LazyJazzDev · UntitledNotebook · Jan 16, 2026
diff --git a/urdfs/unitree_g1/g1_23dof.urdf b/urdfs/unitree_g1/g1_23dof.urdf
diff --git a/urdfs/unitree_g1/g1_23dof_mode_10.urdf b/urdfs/unitree_g1/g1_23dof_mode_10.urdf
diff --git a/urdfs/unitree_g1/g1_23dof_rev_1_0.urdf b/urdfs/unitree_g1/g1_23dof_rev_1_0.urdf
diff --git a/urdfs/unitree_g1/g1_29dof.urdf b/urdfs/unitree_g1/g1_29dof.urdf
diff --git a/urdfs/unitree_g1/g1_29dof_lock_waist.urdf b/urdfs/unitree_g1/g1_29dof_lock_waist.urdf
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
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
diff --git a/urdfs/unitree_g1/g1_29dof_mode_11.urdf b/urdfs/unitree_g1/g1_29dof_mode_11.urdf
diff --git a/urdfs/unitree_g1/g1_29dof_mode_12.urdf b/urdfs/unitree_g1/g1_29dof_mode_12.urdf
diff --git a/urdfs/unitree_g1/g1_29dof_mode_13.urdf b/urdfs/unitree_g1/g1_29dof_mode_13.urdf
diff --git a/urdfs/unitree_g1/g1_29dof_mode_14.urdf b/urdfs/unitree_g1/g1_29dof_mode_14.urdf
diff --git a/urdfs/unitree_g1/g1_29dof_mode_15.urdf b/urdfs/unitree_g1/g1_29dof_mode_15.urdf
diff --git a/urdfs/unitree_g1/g1_29dof_mode_16.urdf b/urdfs/unitree_g1/g1_29dof_mode_16.urdf
diff --git a/urdfs/unitree_g1/g1_29dof_rev_1_0.urdf b/urdfs/unitree_g1/g1_29dof_rev_1_0.urdf
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
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
diff --git a/urdfs/unitree_g1/g1_29dof_with_hand.urdf b/urdfs/unitree_g1/g1_29dof_with_hand.urdf
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
diff --git a/urdfs/unitree_g1/g1_comp.urdf b/urdfs/unitree_g1/g1_comp.urdf
diff --git a/urdfs/unitree_g1/g1_dual_arm.urdf b/urdfs/unitree_g1/g1_dual_arm.urdf
diff --git a/urdfs/unitree_g1/inspire_hand/DFQ_left_hand.urdf b/urdfs/unitree_g1/inspire_hand/DFQ_left_hand.urdf
diff --git a/urdfs/unitree_g1/inspire_hand/DFQ_right_hand.urdf b/urdfs/unitree_g1/inspire_hand/DFQ_right_hand.urdf
diff --git a/urdfs/unitree_g1/inspire_hand/FTP_left_hand.urdf b/urdfs/unitree_g1/inspire_hand/FTP_left_hand.urdf
diff --git a/urdfs/unitree_g1/inspire_hand/FTP_right_hand.urdf b/urdfs/unitree_g1/inspire_hand/FTP_right_hand.urdf
diff --git a/urdfs/unitree_g1/inspire_hand/config.yaml 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']
diff --git a/urdfs/unitree_g1/meshes/L_hand_base_link.STL b/urdfs/unitree_g1/meshes/L_hand_base_link.STL
diff --git a/urdfs/unitree_g1/meshes/Link11_L.STL b/urdfs/unitree_g1/meshes/Link11_L.STL
diff --git a/urdfs/unitree_g1/meshes/Link11_R.STL b/urdfs/unitree_g1/meshes/Link11_R.STL
diff --git a/urdfs/unitree_g1/meshes/Link12_L.STL b/urdfs/unitree_g1/meshes/Link12_L.STL
diff --git a/urdfs/unitree_g1/meshes/Link12_R.STL b/urdfs/unitree_g1/meshes/Link12_R.STL
diff --git a/urdfs/unitree_g1/meshes/Link13_L.STL b/urdfs/unitree_g1/meshes/Link13_L.STL
diff --git a/urdfs/unitree_g1/meshes/Link13_R.STL b/urdfs/unitree_g1/meshes/Link13_R.STL
diff --git a/urdfs/unitree_g1/meshes/Link14_L.STL b/urdfs/unitree_g1/meshes/Link14_L.STL
diff --git a/urdfs/unitree_g1/meshes/Link14_R.STL b/urdfs/unitree_g1/meshes/Link14_R.STL
diff --git a/urdfs/unitree_g1/meshes/Link15_L.STL b/urdfs/unitree_g1/meshes/Link15_L.STL
diff --git a/urdfs/unitree_g1/meshes/Link15_R.STL b/urdfs/unitree_g1/meshes/Link15_R.STL
diff --git a/urdfs/unitree_g1/meshes/Link16_L.STL b/urdfs/unitree_g1/meshes/Link16_L.STL
