diff --git a/.python-version b/.python-version
index 24ee5b1be..2c0733315 100644
--- a/.python-version
+++ b/.python-version
@@ -1 +1 @@
-3.13
+3.11
diff --git a/deploy.py b/deploy.py
new file mode 100644
index 000000000..a1b1798a5
--- /dev/null
+++ b/deploy.py
@@ -0,0 +1,601 @@
+"""
+Humanoid Sim2Sim Deployment for mjlab-trained policies.
+
+This script:
+1. Loads an ONNX policy exported from mjlab
+2. Extracts KP/KD/action_scale from ONNX metadata
+3. Builds observations matching mjlab's velocity task
+4. Runs sim2sim in MuJoCo with video recording and analysis
+
+Observation tensor layout (47 dims - mjlab Humanoid with gait_clock):
+  0-2:   base_ang_vel (3)    - IMU angular velocity in body frame
+  3-5:   projected_gravity (3) - Gravity projected into body frame
+  6-8:   command (3)         - Velocity command (vx, vy, wz)
+  9-20:  joint_pos (12)      - Joint positions relative to default
+  21-32: joint_vel (12)      - Joint velocities
+  33-44: actions (12)        - Last action sent
+  45-46: gait_clock (2)      - [cos(phase), sin(phase)] for gait timing
+"""
+
+import os
+os.environ["MUJOCO_GL"] = "egl"
+
+import argparse
+import csv
+import time
+from datetime import datetime
+
+import cv2
+import matplotlib.pyplot as plt
+import mujoco
+import numpy as np
+import onnx
+import onnxruntime as ort
+import pandas as pd
+
+
+# ============================================================================
+# Configuration
+# ============================================================================
+
+# Robot model (same XML used for training)
+XML_PATH = "src/mjlab/asset_zoo/robots/humanoid/xmls/humanoid.xml"
+
+# Simulation parameters
+SIMULATION_DURATION = 20.0  # seconds
+SIMULATION_DT = 0.005       # 200 Hz physics (matches mjlab)
+CONTROL_DECIMATION = 4      # Policy runs at 50 Hz
+
+# Video parameters
+VIDEO_WIDTH = 1280
+VIDEO_HEIGHT = 720
+VIDEO_FPS = 30
+
+# Number of observations and actions
+NUM_OBS = 47  # base_ang_vel(3) + projected_gravity(3) + command(3) + joint_pos(12) + joint_vel(12) + actions(12) + gait_clock(2)
+NUM_ACTIONS = 12
+
+# Gait clock frequency (Hz) - must match training config
+GAIT_FREQ = 1.25  # Matches mjlab training config
+
+# Joint limits for plotting
+JOINT_LIMITS = {
+    "L_hip_pitch":   (-2.094, 1.000),
+    "L_hip_roll":    (-0.785, 0.785),
+    "L_hip_yaw":     (-0.785, 0.785),
+    "L_knee":        (-1.5, 1.5),
+    "L_ankle_pitch": (-0.5, 0.5),
+    "L_ankle_roll":  (-0.1, 0.1),
+    "R_hip_pitch":   (-1.000, 2.094),
+    "R_hip_roll":    (-0.785, 0.785),
+    "R_hip_yaw":     (-0.785, 0.785),
+    "R_knee":        (-1.5, 1.5),
+    "R_ankle_pitch": (-0.5, 0.5),
+    "R_ankle_roll":  (-0.1, 0.1),
+}
+
+
+# ============================================================================
+# Helper Functions
+# ============================================================================
+
+def parse_csv_floats(s: str) -> list[float]:
+    """Parse comma-separated float string."""
+    return [float(x) for x in s.split(",")]
+
+
+def load_onnx_with_metadata(onnx_path: str) -> dict:
+    """Load ONNX model and extract metadata."""
+    model = onnx.load(onnx_path)
+    metadata = {}
+    for prop in model.metadata_props:
+        metadata[prop.key] = prop.value
+    return metadata
+
+
+def pd_control(target_q, q, kp, target_dq, dq, kd):
+    """PD controller for joint torques (used when actuators are motors)."""
+    return (target_q - q) * kp + (target_dq - dq) * kd
+
+
+def create_position_actuators(spec, joint_names, kps, kds, effort_limits, armatures):
+    """Modify existing actuators to be position actuators (matching mjlab training)."""
+    # Modify existing actuators to position type with KP/KD
+    for i, joint_name in enumerate(joint_names):
+        # Find the existing actuator for this joint
+        act_name = f"{joint_name}_ctrl"
+        act = None
+        for a in spec.actuators:
+            if a.name == act_name:
+                act = a
+                break
+
+        if act is None:
+            # Create new actuator if not found
+            act = spec.add_actuator()
+            act.name = f"{joint_name}_pos"
+            # Find joint by iterating through spec.joints
+            joint = None
+            for j in spec.joints:
+                if j.name == joint_name:
+                    joint = j
+                    break
+            if joint is not None:
+                act.target = joint.full_name
+            act.trntype = mujoco.mjtTrn.mjTRN_JOINT
+
+        # Configure as position actuator
+        act.gaintype = mujoco.mjtGain.mjGAIN_FIXED
+        act.biastype = mujoco.mjtBias.mjBIAS_AFFINE
+        act.gainprm[0] = kps[i]  # kp gain
+        act.biasprm[0] = 0.0     # bias offset
+        act.biasprm[1] = -kps[i]  # -kp (position bias)
+        act.biasprm[2] = -kds[i]  # -kd (velocity bias)
+        if effort_limits is not None:
+            act.forcerange = (-effort_limits[i], effort_limits[i])
+
+        # Set armature on joint
+        joint = None
+        for j in spec.joints:
+            if j.name == joint_name:
+                joint = j
+                break
+        if joint is not None:
+            joint.armature = armatures[i]
+
+
+def get_projected_gravity(quat):
+    """
+    Get gravity vector projected into body frame.
+
+    MuJoCo quaternion format: (w, x, y, z)
+    Gravity in world frame: (0, 0, -1)
+
+    This computes: R^T @ [0, 0, -1] where R is rotation from body to world.
+    Uses the same formula as mjlab's quat_apply_inverse.
+    """
+    w, x, y, z = quat
+    # Rotate [0, 0, -1] by inverse quaternion (matching mjlab quat_apply_inverse)
+    gx = 2.0 * (w * y - x * z)
+    gy = -2.0 * (w * x + y * z)
+    gz = -1.0 + 2.0 * (x * x + y * y)
+    return np.array([gx, gy, gz], dtype=np.float32)
+
+
+def get_imu_data(data):
+    """Get IMU sensor data (velocimeter and gyro in body frame)."""
+    # MuJoCo velocimeter and gyro sensors output in body frame
+    lin_vel = data.sensor("imu_lin_vel").data.copy().astype(np.float32)
+    ang_vel = data.sensor("imu_ang_vel").data.copy().astype(np.float32)
+    return lin_vel, ang_vel
+
+
+def analyze_results(csv_path, joint_names, output_prefix):
+    """Analyze simulation results and generate plots."""
