diff --git a/urdfs/unitree_g1/g1_23dof.urdf b/urdfs/unitree_g1/g1_23dof.urdf
new file mode 100644
index 0000000..dff7153
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+++ b/urdfs/unitree_g1/g1_23dof.urdf
@@ -0,0 +1,852 @@
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diff --git a/urdfs/unitree_g1/g1_23dof_mode_10.urdf b/urdfs/unitree_g1/g1_23dof_mode_10.urdf
new file mode 100644
index 0000000..201ffa5
--- /dev/null
+++ b/urdfs/unitree_g1/g1_23dof_mode_10.urdf
@@ -0,0 +1,807 @@
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diff --git a/urdfs/unitree_g1/g1_23dof_rev_1_0.urdf b/urdfs/unitree_g1/g1_23dof_rev_1_0.urdf
new file mode 100644
index 0000000..8222238
--- /dev/null
+++ b/urdfs/unitree_g1/g1_23dof_rev_1_0.urdf
@@ -0,0 +1,807 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_29dof.urdf b/urdfs/unitree_g1/g1_29dof.urdf
new file mode 100644
index 0000000..49aeacd
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof.urdf
@@ -0,0 +1,1021 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_29dof_lock_waist.urdf b/urdfs/unitree_g1/g1_29dof_lock_waist.urdf
new file mode 100644
index 0000000..7f7db83
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_lock_waist.urdf
@@ -0,0 +1,1021 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_29dof_lock_waist_rev_1_0.urdf b/urdfs/unitree_g1/g1_29dof_lock_waist_rev_1_0.urdf
new file mode 100644
index 0000000..482159f
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_lock_waist_rev_1_0.urdf
@@ -0,0 +1,995 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_29dof_lock_waist_with_hand_rev_1_0.urdf b/urdfs/unitree_g1/g1_29dof_lock_waist_with_hand_rev_1_0.urdf
new file mode 100644
index 0000000..d878006
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_lock_waist_with_hand_rev_1_0.urdf
@@ -0,0 +1,1385 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_29dof_mode_11.urdf b/urdfs/unitree_g1/g1_29dof_mode_11.urdf
new file mode 100644
index 0000000..dcf3857
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_mode_11.urdf
@@ -0,0 +1,995 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_29dof_mode_12.urdf b/urdfs/unitree_g1/g1_29dof_mode_12.urdf
new file mode 100644
index 0000000..39f805f
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_mode_12.urdf
@@ -0,0 +1,995 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_29dof_mode_13.urdf b/urdfs/unitree_g1/g1_29dof_mode_13.urdf
new file mode 100644
index 0000000..6ffe6b7
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_mode_13.urdf
@@ -0,0 +1,995 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_29dof_mode_14.urdf b/urdfs/unitree_g1/g1_29dof_mode_14.urdf
new file mode 100644
index 0000000..def8572
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_mode_14.urdf
@@ -0,0 +1,995 @@
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diff --git a/urdfs/unitree_g1/g1_29dof_mode_15.urdf b/urdfs/unitree_g1/g1_29dof_mode_15.urdf
new file mode 100644
index 0000000..d3819e6
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_mode_15.urdf
@@ -0,0 +1,995 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_29dof_mode_16.urdf b/urdfs/unitree_g1/g1_29dof_mode_16.urdf
new file mode 100644
index 0000000..9f9b462
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_mode_16.urdf
@@ -0,0 +1,995 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_29dof_rev_1_0.urdf b/urdfs/unitree_g1/g1_29dof_rev_1_0.urdf
new file mode 100644
index 0000000..fbd57cb
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_rev_1_0.urdf
@@ -0,0 +1,995 @@
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diff --git a/urdfs/unitree_g1/g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf b/urdfs/unitree_g1/g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf
new file mode 100644
index 0000000..e4edc5b
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf
@@ -0,0 +1,1764 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_29dof_rev_1_0_with_inspire_hand_FTP.urdf b/urdfs/unitree_g1/g1_29dof_rev_1_0_with_inspire_hand_FTP.urdf
new file mode 100644
index 0000000..420cb12
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_rev_1_0_with_inspire_hand_FTP.urdf
@@ -0,0 +1,2718 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_29dof_with_hand.urdf b/urdfs/unitree_g1/g1_29dof_with_hand.urdf
new file mode 100644
index 0000000..19b770a
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_with_hand.urdf
@@ -0,0 +1,1411 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_29dof_with_hand_rev_1_0.urdf b/urdfs/unitree_g1/g1_29dof_with_hand_rev_1_0.urdf
new file mode 100644
index 0000000..7a1e70c
--- /dev/null
+++ b/urdfs/unitree_g1/g1_29dof_with_hand_rev_1_0.urdf
@@ -0,0 +1,1385 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/g1_comp.urdf b/urdfs/unitree_g1/g1_comp.urdf
new file mode 100644
index 0000000..bbdc9c7
--- /dev/null
+++ b/urdfs/unitree_g1/g1_comp.urdf
@@ -0,0 +1,890 @@
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diff --git a/urdfs/unitree_g1/g1_dual_arm.urdf b/urdfs/unitree_g1/g1_dual_arm.urdf
new file mode 100644
index 0000000..4302e4a
--- /dev/null
+++ b/urdfs/unitree_g1/g1_dual_arm.urdf
@@ -0,0 +1,613 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/inspire_hand/DFQ_left_hand.urdf b/urdfs/unitree_g1/inspire_hand/DFQ_left_hand.urdf
new file mode 100644
index 0000000..b9b6b8e
--- /dev/null
+++ b/urdfs/unitree_g1/inspire_hand/DFQ_left_hand.urdf
@@ -0,0 +1,422 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/inspire_hand/DFQ_right_hand.urdf b/urdfs/unitree_g1/inspire_hand/DFQ_right_hand.urdf
new file mode 100644
index 0000000..511c853
--- /dev/null
+++ b/urdfs/unitree_g1/inspire_hand/DFQ_right_hand.urdf
@@ -0,0 +1,422 @@
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\ No newline at end of file
diff --git a/urdfs/unitree_g1/inspire_hand/FTP_left_hand.urdf b/urdfs/unitree_g1/inspire_hand/FTP_left_hand.urdf
new file mode 100644
index 0000000..ab1c426
--- /dev/null
+++ b/urdfs/unitree_g1/inspire_hand/FTP_left_hand.urdf
@@ -0,0 +1,867 @@
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diff --git a/urdfs/unitree_g1/inspire_hand/FTP_right_hand.urdf b/urdfs/unitree_g1/inspire_hand/FTP_right_hand.urdf
new file mode 100644
index 0000000..7669215
--- /dev/null
+++ b/urdfs/unitree_g1/inspire_hand/FTP_right_hand.urdf
@@ -0,0 +1,867 @@
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diff --git a/urdfs/unitree_g1/inspire_hand/config.yaml b/urdfs/unitree_g1/inspire_hand/config.yaml
new file mode 100644
index 0000000..f8c91ec
--- /dev/null
+++ b/urdfs/unitree_g1/inspire_hand/config.yaml
@@ -0,0 +1,5 @@
+G1_remove_links: ["left_rubber_hand", "right_rubber_hand"]
+G1_remove_joints: ["left_hand_palm_joint", "right_hand_palm_joint"]
+
+L_hand_remove_links: ['left_wrist_yaw_link']
+R_hand_remove_links: ['right_wrist_yaw_link']
\ No newline at end of file
diff --git a/urdfs/unitree_g1/meshes/L_hand_base_link.STL b/urdfs/unitree_g1/meshes/L_hand_base_link.STL
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index 0000000..a2f67ee
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diff --git a/urdfs/unitree_g1/meshes/Link11_L.STL b/urdfs/unitree_g1/meshes/Link11_L.STL
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diff --git a/urdfs/unitree_g1/meshes/Link11_R.STL b/urdfs/unitree_g1/meshes/Link11_R.STL
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diff --git a/urdfs/unitree_g1/meshes/Link18_L.STL b/urdfs/unitree_g1/meshes/Link18_L.STL
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diff --git a/urdfs/unitree_g1/meshes/left_ankle_pitch_link.STL b/urdfs/unitree_g1/meshes/left_ankle_pitch_link.STL
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diff --git a/urdfs/unitree_g1/meshes/left_ankle_roll_link.STL b/urdfs/unitree_g1/meshes/left_ankle_roll_link.STL
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