diff --git a/urdfs/unitree_g1/meshes/Link16_R.STL b/urdfs/unitree_g1/meshes/Link16_R.STL
diff --git a/urdfs/unitree_g1/meshes/Link17_L.STL b/urdfs/unitree_g1/meshes/Link17_L.STL
diff --git a/urdfs/unitree_g1/meshes/Link17_R.STL b/urdfs/unitree_g1/meshes/Link17_R.STL
diff --git a/urdfs/unitree_g1/meshes/Link18_L.STL b/urdfs/unitree_g1/meshes/Link18_L.STL
diff --git a/urdfs/unitree_g1/meshes/Link18_R.STL b/urdfs/unitree_g1/meshes/Link18_R.STL
diff --git a/urdfs/unitree_g1/meshes/Link19_L.STL b/urdfs/unitree_g1/meshes/Link19_L.STL
diff --git a/urdfs/unitree_g1/meshes/Link19_R.STL b/urdfs/unitree_g1/meshes/Link19_R.STL
diff --git a/urdfs/unitree_g1/meshes/Link20_L.STL b/urdfs/unitree_g1/meshes/Link20_L.STL
diff --git a/urdfs/unitree_g1/meshes/Link20_R.STL b/urdfs/unitree_g1/meshes/Link20_R.STL
diff --git a/urdfs/unitree_g1/meshes/Link21_L.STL b/urdfs/unitree_g1/meshes/Link21_L.STL
diff --git a/urdfs/unitree_g1/meshes/Link21_R.STL b/urdfs/unitree_g1/meshes/Link21_R.STL
diff --git a/urdfs/unitree_g1/meshes/Link22_L.STL b/urdfs/unitree_g1/meshes/Link22_L.STL
diff --git a/urdfs/unitree_g1/meshes/Link22_R.STL b/urdfs/unitree_g1/meshes/Link22_R.STL
diff --git a/urdfs/unitree_g1/meshes/R_hand_base_link.STL b/urdfs/unitree_g1/meshes/R_hand_base_link.STL
diff --git a/urdfs/unitree_g1/meshes/d455_link.STL b/urdfs/unitree_g1/meshes/d455_link.STL
diff --git a/urdfs/unitree_g1/meshes/head_link.STL b/urdfs/unitree_g1/meshes/head_link.STL
diff --git a/urdfs/unitree_g1/meshes/head_servo_link.STL b/urdfs/unitree_g1/meshes/head_servo_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_ankle_pitch_link.STL b/urdfs/unitree_g1/meshes/left_ankle_pitch_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_ankle_roll_link.STL b/urdfs/unitree_g1/meshes/left_ankle_roll_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_base_link.STL b/urdfs/unitree_g1/meshes/left_base_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_elbow_link.STL b/urdfs/unitree_g1/meshes/left_elbow_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_hand_index_0_link.STL b/urdfs/unitree_g1/meshes/left_hand_index_0_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_hand_index_1_link.STL b/urdfs/unitree_g1/meshes/left_hand_index_1_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_hand_middle_0_link.STL b/urdfs/unitree_g1/meshes/left_hand_middle_0_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_hand_middle_1_link.STL b/urdfs/unitree_g1/meshes/left_hand_middle_1_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_hand_palm_link.STL b/urdfs/unitree_g1/meshes/left_hand_palm_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_hand_thumb_0_link.STL b/urdfs/unitree_g1/meshes/left_hand_thumb_0_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_hand_thumb_1_link.STL b/urdfs/unitree_g1/meshes/left_hand_thumb_1_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_hand_thumb_2_link.STL b/urdfs/unitree_g1/meshes/left_hand_thumb_2_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_hip_pitch_link.STL b/urdfs/unitree_g1/meshes/left_hip_pitch_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_hip_roll_link.STL b/urdfs/unitree_g1/meshes/left_hip_roll_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_hip_yaw_link.STL b/urdfs/unitree_g1/meshes/left_hip_yaw_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_index_1.STL b/urdfs/unitree_g1/meshes/left_index_1.STL