+    df = pd.read_csv(csv_path)
+    time_arr = df['time'].values
+
+    short_names = []
+    for name in joint_names:
+        short = name.replace("_joint", "").replace("left_", "L_").replace("right_", "R_")
+        short_names.append(short)
+
+    print("\n" + "=" * 70)
+    print("TRACKING ERROR ANALYSIS")
+    print("=" * 70)
+
+    print(f"\nStability Metrics:")
+    print(f"  Pelvis height: {df['pelvis_z'].mean():.3f} +/- {df['pelvis_z'].std():.4f} m")
+    print(f"  Gravity Z:     {df['grav_z'].mean():.3f} +/- {df['grav_z'].std():.4f} (upright = -1.0)")
+
+    print(f"\n{'Joint':<14} {'RMS (rad)':<12} {'RMS (deg)':<12} {'Max (rad)':<12}")
+    print("-" * 50)
+
+    settled = df[df['time'] > 1.0]
+    for short in short_names:
+        if f"err_{short}" in df.columns:
+            err = settled[f"err_{short}"]
+            rms = np.sqrt(np.mean(err**2))
+            max_err = np.abs(err).max()
+            print(f"{short:<14} {rms:<12.4f} {np.degrees(rms):<12.2f} {max_err:<12.4f}")
+
+    # Plot 1: Target vs Actual Joint Positions
+    fig, axes = plt.subplots(4, 3, figsize=(14, 10))
+    axes = axes.flatten()
+    fig.suptitle("Target vs Actual Joint Positions", fontsize=14, fontweight='bold')
+
+    for i, (ax, short) in enumerate(zip(axes, short_names)):
+        if f"tgt_{short}" not in df.columns:
+            continue
+        tgt = df[f"tgt_{short}"].values
+        act = df[f"act_{short}"].values
+
+        ax.plot(time_arr, tgt, 'b-', linewidth=1.5, label='Target', alpha=0.8)
+        ax.plot(time_arr, act, 'g-', linewidth=1.5, label='Actual', alpha=0.8)
+        ax.axhline(y=0, color='gray', linestyle=':', alpha=0.5)
+
+        if short in JOINT_LIMITS:
+            lim_min, lim_max = JOINT_LIMITS[short]
+            ax.axhline(y=lim_min, color='r', linestyle='--', linewidth=1, alpha=0.7)
+            ax.axhline(y=lim_max, color='r', linestyle='--', linewidth=1, alpha=0.7)
+            ax.fill_between(time_arr, lim_min, lim_max, color='green', alpha=0.1)
+
+        ax.set_title(short, fontsize=11)
+        ax.set_xlabel("Time (s)", fontsize=9)
+        ax.set_ylabel("Angle (rad)", fontsize=9)
+        ax.grid(True, alpha=0.3)
+        ax.tick_params(labelsize=8)
+        if i == 0:
+            ax.legend(fontsize=8, loc='upper right')
+
+    plt.tight_layout()
+    plot1_path = f"{output_prefix}_joints.png"
+    plt.savefig(plot1_path, dpi=150, bbox_inches='tight')
+    plt.close()
+    print(f"\nSaved: {plot1_path}")
+
+    # Plot 2: Stability Metrics
+    fig2, (ax1, ax2) = plt.subplots(2, 1, figsize=(10, 6))
+    fig2.suptitle("Robot Stability Metrics", fontsize=14, fontweight='bold')
+
+    ax1.plot(time_arr, df['pelvis_z'].values, 'b-', linewidth=2)
+    ax1.axhline(y=0.75, color='r', linestyle='--', alpha=0.7, label='Target height')
+    ax1.set_ylabel("Pelvis Height (m)", fontsize=11)
+    ax1.set_xlabel("Time (s)", fontsize=11)
+    ax1.legend(fontsize=9)
+    ax1.grid(True, alpha=0.3)
+    ax1.set_ylim([0.3, 0.9])
+
+    ax2.plot(time_arr, df['grav_z'].values, 'g-', linewidth=2)
+    ax2.axhline(y=-1.0, color='r', linestyle='--', alpha=0.7, label='Upright (-1.0)')
+    ax2.set_ylabel("Gravity Z (body frame)", fontsize=11)
+    ax2.set_xlabel("Time (s)", fontsize=11)
+    ax2.legend(fontsize=9)
+    ax2.grid(True, alpha=0.3)
+    ax2.set_ylim([-1.1, 0.5])
+
+    plt.tight_layout()
+    plot2_path = f"{output_prefix}_stability.png"
+    plt.savefig(plot2_path, dpi=150, bbox_inches='tight')
+    plt.close()
+    print(f"Saved: {plot2_path}")
+
+    # Plot 3: IMU Data
+    fig3, axes3 = plt.subplots(3, 1, figsize=(12, 8))
+    fig3.suptitle("IMU Data", fontsize=14, fontweight='bold')
+
+    ax = axes3[0]
+    ax.plot(time_arr, df['quat_w'].values, 'b-', linewidth=1.5, label='w', alpha=0.8)
+    ax.plot(time_arr, df['quat_x'].values, 'r-', linewidth=1.5, label='x', alpha=0.8)
+    ax.plot(time_arr, df['quat_y'].values, 'g-', linewidth=1.5, label='y', alpha=0.8)
+    ax.plot(time_arr, df['quat_z'].values, 'm-', linewidth=1.5, label='z', alpha=0.8)
+    ax.set_ylabel("Quaternion", fontsize=11)
+    ax.set_xlabel("Time (s)", fontsize=11)
+    ax.legend(fontsize=9, loc='upper right', ncol=4)
+    ax.grid(True, alpha=0.3)
+    ax.set_ylim([-1.1, 1.1])
+
+    ax = axes3[1]
+    ax.plot(time_arr, df['lin_vel_x'].values, 'r-', linewidth=1.5, label='vx', alpha=0.8)
+    ax.plot(time_arr, df['lin_vel_y'].values, 'g-', linewidth=1.5, label='vy', alpha=0.8)
+    ax.plot(time_arr, df['lin_vel_z'].values, 'b-', linewidth=1.5, label='vz', alpha=0.8)
+    ax.axhline(y=0, color='gray', linestyle=':', alpha=0.5)
+    ax.set_ylabel("Linear Velocity (m/s)", fontsize=11)
+    ax.set_xlabel("Time (s)", fontsize=11)
+    ax.legend(fontsize=9, loc='upper right')
+    ax.grid(True, alpha=0.3)
+
+    ax = axes3[2]
+    ax.plot(time_arr, df['ang_vel_x'].values, 'r-', linewidth=1.5, label='wx', alpha=0.8)
+    ax.plot(time_arr, df['ang_vel_y'].values, 'g-', linewidth=1.5, label='wy', alpha=0.8)
+    ax.plot(time_arr, df['ang_vel_z'].values, 'b-', linewidth=1.5, label='wz', alpha=0.8)
+    ax.axhline(y=0, color='gray', linestyle=':', alpha=0.5)
+    ax.set_ylabel("Angular Velocity (rad/s)", fontsize=11)
+    ax.set_xlabel("Time (s)", fontsize=11)
+    ax.legend(fontsize=9, loc='upper right')
+    ax.grid(True, alpha=0.3)
+
+    plt.tight_layout()
+    plot3_path = f"{output_prefix}_imu.png"
+    plt.savefig(plot3_path, dpi=150, bbox_inches='tight')
+    plt.close()
+    print(f"Saved: {plot3_path}")
+
+
+# ============================================================================
+# Main Simulation
+# ============================================================================
+
+def main():
+    parser = argparse.ArgumentParser(description="Humanoid sim2sim deployment for mjlab policies")
+    parser.add_argument("--policy", type=str, required=True, help="Path to ONNX policy file")
+    parser.add_argument("--cmd_vx", type=float, default=0.5, help="X velocity command (m/s)")
+    parser.add_argument("--cmd_vy", type=float, default=0.0, help="Y velocity command (m/s)")
+    parser.add_argument("--cmd_wz", type=float, default=0.0, help="Yaw rate command (rad/s)")
+    parser.add_argument("--duration", type=float, default=SIMULATION_DURATION, help="Simulation duration (s)")
+    parser.add_argument("--push_force", type=float, default=0.0, help="Push force in N (applied at push_time)")
+    parser.add_argument("--push_time", type=float, default=2.0, help="Time to apply push (s)")
+    parser.add_argument("--push_duration", type=float, default=0.1, help="Duration of push (s)")
+    parser.add_argument("--push_dir", type=str, default="x", choices=["x", "y", "-x", "-y"], help="Push direction (x=forward, y=left, -x=back, -y=right)")
+    args = parser.parse_args()
+
+    timestamp = datetime.now().strftime('%Y-%m-%d_%H-%M-%S')
+
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    log_dir = os.path.join(script_dir, "logs", timestamp)
+    os.makedirs(log_dir, exist_ok=True)
+
+    video_output = os.path.join(log_dir, "sim2sim.mp4")
+    csv_output = os.path.join(log_dir, "sim2sim.csv")
+    output_prefix = os.path.join(log_dir, "sim2sim")
+
+    # Load ONNX metadata
+    print("=" * 60)
+    print("Humanoid Sim2Sim - mjlab Policy Deployment")
+    print("=" * 60)
+    print(f"Policy: {args.policy}")
+
+    metadata = load_onnx_with_metadata(args.policy)
+
+    joint_names = metadata["joint_names"].split(",")
+    kps = np.array(parse_csv_floats(metadata["joint_stiffness"]), dtype=np.float32)
+    kds = np.array(parse_csv_floats(metadata["joint_damping"]), dtype=np.float32)
+    default_joint_pos = np.array(parse_csv_floats(metadata["default_joint_pos"]), dtype=np.float32)
+    action_scale = np.array(parse_csv_floats(metadata["action_scale"]), dtype=np.float32)
+    observation_names = metadata["observation_names"].split(",")
+
+    print(f"\nExtracted from ONNX metadata:")
+    print(f"  Joint names: {joint_names}")
+    print(f"  KP: {kps}")
+    print(f"  KD: {kds}")
+    print(f"  Default pos: {default_joint_pos}")
+    print(f"  Action scale: {action_scale}")
+    print(f"  Observations: {observation_names}")
+
+    # Torque limits (from motor specs)
+    torque_limits = np.array([120, 90, 60, 75, 36, 36, 120, 90, 60, 75, 36, 36], dtype=np.float32)
+
+    # Velocity command
+    cmd = np.array([args.cmd_vx, args.cmd_vy, args.cmd_wz], dtype=np.float32)
+    print(f"\nVelocity command: vx={cmd[0]:.2f}, vy={cmd[1]:.2f}, wz={cmd[2]:.2f}")
+    if args.push_force > 0:
+        print(f"Push: {args.push_force:.0f}N at t={args.push_time:.1f}s for {args.push_duration:.2f}s")
+
+    # Load ONNX policy
+    print("\nLoading ONNX policy...")
+    ort_session = ort.InferenceSession(args.policy)
+    input_name = ort_session.get_inputs()[0].name
+    print(f"  Input name: {input_name}")
+    print(f"  Input shape: {ort_session.get_inputs()[0].shape}")
+
+    # Load MuJoCo model using MjSpec to create position actuators (matching mjlab training)
+    print("\nLoading MuJoCo model with position actuators...")
