mode15_boxing_meshes/logo_holomotion.STL": "a5e9785eac901bff7d61cda28989490e9e083f5a8eeeb806141193a216f97445",
+    "mode15_boxing_meshes/pelvis_contour_collision.STL": "be43c4003e369b9e444d1e515972443cfcca88c5d6d001dd110849167a3556f2",
+    "mode15_boxing_meshes/right_boxing_glove.STL": "9c280e1fa5c8304a700b18c36f67d2d52956f03a7f3eb75afe625383f5b94d63",
+    "mode15_boxing_meshes/right_boxing_glove_collision.STL": "ada6ff95ade3a365e9731a227ea0d1a988d064796d55f128d40b35c903d93c14",
+    "smpl-ring-v2/boxing_ring.obj": "07fdc7c7caf3c260c5aaa8c918b9ce97bd769be90bd35a72f04dcc945285e03b",
+    "smpl-ring-v2/scene.json": "ff6a730ff66db40305ed89a8e2ccbdb8c5d3b3db1dd89025adf767f364d5de58",
+    "smpl-ring-v2/SOURCE.md": "3a2884bd2fc341025c215b747b36a47aacb0cc264f333e72a84f7f0e173c5625",
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