diff --git a/urdfs/unitree_g1/meshes/left_index_2.STL b/urdfs/unitree_g1/meshes/left_index_2.STL
diff --git a/urdfs/unitree_g1/meshes/left_index_force_sensor_1.STL b/urdfs/unitree_g1/meshes/left_index_force_sensor_1.STL
diff --git a/urdfs/unitree_g1/meshes/left_index_force_sensor_2.STL b/urdfs/unitree_g1/meshes/left_index_force_sensor_2.STL
diff --git a/urdfs/unitree_g1/meshes/left_index_force_sensor_3.STL b/urdfs/unitree_g1/meshes/left_index_force_sensor_3.STL
diff --git a/urdfs/unitree_g1/meshes/left_knee_link.STL b/urdfs/unitree_g1/meshes/left_knee_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_little_1.STL b/urdfs/unitree_g1/meshes/left_little_1.STL
diff --git a/urdfs/unitree_g1/meshes/left_little_2.STL b/urdfs/unitree_g1/meshes/left_little_2.STL
diff --git a/urdfs/unitree_g1/meshes/left_little_force_sensor_1.STL b/urdfs/unitree_g1/meshes/left_little_force_sensor_1.STL
diff --git a/urdfs/unitree_g1/meshes/left_little_force_sensor_2.STL b/urdfs/unitree_g1/meshes/left_little_force_sensor_2.STL
diff --git a/urdfs/unitree_g1/meshes/left_little_force_sensor_3.STL b/urdfs/unitree_g1/meshes/left_little_force_sensor_3.STL
diff --git a/urdfs/unitree_g1/meshes/left_middle_1.STL b/urdfs/unitree_g1/meshes/left_middle_1.STL
diff --git a/urdfs/unitree_g1/meshes/left_middle_2.STL b/urdfs/unitree_g1/meshes/left_middle_2.STL
diff --git a/urdfs/unitree_g1/meshes/left_middle_force_sensor_1.STL b/urdfs/unitree_g1/meshes/left_middle_force_sensor_1.STL
diff --git a/urdfs/unitree_g1/meshes/left_middle_force_sensor_2.STL b/urdfs/unitree_g1/meshes/left_middle_force_sensor_2.STL
diff --git a/urdfs/unitree_g1/meshes/left_middle_force_sensor_3.STL b/urdfs/unitree_g1/meshes/left_middle_force_sensor_3.STL
diff --git a/urdfs/unitree_g1/meshes/left_palm_force_sensor.STL b/urdfs/unitree_g1/meshes/left_palm_force_sensor.STL
diff --git a/urdfs/unitree_g1/meshes/left_ring_1.STL b/urdfs/unitree_g1/meshes/left_ring_1.STL
diff --git a/urdfs/unitree_g1/meshes/left_ring_2.STL b/urdfs/unitree_g1/meshes/left_ring_2.STL
diff --git a/urdfs/unitree_g1/meshes/left_ring_force_sensor_1.STL b/urdfs/unitree_g1/meshes/left_ring_force_sensor_1.STL
diff --git a/urdfs/unitree_g1/meshes/left_ring_force_sensor_2.STL b/urdfs/unitree_g1/meshes/left_ring_force_sensor_2.STL
diff --git a/urdfs/unitree_g1/meshes/left_ring_force_sensor_3.STL b/urdfs/unitree_g1/meshes/left_ring_force_sensor_3.STL
diff --git a/urdfs/unitree_g1/meshes/left_rubber_hand.STL b/urdfs/unitree_g1/meshes/left_rubber_hand.STL
diff --git a/urdfs/unitree_g1/meshes/left_shoulder_pitch_link.STL b/urdfs/unitree_g1/meshes/left_shoulder_pitch_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_shoulder_roll_link.STL b/urdfs/unitree_g1/meshes/left_shoulder_roll_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_shoulder_yaw_link.STL b/urdfs/unitree_g1/meshes/left_shoulder_yaw_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_thumb_1.STL b/urdfs/unitree_g1/meshes/left_thumb_1.STL
diff --git a/urdfs/unitree_g1/meshes/left_thumb_2.STL b/urdfs/unitree_g1/meshes/left_thumb_2.STL
diff --git a/urdfs/unitree_g1/meshes/left_thumb_3.STL b/urdfs/unitree_g1/meshes/left_thumb_3.STL
diff --git a/urdfs/unitree_g1/meshes/left_thumb_4.STL b/urdfs/unitree_g1/meshes/left_thumb_4.STL