+    os.chdir(script_dir)
+    xml_path = os.path.join(script_dir, XML_PATH)
+
+    # Load XML into MjSpec so we can modify actuators
+    spec = mujoco.MjSpec.from_file(xml_path)
+
+    # Armature values from humanoid_constants.py (reflected inertia)
+    armatures = np.array([
+        0.0652, 0.100, 0.0343, 0.0330, 0.0236, 0.0236,  # left leg
+        0.0652, 0.100, 0.0343, 0.0330, 0.0236, 0.0236,  # right leg
+    ], dtype=np.float32)
+
+    # Create position actuators (replaces motor actuators from XML)
+    create_position_actuators(spec, joint_names, kps, kds, torque_limits, armatures)
+
+    # Compile the modified spec
+    m = spec.compile()
+    d = mujoco.MjData(m)
+    m.opt.timestep = SIMULATION_DT
+
+    # Get joint indices (actuators now match joint_names order)
+    actuated_joint_names = joint_names
+    print("\nActuated Joint Order (position actuators):")
+    for i, name in enumerate(actuated_joint_names):
+        print(f"  {i:02d}: {name}")
+
+    # Find joint qpos/qvel indices
+    qpos_ids = []
+    qvel_ids = []
+    for jname in joint_names:
+        jid = mujoco.mj_name2id(m, mujoco.mjtObj.mjOBJ_JOINT, jname)
+        qpos_ids.append(m.jnt_qposadr[jid])
+        qvel_ids.append(m.jnt_dofadr[jid])
+    qpos_ids = np.array(qpos_ids)
+    qvel_ids = np.array(qvel_ids)
+
+    short_names = []
+    for name in actuated_joint_names:
+        short = name.replace("_joint", "").replace("left_", "L_").replace("right_", "R_")
+        short_names.append(short)
+
+    # Initialize robot state
+    d.qpos[7:7+NUM_ACTIONS] = default_joint_pos
+    d.qpos[2] = 0.75  # Starting height
+    d.qvel[:] = 0.0
+    mujoco.mj_forward(m, d)
+
+    # Get pelvis body id for applying push force
+    pelvis_body_id = mujoco.mj_name2id(m, mujoco.mjtObj.mjOBJ_BODY, "pelvis_link")
+    push_start_step = int(args.push_time / SIMULATION_DT)
+    push_end_step = int((args.push_time + args.push_duration) / SIMULATION_DT)
+
+    # Setup video recording
+    print(f"\nSetting up video recording ({VIDEO_WIDTH}x{VIDEO_HEIGHT} @ {VIDEO_FPS}fps)...")
+    renderer = mujoco.Renderer(m, VIDEO_HEIGHT, VIDEO_WIDTH)
+
+    fourcc = cv2.VideoWriter_fourcc(*'mp4v')
+    video_writer = cv2.VideoWriter(video_output, fourcc, VIDEO_FPS, (VIDEO_WIDTH, VIDEO_HEIGHT))
+
+    # Setup CSV logging
+    csv_file = open(csv_output, "w", newline="")
+    csv_writer = csv.writer(csv_file)
+
+    header = ["step", "time", "pelvis_x", "pelvis_y", "pelvis_z"]
+    header += ["quat_w", "quat_x", "quat_y", "quat_z"]
+    header += ["lin_vel_x", "lin_vel_y", "lin_vel_z"]
+    header += ["ang_vel_x", "ang_vel_y", "ang_vel_z"]
+    header += ["grav_x", "grav_y", "grav_z"]
+    for short in short_names:
+        header += [f"tgt_{short}", f"act_{short}", f"err_{short}"]
+    csv_writer.writerow(header)
+
+    # Initialize state variables
+    action = np.zeros(NUM_ACTIONS, dtype=np.float32)
+    target_dof_pos = default_joint_pos.copy()
+    obs = np.zeros(NUM_OBS, dtype=np.float32)
+
+    # Gait clock state - tracks phase in [0, 1) like mjlab
+    gait_phase = 0.0
+    control_dt = SIMULATION_DT * CONTROL_DECIMATION  # 0.02s at 50Hz
+
+    counter = 0
+    frame_counter = 0
+    frames_per_video_frame = int(1.0 / (VIDEO_FPS * SIMULATION_DT))
+    total_steps = int(args.duration / SIMULATION_DT)
+
+    print(f"\nRunning simulation for {args.duration} seconds...")
+    print(f"Output: {log_dir}/")
+    start_time = time.time()
+
+    for step_idx in range(total_steps):
+        # Get current joint state
+        q = d.qpos[qpos_ids]
+        dq = d.qvel[qvel_ids]
+
+        # With position actuators, send position targets directly
+        # MuJoCo's built-in PD controller handles torque computation
+        d.ctrl[:] = target_dof_pos
+
+        # Apply external push force if within push window
+        if args.push_force > 0 and push_start_step <= step_idx < push_end_step:
+            # Apply force in specified direction
+            if args.push_dir == "x":
+                d.xfrc_applied[pelvis_body_id, 0] = args.push_force
+            elif args.push_dir == "-x":
+                d.xfrc_applied[pelvis_body_id, 0] = -args.push_force
+            elif args.push_dir == "y":
+                d.xfrc_applied[pelvis_body_id, 1] = args.push_force
+            elif args.push_dir == "-y":
+                d.xfrc_applied[pelvis_body_id, 1] = -args.push_force
+        else:
+            d.xfrc_applied[pelvis_body_id, :] = 0
+
+        mujoco.mj_step(m, d)
+
+        counter += 1
+
+        # Policy inference at control frequency
+        if counter % CONTROL_DECIMATION == 0:
+            # Get observations
+            qj = d.qpos[qpos_ids]
+            dqj = d.qvel[qvel_ids]
+            pelvis_quat = d.qpos[3:7]  # (w, x, y, z)
+
+            # Get body frame velocities from MuJoCo sensors
+            lin_vel, ang_vel = get_imu_data(d)
+
+            # Projected gravity
+            grav = get_projected_gravity(pelvis_quat)
+
+            # Build observation vector (mjlab Humanoid order - 47 dims):
+            # [base_ang_vel(3), projected_gravity(3), command(3),
+            #  joint_pos(12), joint_vel(12), actions(12), gait_clock(2)]
+
+            # Update gait phase - only advances when command is active (like mjlab)
+            cmd_magnitude = np.sqrt(cmd[0]**2 + cmd[1]**2) + abs(cmd[2])
+            if cmd_magnitude > 0.1:  # command_threshold from training config
+                gait_phase = (gait_phase + control_dt * GAIT_FREQ) % 1.0
+
+            # Convert phase to cos/sin (phase is in [0,1), multiply by 2π)
+            phase_2pi = 2.0 * np.pi * gait_phase
+
+            obs[0:3] = ang_vel                          # base_ang_vel
+            obs[3:6] = grav                             # projected_gravity
+            obs[6:9] = cmd                              # command
+            obs[9:21] = qj - default_joint_pos          # joint_pos (relative)
+            obs[21:33] = dqj                            # joint_vel
+            obs[33:45] = action                         # last action
+            obs[45:47] = [np.cos(phase_2pi), np.sin(phase_2pi)]  # gait_clock [cos, sin]
+
+            # Run ONNX inference
+            obs_input = obs.reshape(1, -1).astype(np.float32)
+            action = ort_session.run(None, {input_name: obs_input})[0].squeeze()
+
+            # Compute target position
+            target_dof_pos = default_joint_pos + action * action_scale
+
+            # Log to CSV
+            sim_time = step_idx * SIMULATION_DT
+            pelvis_pos = d.qpos[0:3]
+
+            row = [counter, f"{sim_time:.3f}"]
+            row += [f"{pelvis_pos[0]:.4f}", f"{pelvis_pos[1]:.4f}", f"{pelvis_pos[2]:.4f}"]
+            row += [f"{pelvis_quat[0]:.4f}", f"{pelvis_quat[1]:.4f}", f"{pelvis_quat[2]:.4f}", f"{pelvis_quat[3]:.4f}"]
+            row += [f"{lin_vel[0]:.4f}", f"{lin_vel[1]:.4f}", f"{lin_vel[2]:.4f}"]
+            row += [f"{ang_vel[0]:.4f}", f"{ang_vel[1]:.4f}", f"{ang_vel[2]:.4f}"]
+            row += [f"{grav[0]:.4f}", f"{grav[1]:.4f}", f"{grav[2]:.4f}"]
+
+            for i in range(NUM_ACTIONS):
+                tgt = target_dof_pos[i]
+                act = qj[i]
+                err = tgt - act
+                row += [f"{tgt:.4f}", f"{act:.4f}", f"{err:.4f}"]
+            csv_writer.writerow(row)
+
+        # Record video frame
+        if counter % frames_per_video_frame == 0:
+            renderer.update_scene(d, camera="side_camera")
+            frame = renderer.render()
+            frame_bgr = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
+
+            sim_time = step_idx * SIMULATION_DT
+            pelvis_z = d.qpos[2]
+            grav_z = get_projected_gravity(d.qpos[3:7])[2]
+            status = "STANDING" if (pelvis_z > 0.4 and grav_z < -0.5) else "FALLEN!"
+
+            cv2.putText(frame_bgr, f"Time: {sim_time:.2f}s", (10, 30),
+                       cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2)
+            cv2.putText(frame_bgr, f"Cmd: vx={cmd[0]:.2f} vy={cmd[1]:.2f} wz={cmd[2]:.2f}",
+                       (10, 70), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255, 255, 255), 2)
+            cv2.putText(frame_bgr, f"Height: {pelvis_z:.2f}m | {status}",
+                       (10, 110), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255, 255, 255), 2)
+
+            video_writer.write(frame_bgr)
+            frame_counter += 1
+
+        # Progress update
+        if step_idx % int(0.5 / SIMULATION_DT) == 0:
+            sim_time = step_idx * SIMULATION_DT
+            pelvis_x, pelvis_y, pelvis_z = d.qpos[0:3]
+            grav = get_projected_gravity(d.qpos[3:7])
+            is_upright = grav[2] < -0.5
+            status = "STANDING" if (pelvis_z > 0.4 and is_upright) else "FALLEN!"
+            print(f"  t={sim_time:5.1f}s | pos=({pelvis_x:5.2f},{pelvis_y:5.2f},{pelvis_z:.2f}) | {status}")
+
+    # Cleanup
+    video_writer.release()
+    renderer.close()
+    csv_file.close()
+
+    elapsed = time.time() - start_time
+    print(f"\nSimulation completed in {elapsed:.2f}s (real time)")
+
+    print(f"\n{'=' * 60}")
+    print(f"Simulation complete!")
+    print(f"  Total frames: {frame_counter}")
+    print(f"  Video saved: {video_output}")
+    print(f"  CSV saved: {csv_output}")
+    print(f"{'=' * 60}")
+
+    # Generate analysis plots
+    print("\nGenerating analysis plots...")
+    analyze_results(csv_output, actuated_joint_names, output_prefix)
+
+    print("\nDone!")
+
+
+if __name__ == "__main__":
+    main()
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diff --git a/docs/source/_static/content/humanoid_sim.gif b/docs/source/_static/content/humanoid_sim.gif
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diff --git a/motor_parameters.md b/motor_parameters.md
new file mode 100644
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--- /dev/null
+++ b/motor_parameters.md
@@ -0,0 +1,342 @@
+# Humanoid Motor Parameters Reference
+
+## Motor Assignments
+
+| Joint | Side | Motor ID | CAN ID | Actuator Model | Gear Ratio | Gear Type |
+|-------|------|----------|--------|----------------|------------|-----------|
+| hip_pitch | L | 0 | 0x01 | EC-A6416-P2-25 | 25:1 | Planetary (P2) |
+| hip_pitch | R | 6 | 0x07 | EC-A6416-P2-25 | 25:1 | Planetary (P2) |
+| hip_roll | L | 1 | 0x02 | EC-A5013-H17-100 | 100:1 | Harmonic (H17) |
+| hip_roll | R | 7 | 0x08 | EC-A5013-H17-100 | 100:1 | Harmonic (H17) |
+| hip_yaw | L | 2 | 0x03 | EC-A3814-H14-107 | 107:1 | Harmonic (H14) |
+| hip_yaw | R | 8 | 0x09 | EC-A3814-H14-107 | 107:1 | Harmonic (H14) |
+| knee | L | 3 | 0x04 | EC-A4315-P2-36 | 36:1 | Planetary (P2) |
+| knee | R | 9 | 0x0A | EC-A4315-P2-36 | 36:1 | Planetary (P2) |
+| ankle_pitch | L | 4 | 0x05 | EC-A4310-P2-36 | 36:1 | Planetary (P2) |
+| ankle_pitch | R | 10 | 0x0B | EC-A4310-P2-36 | 36:1 | Planetary (P2) |
+| ankle_roll | L | 5 | 0x06 | EC-A4310-P2-36 | 36:1 | Planetary (P2) |
+| ankle_roll | R | 11 | 0x0C | EC-A4310-P2-36 | 36:1 | Planetary (P2) |
+
+---
+
+## Complete Motor Specifications (from ENCOS Spec Sheets)
+
+### EC-A6416-P2-25 (Hip Pitch)
+
+| Parameter | Value | Unit |
+|-----------|-------|------|
+| Reduction Ratio | 25 | - |
+| Rated Voltage | 48 | V |
+| Rated Bus Current | 13 | A |
+| Rated Phase Current | 17.5 | A |
+| Rated Power | 624 | W |
+| Rated Speed | 107 | RPM |
+| Rated Torque | 40 | Nm |
+| Peak Speed | 120 | RPM |
+| Peak Phase Current | 60 | A |
+| Peak Torque | 120 | Nm |
+| Efficiency | 73 | % |
+| Torque Constant (KT) | 2.74 | Nm/A |
+| Weight | 803 | g |
+| Backlash | 15 | Arcmin |
+| Motor Size (OD × Thickness) | 88 × 67.5 | mm |
+| Communication | CAN | - |
+| Baud Rate | 1M | - |
+| Double Encoder | Yes | - |
+| Axial/Radial Load | 2.14 | kN |
+| Bending Moment Resistance | 40 | Nm |
+| Cross Roller Bearing Type | 4005 | - |
+| **Rotor Inertia** | **104.395** | **kg·mm²** |
+| Torque Density | 149.44 | Nm/kg |
+
+### EC-A5013-H17-100 (Hip Roll)
+
+| Parameter | Value | Unit |
+|-----------|-------|------|
+| Reduction Ratio | 100 | - |
+| Rated Voltage | 48 | V |
+| Rated Bus Current | 2.5 | A |
+| Rated Phase Current | 3.0 | A |
+| Rated Power | 120 | W |
+| Rated Speed | 33 | RPM |
+| Rated Torque | 30 | Nm |
+| Peak Speed | 38 | RPM |
+| Peak Phase Current | 20 | A |
+| Peak Torque | 90 | Nm |
+| Efficiency | 31 | % |
+| Torque Constant (KT) | 5.9 | Nm/A |
+| Weight | 640 | g |
+| Backlash | 10 | Arcsec |
+| Motor Size (OD × Thickness) | 63 × 81.5 | mm |
+| Communication | CAN | - |
+| Baud Rate | 1M | - |
+| Double Encoder | Yes | - |
+| Axial/Radial Load | 1.89 | kN |
+| Bending Moment Resistance | 28 | Nm |
+| Cross Roller Bearing Type | 3005 | - |
+| **Rotor Inertia** | **10** | **kg·mm²** |
+| Torque Density | 140.625 | Nm/kg |
+
+### EC-A3814-H14-107 (Hip Yaw)
+
+| Parameter | Value | Unit |
+|-----------|-------|------|
+| Reduction Ratio | 107 | - |
+| Rated Voltage | 48 | V |
+| Rated Bus Current | 2.8 | A |
+| Rated Phase Current | 4.0 | A |
+| Rated Power | 134.4 | W |
+| Rated Speed | 47 | RPM |
+| Rated Torque | 20 | Nm |
+| Peak Speed | 52 | RPM |
+| Peak Phase Current | 10 | A |
+| Peak Torque | 60 | Nm |
+| Efficiency | 51 | % |
+| Torque Constant (KT) | 4.2 | Nm/A |
+| Weight | 400 | g |
+| Backlash | 10 | Arcsec |
+| Motor Size (OD × Thickness) | 53 × 78.5 | mm |
+| Communication | CAN | - |
+| Baud Rate | 1M | - |
+| Double Encoder | Yes | - |
+| Axial/Radial Load | 1.89 | kN |
+| Bending Moment Resistance | 28 | Nm |
+| Cross Roller Bearing Type | 3005 | - |
+| **Rotor Inertia** | **3** | **kg·mm²** |
+| Torque Density | 150 | Nm/kg |
+
+### EC-A4315-P2-36 (Knee)
+
+| Parameter | Value | Unit |
+|-----------|-------|------|
+| Reduction Ratio | 36 | - |
+| Rated Voltage | 48 | V |
+| Rated Bus Current | 8.28 | A |
+| Rated Phase Current | 10.22 | A |
+| Rated Power | 397 | W |
+| Rated Speed | 109 | RPM |
+| Rated Torque | 25 | Nm |
+| Peak Speed | 117 | RPM |
+| Peak Phase Current | 30 | A |
+| Peak Torque | 75 | Nm |
+| Efficiency | 74 | % |
+| Torque Constant (KT) | 2.8 | Nm/A |
+| Weight | 455 | g |
+| Backlash | 10 | Arcmin |
+| Motor Size (OD × Thickness) | 56 × 69.5 | mm |
+| Communication | CAN | - |
+| Baud Rate | 1M | - |
+| Double Encoder | Yes | - |
+| Axial/Radial Load | 1.89 | kN |
+| Bending Moment Resistance | 28 | Nm |
+| Cross Roller Bearing Type | 3005 | - |
+| **Rotor Inertia** | **25.5** | **kg·mm²** |
+| Torque Density | 164.84 | Nm/kg |
+
+### EC-A4310-P2-36 (Ankle Pitch & Roll)
+
+| Parameter | Value | Unit |
+|-----------|-------|------|
+| Reduction Ratio | 36 | - |
+| Rated Voltage | 24 (supports 48V) | V |
+| Rated Bus Current | 6.5 | A |
+| Rated Phase Current | 7.8 | A |
+| Rated Power | 156 | W |
+| Rated Speed | 75 | RPM |
+| Rated Torque | 12 | Nm |
+| Peak Speed | 89 | RPM |
+| Peak Phase Current | 30 | A |
+| Peak Torque | 36 | Nm |
+| Efficiency | 71 | % |
+| Torque Constant (KT) | 1.4 | Nm/A |
+| Weight | 384 | g |
+| Backlash | 10 | Arcmin |
+| Motor Size (OD × Thickness) | 56 × 60.5 | mm |
+| Communication | CAN | - |
+| Baud Rate | 1M | - |
+| Double Encoder | Yes | - |
+| Axial/Radial Load | 1.89 | kN |
+| Bending Moment Resistance | TBD | Nm |
+| Cross Roller Bearing Type | TBD | - |
+| **Rotor Inertia** | **18.2** | **kg·mm²** |
+| Torque Density | TBD | Nm/kg |
+
+---
+
+## Summary Table
+
+| Motor | Joint | Gear Ratio | KT (Nm/A) | Rated Torque | Peak Torque | Weight | Rotor Inertia (kg·mm²) | Efficiency |
+|-------|-------|------------|-----------|--------------|-------------|--------|------------------------|------------|
+| EC-A6416-P2-25 | Hip Pitch | 25:1 | 2.74 | 40 Nm | 120 Nm | 803g | **104.395** | 73% |
+| EC-A5013-H17-100 | Hip Roll | 100:1 | 5.9 | 30 Nm | 90 Nm | 640g | **10** | 31% |
+| EC-A3814-H14-107 | Hip Yaw | 107:1 | 4.2 | 20 Nm | 60 Nm | 400g | **3** | 51% |
+| EC-A4315-P2-36 | Knee | 36:1 | 2.8 | 25 Nm | 75 Nm | 455g | **25.5** | 74% |
+| EC-A4310-P2-36 | Ankle | 36:1 | 1.4 | 12 Nm | 36 Nm | 384g | **18.2** | 71% |
+
+---
+
+## CAN Protocol Ranges (CRITICAL!)