diff --git a/urdfs/unitree_g1/meshes/left_thumb_force_sensor_1.STL b/urdfs/unitree_g1/meshes/left_thumb_force_sensor_1.STL
diff --git a/urdfs/unitree_g1/meshes/left_thumb_force_sensor_2.STL b/urdfs/unitree_g1/meshes/left_thumb_force_sensor_2.STL
diff --git a/urdfs/unitree_g1/meshes/left_thumb_force_sensor_3.STL b/urdfs/unitree_g1/meshes/left_thumb_force_sensor_3.STL
diff --git a/urdfs/unitree_g1/meshes/left_thumb_force_sensor_4.STL b/urdfs/unitree_g1/meshes/left_thumb_force_sensor_4.STL
diff --git a/urdfs/unitree_g1/meshes/left_thumb_swing.STL b/urdfs/unitree_g1/meshes/left_thumb_swing.STL
diff --git a/urdfs/unitree_g1/meshes/left_wrist_pitch_link.STL b/urdfs/unitree_g1/meshes/left_wrist_pitch_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_wrist_pitch_link_5010.STL b/urdfs/unitree_g1/meshes/left_wrist_pitch_link_5010.STL
diff --git a/urdfs/unitree_g1/meshes/left_wrist_roll_link.STL b/urdfs/unitree_g1/meshes/left_wrist_roll_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_wrist_roll_link_5010.STL b/urdfs/unitree_g1/meshes/left_wrist_roll_link_5010.STL
diff --git a/urdfs/unitree_g1/meshes/left_wrist_roll_rubber_hand.STL b/urdfs/unitree_g1/meshes/left_wrist_roll_rubber_hand.STL
diff --git a/urdfs/unitree_g1/meshes/left_wrist_yaw_link.STL b/urdfs/unitree_g1/meshes/left_wrist_yaw_link.STL
diff --git a/urdfs/unitree_g1/meshes/left_wrist_yaw_link_5010.STL b/urdfs/unitree_g1/meshes/left_wrist_yaw_link_5010.STL
diff --git a/urdfs/unitree_g1/meshes/logo_link.STL b/urdfs/unitree_g1/meshes/logo_link.STL
diff --git a/urdfs/unitree_g1/meshes/pelvis.STL b/urdfs/unitree_g1/meshes/pelvis.STL
diff --git a/urdfs/unitree_g1/meshes/pelvis_contour_link.STL b/urdfs/unitree_g1/meshes/pelvis_contour_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_ankle_pitch_link.STL b/urdfs/unitree_g1/meshes/right_ankle_pitch_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_ankle_roll_link.STL b/urdfs/unitree_g1/meshes/right_ankle_roll_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_base_link.STL b/urdfs/unitree_g1/meshes/right_base_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_elbow_link.STL b/urdfs/unitree_g1/meshes/right_elbow_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_hand_index_0_link.STL b/urdfs/unitree_g1/meshes/right_hand_index_0_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_hand_index_1_link.STL b/urdfs/unitree_g1/meshes/right_hand_index_1_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_hand_middle_0_link.STL b/urdfs/unitree_g1/meshes/right_hand_middle_0_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_hand_middle_1_link.STL b/urdfs/unitree_g1/meshes/right_hand_middle_1_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_hand_palm_link.STL b/urdfs/unitree_g1/meshes/right_hand_palm_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_hand_thumb_0_link.STL b/urdfs/unitree_g1/meshes/right_hand_thumb_0_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_hand_thumb_1_link.STL b/urdfs/unitree_g1/meshes/right_hand_thumb_1_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_hand_thumb_2_link.STL b/urdfs/unitree_g1/meshes/right_hand_thumb_2_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_hip_pitch_link.STL b/urdfs/unitree_g1/meshes/right_hip_pitch_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_hip_roll_link.STL b/urdfs/unitree_g1/meshes/right_hip_roll_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_hip_yaw_link.STL b/urdfs/unitree_g1/meshes/right_hip_yaw_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_index_1.STL b/urdfs/unitree_g1/meshes/right_index_1.STL