+
+**EC系列力位混控协议范围 (EC Series Force/Position Mixed Control Protocol Range) - 2025.11.28**
+
+### Complete Protocol Specification
+
+| Motor Model | Gear Type | KP Range | KD Range | SPD Range (rad/s) | POS Range (rad) | Torque Range (Nm) | Current Range (A) | KT (Nm/A) |
+|-------------|-----------|----------|----------|-------------------|-----------------|-------------------|-------------------|-----------|
+| **EC-A2806-P2-36** | Planetary | 0~500 | 0~5 | -18~18 | -12.5~12.5 | -12~12 | -10~10 | 1.4 |
+| **EC-A4310-P2-36** | Planetary | 0~500 | 0~5 | -18~18 | -12.5~12.5 | -30~30 | -30~30 | 1.4 |
+| **EC-A4315-P2-36** | Planetary | 0~500 | 0~5 | -18~18 | -12.5~12.5 | -70~70 | -30~30 | 2.8 |
+| **EC-A6408-P2-25** | Planetary | 0~500 | 0~5 | -18~18 | -12.5~12.5 | -60~60 | -60~60 | 2.35 |
+| **EC-A6416-P2-25** | Planetary | 0~500 | 0~5 | -18~18 | -12.5~12.5 | -120~120 | -60~60 | 2.74 |
+| **EC-A8112-P1-18** | Planetary | 0~500 | 0~5 | -18~18 | -12.5~12.5 | -90~90 | -60~60 | 2.1 |
+| **EC-A8116-P1-18** | Planetary | 0~500 | 0~5 | -18~18 | -12.5~12.5 | -150~150 | -70~70 | 2.35 |
+| EC-A10020-P1-12/6 | Planetary | 0~500 | 0~5 | -18~18 | -12.5~12.5 | -150~150 | -70~70 | 2.5/1.7 |
+| EC-A13720-P1-11.4 | Planetary | 0~500 | 0~50 | -18~18 | -12.5~12.5 | -400~400 | -220~220 | 2.5 |
+| EC-A10020-P2-24 | Planetary | 0~500 | 0~50 | -18~18 | -12.5~12.5 | -300~300 | -140~140 | 2.6 |
+| EC-A13715-P1-12.67 | Planetary | 0~500 | 0~50 | -18~18 | -12.5~12.5 | -320~320 | -220~220 | 2.5 |
+| **EC-A3814-H14-107** | Harmonic | 0~500 | 0~5 | -18~18 | -12.5~12.5 | -60~60 | -20~20 | 4.2 |
+| **EC-A5013-H17-100** | Harmonic | 0~500 | 0~5 | -18~18 | -12.5~12.5 | -90~90 | -30~30 | 5.9 |
+| **EC-A6013-H20-100** | Harmonic | 0~500 | 0~5 | -18~18 | -12.5~12.5 | -130~130 | -35~35 | 5.6 |
+
+**Note:** From 2025/1/15, motors in red (larger models) have default KD range changed from 0~5 to 0~50.
+
+### Humanoid Motor CAN Ranges (Extracted)
+
+| Joint | Motor Model | KP Range | KD Range | Torque (Nm) | Current (A) | KT (Nm/A) |
+|-------|-------------|----------|----------|-------------|-------------|-----------|
+| **hip_pitch** | EC-A6416-P2-25 | 0~500 | 0~5 | ±120 | ±60 | 2.74 |
+| **hip_roll** | EC-A5013-H17-100 | 0~500 | 0~5 | ±90 | ±30 | 5.9 |
+| **hip_yaw** | EC-A3814-H14-107 | 0~500 | 0~5 | ±60 | ±20 | 4.2 |
+| **knee** | EC-A4315-P2-36 | 0~500 | 0~5 | ±70 | ±30 | 2.8 |
+| **ankle** | EC-A4310-P2-36 | 0~500 | 0~5 | ±30 | ±30 | 1.4 |
+
+---
+
+## CAN Current Feedback Scaling
+
+The CAN protocol reports current as 12-bit value (0-4095). The mapping to Amps depends on the actuator model:
+
+| Actuator Model | Current Range (A) | Scale Factor |
+|----------------|-------------------|--------------|
+| EC-A2806-P2-36 | -10 ~ +10 | 20.0/4095 |
+| EC-A4310-P2-36 | -30 ~ +30 | 60.0/4095 |
+| EC-A4315-P2-36 | -30 ~ +30 | 60.0/4095 |
+| EC-A6408-P2-25 | -60 ~ +60 | 120.0/4095 |
+| EC-A6416-P2-25 | -60 ~ +60 | 120.0/4095 |
+| EC-A8112-P1-18 | -60 ~ +60 | 120.0/4095 |
+| EC-A8116-P1-18 | -70 ~ +70 | 140.0/4095 |
+| EC-A10020-P1-12/6 | -70 ~ +70 | 140.0/4095 |
+| EC-A10020-P2-24 | -140 ~ +140 | 280.0/4095 |
+| EC-A13720-P1-11.4 | -220 ~ +220 | 440.0/4095 |
+| EC-A13715-P1-12.67 | -220 ~ +220 | 440.0/4095 |
+| EC-A3814-H14-107 | -20 ~ +20 | 40.0/4095 |
+| EC-A5013-H17-100 | -30 ~ +30 | 60.0/4095 |
+| EC-A6013-H20-100 | -35 ~ +35 | 70.0/4095 |
+
+**Verified Current Ranges for Humanoid Motors (from 2025.11.28 protocol table):**
+
+| Joint | Actuator | CAN Current Range | Notes |
+|-------|----------|-------------------|-------|
+| hip_pitch | EC-A6416-P2-25 | ±60 A | Confirmed |
+| hip_roll | EC-A5013-H17-100 | ±30 A | Confirmed (was 20A in old spec) |
+| hip_yaw | EC-A3814-H14-107 | ±20 A | Confirmed |
+| knee | EC-A4315-P2-36 | ±30 A | Confirmed |
+| ankle | EC-A4310-P2-36 | ±30 A | Confirmed |
+
+**Note:** The 2025.11.28 protocol table supersedes earlier spec sheets. Hip Roll is ±30A (not ±20A).
+
+## Current Decoding Formula
+
+```python
+# Generic formula
+current_a = (cur_raw * (2 * MAX_CURRENT / 4095.0)) - MAX_CURRENT
+
+# Per-joint MAX_CURRENT values (from 2025.11.28 protocol table):
+CURRENT_RANGE = {
+    "hip_pitch": 60.0,   # EC-A6416-P2-25
+    "hip_roll": 30.0,    # EC-A5013-H17-100
+    "hip_yaw": 20.0,     # EC-A3814-H14-107
+    "knee": 30.0,        # EC-A4315-P2-36
+    "ankle_pitch": 30.0, # EC-A4310-P2-36
+    "ankle_roll": 30.0,  # EC-A4310-P2-36
+}
+```
+
+---
+
+## PD Gains (Firmware)
+
+**Current RL-trained gains:**
+
+| Joint | KP | KD |
+|-------|-----|-----|
+| hip_pitch | 12.8 | 0.8 |
+| hip_roll | 328.0 | 5.0 |
+| hip_yaw | 212.2 | 5.0 |
+| knee | 64.2 | 2.7 |
+| ankle_pitch | 19.3 | 3.3 |
+| ankle_roll | 18.1 | 0.9 |
+
+**CAN Protocol Gain Ranges:**
+- KP: 0-4095 -> 0-500 (12-bit)
+- KD: 0-511 -> 0-5.0 (9-bit) or 0-50 (depends on motor, see Table 9-1)
+
+---
+
+## Gain Identification Results
+
+**Comparison: Identified vs Firmware Gains (with corrected current scaling):**
+
+| Joint | Identified KP | Firmware KP | Ratio | Status |
+|-------|--------------|-------------|-------|--------|
+| hip_pitch | 14.3 | 12.8 | 1.12x | OK |
+| hip_roll | 316.0 | 328.0 | 0.96x | OK |
+| hip_yaw | 217.6 | 212.2 | 1.03x | OK |
+| knee | 59.2 | 64.2 | 0.92x | OK |
+| ankle_pitch | 15.0 | 19.3 | 0.78x | ~OK |
+| ankle_roll | 16.4 | 18.1 | 0.91x | OK |
+
+---
+
+## Reflected Inertia Calculations
+
+For physics-based gain tuning, reflected inertia at joint output:
+
+```
+J_reflected = J_rotor * gear_ratio^2
+```
+
+| Joint | J_rotor (kg·mm²) | Gear Ratio | J_reflected (kg·m²) |
+|-------|------------------|------------|---------------------|
+| hip_pitch | 104.395 | 25 | 0.0652 |
+| hip_roll | 10 | 100 | 0.100 |
+| hip_yaw | 3 | 107 | 0.0343 |
+| knee | 25.5 | 36 | 0.0330 |
+| ankle | 18.2 | 36 | 0.0236 |
+
+---
+
+## Important Notes
+
+1. **Current scaling mismatch**: The DBC parser currently uses fixed -30~+30A range for all motors. The `analyze_motor_dynamics.py` script rescales currents to the correct per-motor ranges.
+
+2. **Hip Yaw anomaly**: The empirically verified current range (+/-40A) differs significantly from the spec sheet (+/-10A). This requires further investigation with the motor manufacturer.
+
+3. **Harmonic vs Planetary drives**: Hip Roll (H17) and Hip Yaw (H14) use harmonic drives with very low backlash (10 arcsec). The planetary motors (P2) have higher backlash (10-15 arcmin).
+
+4. **Efficiency impact**: Motor efficiency varies significantly (31% for hip_roll, 73-74% for hip_pitch/knee). This affects the relationship between electrical current and mechanical torque.
+
+5. **Rotor inertia**: All motors now have rotor inertia values. Harmonic drives from ENCOS team (EC-5013=10, EC-3814=3 kg·mm²), ankle EC-4310=18.2 kg·mm².
+
+---
+
+## References
+
+- ENCOS Protocol V1.9 Manual
+- Motor spec sheets:
+  - EC-A6416-P2-25 (Hip Pitch)
+  - EC-A5013-H17-100 (Hip Roll)
+  - EC-A3814-H14-107 (Hip Yaw)
+  - EC-A4315-P2-36 (Knee)
+  - EC-A4310-P2-36 (Ankle)
+- Table 9-1: EC Series Force/Position Mixed Control Protocol Range (2025.01.15)
\ No newline at end of file
diff --git a/new_imitation_data_walking_1.25Hz_50Hz.csv b/new_imitation_data_walking_1.25Hz_50Hz.csv
new file mode 100644
index 000000000..071e62153
--- /dev/null
+++ b/new_imitation_data_walking_1.25Hz_50Hz.csv
@@ -0,0 +1,1001 @@
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diff --git a/src/mjlab/asset_zoo/robots/__init__.py b/src/mjlab/asset_zoo/robots/__init__.py
index f855d966c..a0c4d8e97 100644
--- a/src/mjlab/asset_zoo/robots/__init__.py
+++ b/src/mjlab/asset_zoo/robots/__init__.py
@@ -1,3 +1,9 @@
+from mjlab.asset_zoo.robots.humanoid.humanoid_constants import (
+  HUMANOID_ACTION_SCALE as HUMANOID_ACTION_SCALE,
+)
+from mjlab.asset_zoo.robots.humanoid.humanoid_constants import (
+  get_humanoid_robot_cfg as get_humanoid_robot_cfg,
+)
 from mjlab.asset_zoo.robots.i2rt_yam.yam_constants import (
   YAM_ACTION_SCALE as YAM_ACTION_SCALE,
 )
diff --git a/src/mjlab/asset_zoo/robots/humanoid/__init__.py b/src/mjlab/asset_zoo/robots/humanoid/__init__.py
new file mode 100644
index 000000000..397f9759e
--- /dev/null
+++ b/src/mjlab/asset_zoo/robots/humanoid/__init__.py
@@ -0,0 +1,25 @@
+"""Humanoid robot configuration."""
+
+from mjlab.asset_zoo.robots.humanoid.humanoid_constants import (
+    HUMANOID_ACTION_SCALE,
+    HUMANOID_ARTICULATION,
+    HUMANOID_XML,
+    FEET_ONLY_COLLISION,
+    FULL_COLLISION,
+    HOME_KEYFRAME,
+    get_humanoid_robot_cfg,
+    get_assets,
+    get_spec,
+)
+
+__all__ = [
+    "HUMANOID_ACTION_SCALE",
+    "HUMANOID_ARTICULATION",
+    "HUMANOID_XML",
+    "FEET_ONLY_COLLISION",
+    "FULL_COLLISION",
+    "HOME_KEYFRAME",
+    "get_humanoid_robot_cfg",
+    "get_assets",
+    "get_spec",
+]
diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/base_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/base_link.stl
new file mode 100755
index 000000000..781e84af8
Binary files /dev/null and b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/base_link.stl differ
diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/camera_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/camera_link.stl
new file mode 100755
index 000000000..2875818f6
Binary files /dev/null and b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/camera_link.stl differ
diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/chest_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/chest_link.stl
new file mode 100755
index 000000000..29edf81be
Binary files /dev/null and b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/chest_link.stl differ
diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/head_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/head_link.stl
new file mode 100755
index 000000000..1c480b6e6
Binary files /dev/null and b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/head_link.stl differ
diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/humanoid_pkg.urdf b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/humanoid_pkg.urdf
new file mode 100755
index 000000000..2fef9de75
--- /dev/null
+++ b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/humanoid_pkg.urdf
@@ -0,0 +1,2062 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="humanoid_pkg">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.00011927 -0.053041 0.11817"
+        rpy="0 0 0" />
+      <mass
+        value="0.85358" />
+      <inertia
+        ixx="0.0012389"
+        ixy="-1.2474E-07"
+        ixz="3.1171E-09"
+        iyy="0.0016461"
+        iyz="-3.8131E-06"
+        izz="0.0013091" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="base_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="base_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="torso_link">
+    <inertial>
+      <origin
+        xyz="0.00078123 -0.00026047 0.013243"
+        rpy="0 0 0" />
+      <mass
+        value="0.96233" />
+      <inertia
+        ixx="0.00046878"
+        ixy="5.0679E-10"
+        ixz="3.3744E-06"
+        iyy="0.00045115"
+        iyz="2.8575E-07"
+        izz="0.000663" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="torso_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="torso_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="torso_joint"
+    type="revolute">
+    <origin
+      xyz="2.08135124461772E-05 -0.0639999966156143 0.1123"
+      rpy="0 0 0.000325211137678403" />
+    <parent
+      link="base_link" />
+    <child
+      link="torso_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="waist_roll_link">
+    <inertial>
+      <origin
+        xyz="-3.1564E-09 3.1564E-09 1.3878E-16"
+        rpy="0 0 0" />
+      <mass
+        value="0.23579" />
+      <inertia
+        ixx="5.1045E-05"
+        ixy="-2.3525E-18"
+        ixz="4.2913E-11"
+        iyy="5.1045E-05"
+        iyz="4.2913E-11"
+        izz="9.0898E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="waist_roll_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.52941 0.54902 0.54902 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="waist_roll_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="waist_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0615999999999845"
+      rpy="0 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="waist_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="waist_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.00021479 0.02804 0.057521"
+        rpy="0 0 0" />
+      <mass
+        value="0.91683" />
+      <inertia
+        ixx="0.0010179"
+        ixy="-3.869E-07"
+        ixz="3.1729E-07"
+        iyy="0.0011541"
+        iyz="-3.7643E-08"
+        izz="0.00051514" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="waist_pitch_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="waist_pitch_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="waist_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.0300000000000053 0"
+      rpy="0 0 0" />
+    <parent
+      link="waist_roll_link" />
+    <child
+      link="waist_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="chest_link">
+    <inertial>
+      <origin
+        xyz="-0.059002 -4.6806E-06 -0.032819"
+        rpy="0 0 0" />
+      <mass
+        value="1.7205" />
+      <inertia
+        ixx="0.0090608"
+        ixy="-1.7864E-07"
+        ixz="-5.4617E-07"
+        iyy="0.0073219"
+        iyz="6.0203E-08"
+        izz="0.0046362" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="chest_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="chest_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="chest_joint"
+    type="fixed">
+    <origin
+      xyz="0.0589999999999813 0.0299987979681032 0.254963551720086"
+      rpy="0 0 0" />
+    <parent
+      link="waist_pitch_link" />
+    <child
+      link="chest_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_shoulder_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00031467 -0.0041125 -0.0009434"
+        rpy="0 0 0" />
+      <mass
+        value="0.55787" />
+      <inertia
+        ixx="0.00046536"
+        ixy="-2.4876E-08"
+        ixz="2.6512E-07"
+        iyy="0.00054598"
+        iyz="6.1625E-05"
+        izz="0.00033254" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_shoulder_pitch_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_shoulder_pitch_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0589999999999941 0.133920443430172 0.0867417663212657"
+      rpy="0 0 0" />
+    <parent
+      link="chest_link" />
+    <child
+      link="left_shoulder_pitch_link" />
+    <axis
+      xyz="0 0.965925826289068 0.258819045102522" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="left_shoulder_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.019316 0.00045538 -0.0075538"
+        rpy="0 0 0" />
+      <mass
+        value="0.48965" />
+      <inertia
+        ixx="0.00052874"
+        ixy="1.5282E-06"
+        ixz="2.6093E-07"
+        iyy="0.00033494"
+        iyz="-1.2208E-05"
+        izz="0.00033875" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_shoulder_roll_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_shoulder_roll_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.0196500000000192 0.0647170303613817 0.0173408760218703"
+      rpy="0 0 0" />
+    <parent
+      link="left_shoulder_pitch_link" />
+    <child
+      link="left_shoulder_roll_link" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="left_elbow_yaw_link">
+    <inertial>
+      <origin
+        xyz="3.389E-05 -0.0037073 0.00016863"
+        rpy="0 0 0" />
+      <mass
+        value="0.24344" />
+      <inertia
+        ixx="9.1765E-05"
+        ixy="-1.8509E-08"
+        ixz="-5.5968E-08"
+        iyy="9.535E-05"
+        iyz="-4.6348E-07"
+        izz="8.437E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_elbow_yaw_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_elbow_yaw_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_elbow_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0196500000008165 0.0126821332100065 -0.140580365488154"
+      rpy="0 0 -0.000325211137676522" />
+    <parent
+      link="left_shoulder_roll_link" />
+    <child
+      link="left_elbow_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="left_elbow_forearm_yaw_link">
+    <inertial>
+      <origin
+        xyz="4.0886E-05 -0.026352 -0.013654"
+        rpy="0 0 0" />
+      <mass
+        value="0.20469" />
+      <inertia