diff --git a/urdfs/unitree_g1/meshes/right_index_2.STL b/urdfs/unitree_g1/meshes/right_index_2.STL
diff --git a/urdfs/unitree_g1/meshes/right_index_force_sensor_1.STL b/urdfs/unitree_g1/meshes/right_index_force_sensor_1.STL
diff --git a/urdfs/unitree_g1/meshes/right_index_force_sensor_2.STL b/urdfs/unitree_g1/meshes/right_index_force_sensor_2.STL
diff --git a/urdfs/unitree_g1/meshes/right_index_force_sensor_3.STL b/urdfs/unitree_g1/meshes/right_index_force_sensor_3.STL
diff --git a/urdfs/unitree_g1/meshes/right_knee_link.STL b/urdfs/unitree_g1/meshes/right_knee_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_little_1.STL b/urdfs/unitree_g1/meshes/right_little_1.STL
diff --git a/urdfs/unitree_g1/meshes/right_little_2.STL b/urdfs/unitree_g1/meshes/right_little_2.STL
diff --git a/urdfs/unitree_g1/meshes/right_little_force_sensor_1.STL b/urdfs/unitree_g1/meshes/right_little_force_sensor_1.STL
diff --git a/urdfs/unitree_g1/meshes/right_little_force_sensor_2.STL b/urdfs/unitree_g1/meshes/right_little_force_sensor_2.STL
diff --git a/urdfs/unitree_g1/meshes/right_little_force_sensor_3.STL b/urdfs/unitree_g1/meshes/right_little_force_sensor_3.STL
diff --git a/urdfs/unitree_g1/meshes/right_middle_1.STL b/urdfs/unitree_g1/meshes/right_middle_1.STL
diff --git a/urdfs/unitree_g1/meshes/right_middle_2.STL b/urdfs/unitree_g1/meshes/right_middle_2.STL
diff --git a/urdfs/unitree_g1/meshes/right_middle_force_sensor_1.STL b/urdfs/unitree_g1/meshes/right_middle_force_sensor_1.STL
diff --git a/urdfs/unitree_g1/meshes/right_middle_force_sensor_2.STL b/urdfs/unitree_g1/meshes/right_middle_force_sensor_2.STL
diff --git a/urdfs/unitree_g1/meshes/right_middle_force_sensor_3.STL b/urdfs/unitree_g1/meshes/right_middle_force_sensor_3.STL
diff --git a/urdfs/unitree_g1/meshes/right_palm_force_sensor.STL b/urdfs/unitree_g1/meshes/right_palm_force_sensor.STL
diff --git a/urdfs/unitree_g1/meshes/right_ring_1.STL b/urdfs/unitree_g1/meshes/right_ring_1.STL
diff --git a/urdfs/unitree_g1/meshes/right_ring_2.STL b/urdfs/unitree_g1/meshes/right_ring_2.STL
diff --git a/urdfs/unitree_g1/meshes/right_ring_force_sensor_1.STL b/urdfs/unitree_g1/meshes/right_ring_force_sensor_1.STL
diff --git a/urdfs/unitree_g1/meshes/right_ring_force_sensor_2.STL b/urdfs/unitree_g1/meshes/right_ring_force_sensor_2.STL
diff --git a/urdfs/unitree_g1/meshes/right_ring_force_sensor_3.STL b/urdfs/unitree_g1/meshes/right_ring_force_sensor_3.STL
diff --git a/urdfs/unitree_g1/meshes/right_rubber_hand.STL b/urdfs/unitree_g1/meshes/right_rubber_hand.STL
diff --git a/urdfs/unitree_g1/meshes/right_shoulder_pitch_link.STL b/urdfs/unitree_g1/meshes/right_shoulder_pitch_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_shoulder_roll_link.STL b/urdfs/unitree_g1/meshes/right_shoulder_roll_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_shoulder_yaw_link.STL b/urdfs/unitree_g1/meshes/right_shoulder_yaw_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_thumb_1.STL b/urdfs/unitree_g1/meshes/right_thumb_1.STL