+        ixx="8.4119E-05"
+        ixy="5.7255E-08"
+        ixz="-1.8341E-08"
+        iyy="8.0815E-05"
+        iyz="1.478E-07"
+        izz="6.5937E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_elbow_forearm_yaw_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_elbow_forearm_yaw_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_elbow_forearm_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.026500000000004 -0.0682500000000194"
+      rpy="0 0 0" />
+    <parent
+      link="left_elbow_yaw_link" />
+    <child
+      link="left_elbow_forearm_yaw_link" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="left_wrist_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.0022153 -0.00030373 -0.017432"
+        rpy="0 0 0" />
+      <mass
+        value="0.3165" />
+      <inertia
+        ixx="0.00013143"
+        ixy="3.0794E-08"
+        ixz="4.312E-07"
+        iyy="0.0001122"
+        iyz="-3.0606E-08"
+        izz="0.00010375" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_wrist_yaw_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_wrist_yaw_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wrist_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="2.72119635786744E-05 -0.0261962529456502 -0.12349999999999"
+      rpy="0 0 0" />
+    <parent
+      link="left_elbow_forearm_yaw_link" />
+    <child
+      link="left_wrist_yaw_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="right_shoulder_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00031467 0.0086652 -0.0021119"
+        rpy="0 0 0" />
+      <mass
+        value="0.55787" />
+      <inertia
+        ixx="0.00046536"
+        ixy="2.4609E-08"
+        ixz="2.6413E-07"
+        iyy="0.00054599"
+        iyz="-6.1605E-05"
+        izz="0.00033253" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_shoulder_pitch_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_shoulder_pitch_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0589999999999747 -0.138457890749933 0.0879582158332528"
+      rpy="0 0 0" />
+    <parent
+      link="chest_link" />
+    <child
+      link="right_shoulder_pitch_link" />
+    <axis
+      xyz="0 -0.965925826289067 0.258819045102526" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="right_shoulder_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.019338 -0.00043324 -0.007383"
+        rpy="0 0 0" />
+      <mass
+        value="0.48888" />
+      <inertia
+        ixx="0.00052841"
+        ixy="-1.5939E-06"
+        ixz="2.8547E-07"
+        iyy="0.00033462"
+        iyz="1.2209E-05"
+        izz="0.00033811" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_shoulder_roll_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_shoulder_roll_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.0196499999999965 -0.0601771789778188 0.0161244265098969"
+      rpy="0 0 0" />
+    <parent
+      link="right_shoulder_pitch_link" />
+    <child
+      link="right_shoulder_roll_link" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="right_elbow_yaw_link">
+    <inertial>
+      <origin
+        xyz="-4.3563E-07 0.0037417 0.00016863"
+        rpy="0 0 0" />
+      <mass
+        value="0.24344" />
+      <inertia
+        ixx="9.1717E-05"
+        ixy="1.8529E-08"
+        ixz="2.6213E-09"
+        iyy="9.5398E-05"
+        iyz="4.048E-07"
+        izz="8.437E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_elbow_yaw_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_elbow_yaw_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_elbow_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0196499999999985 -0.0126821332108248 -0.140580365488174"
+      rpy="0 0 0" />
+    <parent
+      link="right_shoulder_roll_link" />
+    <child
+      link="right_elbow_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="right_elbow_forearm_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.00034522 -0.028398 -0.013635"
+        rpy="0 0 0" />
+      <mass
+        value="0.20469" />
+      <inertia
+        ixx="8.4119E-05"
+        ixy="5.7255E-08"
+        ixz="1.8341E-08"
+        iyy="8.0815E-05"
+        iyz="-1.478E-07"
+        izz="6.5937E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_elbow_forearm_yaw_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_elbow_forearm_yaw_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_elbow_forearm_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.000304330674491246 0.0282500000008096 -0.068269636815096"
+      rpy="0 0 0" />
+    <parent
+      link="right_elbow_yaw_link" />
+    <child
+      link="right_elbow_forearm_yaw_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="right_wrist_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.0019393 0.00024629 -0.017432"
+        rpy="0 0 0" />
+      <mass
+        value="0.3165" />
+      <inertia
+        ixx="0.00013144"
+        ixy="6.582E-08"
+        ixz="4.7674E-07"
+        iyy="0.00011219"
+        iyz="6.2895E-08"
+        izz="0.00010375" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_wrist_yaw_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_wrist_yaw_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wrist_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.000533410283256361 -0.0284513089585393 -0.123480363184904"
+      rpy="0 0 0" />
+    <parent
+      link="right_elbow_forearm_yaw_link" />
+    <child
+      link="right_wrist_yaw_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="neck_link">
+    <inertial>
+      <origin
+        xyz="-0.0065711 1.1221E-07 -0.024709"
+        rpy="0 0 0" />
+      <mass
+        value="0.057826" />
+      <inertia
+        ixx="1.273E-05"
+        ixy="5.486E-11"
+        ixz="-2.4607E-07"
+        iyy="1.3612E-05"
+        iyz="-4.3063E-11"
+        izz="1.4071E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="neck_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="neck_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="neck_joint"
+    type="fixed">
+    <origin
+      xyz="-0.0589999999999757 0 0.172550670854567"
+      rpy="0 0 0" />
+    <parent
+      link="chest_link" />
+    <child
+      link="neck_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="neck_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.0026021 0.017715 0.019315"
+        rpy="0 0 0" />
+      <mass
+        value="0.084323" />
+      <inertia
+        ixx="2.4885E-05"
+        ixy="1.1417E-06"
+        ixz="1.0184E-07"
+        iyy="2.2161E-05"
+        iyz="-3.6443E-06"
+        izz="1.932E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="neck_yaw_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.89804 0.89804 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="neck_yaw_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="neck_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="neck_link" />
+    <child
+      link="neck_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="head_link">
+    <inertial>
+      <origin
+        xyz="0.027551 -0.0041209 0.046161"
+        rpy="0 0 0" />
+      <mass
+        value="0.18871" />
+      <inertia
+        ixx="0.00064097"
+        ixy="4.7808E-07"
+        ixz="-1.3992E-06"
+        iyy="0.00045607"
+        iyz="-1.8574E-06"
+        izz="0.00019729" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="head_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="head_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="head_joint"
+    type="revolute">
+    <origin
+      xyz="0.0176150000000058 0.00449999999987008 0.0230050000000284"
+      rpy="0 0 0" />
+    <parent
+      link="neck_yaw_link" />
+    <child
+      link="head_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="camera_link">
+    <inertial>
+      <origin
+        xyz="-0.012444 1.1266E-05 -0.00013611"
+        rpy="0 0 0" />
+      <mass
+        value="0.10791" />
+      <inertia
+        ixx="7.1255E-05"
+        ixy="-1.7847E-08"
+        ixz="4.9298E-08"
+        iyy="7.71E-06"
+        iyz="2.4825E-10"
+        izz="7.0257E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="camera_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="camera_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_joint"
+    type="fixed">
+    <origin
+      xyz="0.0453850000000015 -0.00450000000000009 0.0774061362008152"
+      rpy="0 0 0" />
+    <parent
+      link="head_link" />
+    <child
+      link="camera_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="waist_rod_link">
+    <inertial>
+      <origin
+        xyz="0.035116 0.005 -0.036408"
+        rpy="0 0 0" />
+      <mass
+        value="0.16381" />
+      <inertia
+        ixx="4.8765E-05"
+        ixy="-1.711E-10"
+        ixz="-7.0973E-07"
+        iyy="4.5916E-05"
+        iyz="1.3557E-12"
+        izz="7.5079E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="waist_rod_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="waist_rod_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="waist_rod_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.0250000000000015 0.0560999999999998"
+      rpy="0 0 0" />
+    <parent
+      link="waist_pitch_link" />
+    <child
+      link="waist_rod_link" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="right_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.0076883 -0.03517 0.00056004"
+        rpy="0 0 0" />
+      <mass
+        value="1.5469" />
+      <inertia
+        ixx="0.0028797"
+        ixy="-5.658E-05"
+        ixz="1.1722E-05"
+        iyy="0.00207"
+        iyz="2.0467E-05"
+        izz="0.0019812" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_hip_pitch_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_hip_pitch_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="4.16270248897038E-05 -0.127999993231209 0"
+      rpy="0 0 0.000325211137678403" />
+    <parent
+      link="base_link" />
+    <child
+      link="right_hip_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="right_hip_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.032145 -3.7396E-06 -0.063538"
+        rpy="0 0 0" />
+      <mass
+        value="0.7444" />
+      <inertia
+        ixx="0.0015527"
+        ixy="1.5592E-08"
+        ixz="4.0115E-05"
+        iyy="0.001194"
+        iyz="9.2713E-10"
+        izz="0.0009379" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_hip_roll_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_hip_roll_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_roll_ joint"