diff --git a/urdfs/unitree_g1/meshes/right_thumb_2.STL b/urdfs/unitree_g1/meshes/right_thumb_2.STL
diff --git a/urdfs/unitree_g1/meshes/right_thumb_3.STL b/urdfs/unitree_g1/meshes/right_thumb_3.STL
diff --git a/urdfs/unitree_g1/meshes/right_thumb_4.STL b/urdfs/unitree_g1/meshes/right_thumb_4.STL
diff --git a/urdfs/unitree_g1/meshes/right_thumb_force_sensor_1.STL b/urdfs/unitree_g1/meshes/right_thumb_force_sensor_1.STL
diff --git a/urdfs/unitree_g1/meshes/right_thumb_force_sensor_2.STL b/urdfs/unitree_g1/meshes/right_thumb_force_sensor_2.STL
diff --git a/urdfs/unitree_g1/meshes/right_thumb_force_sensor_3.STL b/urdfs/unitree_g1/meshes/right_thumb_force_sensor_3.STL
diff --git a/urdfs/unitree_g1/meshes/right_thumb_force_sensor_4.STL b/urdfs/unitree_g1/meshes/right_thumb_force_sensor_4.STL
diff --git a/urdfs/unitree_g1/meshes/right_wrist_pitch_link.STL b/urdfs/unitree_g1/meshes/right_wrist_pitch_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_wrist_pitch_link_5010.STL b/urdfs/unitree_g1/meshes/right_wrist_pitch_link_5010.STL
diff --git a/urdfs/unitree_g1/meshes/right_wrist_roll_link.STL b/urdfs/unitree_g1/meshes/right_wrist_roll_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_wrist_roll_link_5010.STL b/urdfs/unitree_g1/meshes/right_wrist_roll_link_5010.STL
diff --git a/urdfs/unitree_g1/meshes/right_wrist_roll_rubber_hand.STL b/urdfs/unitree_g1/meshes/right_wrist_roll_rubber_hand.STL
diff --git a/urdfs/unitree_g1/meshes/right_wrist_yaw_link.STL b/urdfs/unitree_g1/meshes/right_wrist_yaw_link.STL
diff --git a/urdfs/unitree_g1/meshes/right_wrist_yaw_link_5010.STL b/urdfs/unitree_g1/meshes/right_wrist_yaw_link_5010.STL
diff --git a/urdfs/unitree_g1/meshes/torso_constraint_L_link.STL b/urdfs/unitree_g1/meshes/torso_constraint_L_link.STL
diff --git a/urdfs/unitree_g1/meshes/torso_constraint_L_rod_link.STL b/urdfs/unitree_g1/meshes/torso_constraint_L_rod_link.STL
diff --git a/urdfs/unitree_g1/meshes/torso_constraint_R_link.STL b/urdfs/unitree_g1/meshes/torso_constraint_R_link.STL
diff --git a/urdfs/unitree_g1/meshes/torso_constraint_R_rod_link.STL b/urdfs/unitree_g1/meshes/torso_constraint_R_rod_link.STL
diff --git a/urdfs/unitree_g1/meshes/torso_link.STL b/urdfs/unitree_g1/meshes/torso_link.STL
diff --git a/urdfs/unitree_g1/meshes/torso_link_23dof_rev_1_0.STL b/urdfs/unitree_g1/meshes/torso_link_23dof_rev_1_0.STL
diff --git a/urdfs/unitree_g1/meshes/torso_link_rev_1_0.STL b/urdfs/unitree_g1/meshes/torso_link_rev_1_0.STL
diff --git a/urdfs/unitree_g1/meshes/waist_constraint_L.STL b/urdfs/unitree_g1/meshes/waist_constraint_L.STL
diff --git a/urdfs/unitree_g1/meshes/waist_constraint_R.STL b/urdfs/unitree_g1/meshes/waist_constraint_R.STL
diff --git a/urdfs/unitree_g1/meshes/waist_roll_link.STL b/urdfs/unitree_g1/meshes/waist_roll_link.STL
diff --git a/urdfs/unitree_g1/meshes/waist_roll_link_rev_1_0.STL b/urdfs/unitree_g1/meshes/waist_roll_link_rev_1_0.STL
diff --git a/urdfs/unitree_g1/meshes/waist_support_link.STL b/urdfs/unitree_g1/meshes/waist_support_link.STL
diff --git a/urdfs/unitree_g1/meshes/waist_yaw_link.STL b/urdfs/unitree_g1/meshes/waist_yaw_link.STL
diff --git a/urdfs/unitree_g1/meshes/waist_yaw_link_rev_1_0.STL b/urdfs/unitree_g1/meshes/waist_yaw_link_rev_1_0.STL
diff --git a/urdfs/unitree_g1/meshes/xl330_link.STL b/urdfs/unitree_g1/meshes/xl330_link.STL