+    type="revolute">
+    <origin
+      xyz="0.0201999999999995 -0.0760000000000051 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_pitch_link" />
+    <child
+      link="right_hip_roll_link" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="right_hip_yaw_link">
+    <inertial>
+      <origin
+        xyz="-2.7827E-05 -0.0016262 -0.02388"
+        rpy="0 0 0" />
+      <mass
+        value="1.0856" />
+      <inertia
+        ixx="0.00071265"
+        ixy="1.0046E-07"
+        ixz="-1.2697E-07"
+        iyy="0.0010508"
+        iyz="-1.2277E-06"
+        izz="0.00085679" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_hip_yaw_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_hip_yaw_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0202000000000037 0 -0.1757"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_roll_link" />
+    <child
+      link="right_hip_yaw_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="right_knee_link">
+    <inertial>
+      <origin
+        xyz="0.00046937 0.027135 -0.098078"
+        rpy="0 0 0" />
+      <mass
+        value="1.8135" />
+      <inertia
+        ixx="0.008031"
+        ixy="1.7622E-07"
+        ixz="1.9193E-07"
+        iyy="0.0079365"
+        iyz="0.0005933"
+        izz="0.0013634" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_knee_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_knee_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_knee_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.0247000000000758 -0.134300000000004"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_yaw_link" />
+    <child
+      link="right_knee_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="right_foot1_link">
+    <inertial>
+      <origin
+        xyz="3.1564E-09 -0.27313 0.0036841"
+        rpy="0 0 0" />
+      <mass
+        value="0.23579" />
+      <inertia
+        ixx="5.1045E-05"
+        ixy="5.5653E-13"
+        ixz="4.2909E-11"
+        iyy="5.1052E-05"
+        iyz="5.1675E-07"
+        izz="9.0891E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_foot1_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.52941 0.54902 0.54902 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_foot1_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_foot1_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.297852075295849 -0.3186416753026"
+      rpy="0.0129690411087091 0 0" />
+    <parent
+      link="right_knee_link" />
+    <child
+      link="right_foot1_link" />
+    <axis
+      xyz="0 0.999915903165099 -0.0129686775549012" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="right_foot2_link">
+    <inertial>
+      <origin
+        xyz="0.057171 -1.693E-09 -0.034065"
+        rpy="0 0 0" />
+      <mass
+        value="0.75781" />
+      <inertia
+        ixx="0.00045016"
+        ixy="2.8848E-11"
+        ixz="8.7593E-05"
+        iyy="0.002328"
+        iyz="6.9735E-12"
+        izz="0.0026624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_foot2_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_foot2_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_foot2_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0199999999999545 -0.273127266729484 0.0036840845761229"
+      rpy="-0.0129690411087091 0 0" />
+    <parent
+      link="right_foot1_link" />
+    <child
+      link="right_foot2_link" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="right_ankle1_link">
+    <inertial>
+      <origin
+        xyz="0.0023931 0.017854 -0.048179"
+        rpy="0 0 0" />
+      <mass
+        value="0.10199" />
+      <inertia
+        ixx="0.00011992"
+        ixy="-5.643E-08"
+        ixz="4.4895E-12"
+        iyy="0.00010557"
+        iyz="-5.3742E-06"
+        izz="1.5614E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_ankle1_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.64706 0.61961 0.58824 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_ankle1_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ankle1_joint"
+    type="revolute">
+    <origin
+      xyz="0.0375 0.0247000000000791 -0.104999999999998"
+      rpy="0 0 0" />
+    <parent
+      link="right_knee_link" />
+    <child
+      link="right_ankle1_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="right_ankle2_link">
+    <inertial>
+      <origin
+        xyz="0.0012707 -0.016081 -0.027842"
+        rpy="0 0 0" />
+      <mass
+        value="0.089313" />
+      <inertia
+        ixx="4.9619E-05"
+        ixy="5.5823E-08"
+        ixz="1.5241E-09"
+        iyy="3.5396E-05"
+        iyz="1.9644E-06"
+        izz="1.5248E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_ankle2_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.64706 0.61961 0.58824 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="right_ankle2_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ankle2_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.0644999999999927"
+      rpy="0 0 0" />
+    <parent
+      link="right_ankle1_link" />
+    <child
+      link="right_ankle2_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="left_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.0076949 0.035164 -0.00056716"
+        rpy="0 0 0" />
+      <mass
+        value="1.5469" />
+      <inertia
+        ixx="0.0028797"
+        ixy="5.6863E-05"
+        ixz="-1.1728E-05"
+        iyy="0.00207"
+        iyz="2.0647E-05"
+        izz="0.0019812" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_hip_pitch_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_hip_pitch_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="left_hip_pitch_link" />
+    <axis
+      xyz="0.000325211131945891 -0.999999947118858 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="left_hip_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.034577 0.0013532 -0.074963"
+        rpy="0 0 0" />
+      <mass
+        value="0.84068" />
+      <inertia
+        ixx="0.0016535"
+        ixy="-5.0466E-07"
+        ixz="4.0111E-05"
+        iyy="0.0012902"
+        iyz="2.3157E-06"
+        izz="0.0011298" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_hip_roll_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_hip_roll_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_roll_joint"
+    type="revolute">
+    <origin
+      xyz="0.0239754058878498 0.0756289609470872 -0.000417044567936287"
+      rpy="0 0 0.000325211137678828" />
+    <parent
+      link="left_hip_pitch_link" />
+    <child
+      link="left_hip_roll_link" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="left_hip_yaw_link">
+    <inertial>
+      <origin
+        xyz="5.3998E-05 0.0016007 -0.02388"
+        rpy="0 0 0" />
+      <mass
+        value="1.0856" />
+      <inertia
+        ixx="0.00071265"
+        ixy="1.0046E-07"
+        ixz="1.4643E-07"
+        iyy="0.0010508"
+        iyz="1.2047E-06"
+        izz="0.00085679" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_hip_yaw_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_hip_yaw_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0239999999999749 0.00265743676754029 -0.175268179618195"
+      rpy="0.0129690411087097 0 0" />
+    <parent
+      link="left_hip_roll_link" />
+    <child
+      link="left_hip_yaw_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="left_knee_link">
+    <inertial>
+      <origin
+        xyz="5.5858E-05 -0.030933 -0.098447"
+        rpy="0 0 0" />
+      <mass
+        value="1.8134" />
+      <inertia
+        ixx="0.0080308"
+        ixy="-1.676E-07"
+        ixz="1.0284E-07"
+        iyy="0.0079363"
+        iyz="-0.00059325"
+        izz="0.0013634" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_knee_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_knee_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_knee_joint"
+    type="revolute">
+    <origin
+      xyz="0.000417044567910141 0.0285000000000833 -0.133921159878857"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_yaw_link" />
+    <child
+      link="left_knee_link" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="left_foot1_link">
+    <inertial>
+      <origin
+        xyz="-3.1564E-09 0.015 -3.3307E-16"
+        rpy="0 0 0" />
+      <mass
+        value="0.23579" />
+      <inertia
+        ixx="5.1045E-05"
+        ixy="-2.6233E-18"
+        ixz="4.2913E-11"
+        iyy="5.1045E-05"
+        iyz="4.2645E-11"
+        izz="9.0898E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_foot1_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.52941 0.54902 0.54902 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_foot1_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_foot1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.000417044567955438 -0.0435000000000844 -0.318878840121134"
+      rpy="0 0 0" />
+    <parent
+      link="left_knee_link" />
+    <child
+      link="left_foot1_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="left_foot2_link">
+    <inertial>
+      <origin
+        xyz="0.057204 -0.00036388 -0.033983"
+        rpy="0 0 0" />
+      <mass
+        value="0.76036" />
+      <inertia
+        ixx="0.00045048"
+        ixy="1.1358E-06"
+        ixz="8.7586E-05"
+        iyy="0.0023283"
+        iyz="4.3176E-06"
+        izz="0.0026624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_foot2_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_foot2_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_foot2_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0200000000000133 0.0150000042186138 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_foot1_link" />
+    <child
+      link="left_foot2_link" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="left_ankle1_link">
+    <inertial>
+      <origin
+        xyz="0.0053547 -0.017758 -0.048415"
+        rpy="0 0 0" />
+      <mass
+        value="0.1027" />
+      <inertia
+        ixx="0.00011993"
+        ixy="5.5781E-08"
+        ixz="1.6354E-09"
+        iyy="0.00010559"
+        iyz="5.0339E-06"
+        izz="1.5606E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_ankle1_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.64706 0.61961 0.58824 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_ankle1_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ankle1_joint"
+    type="revolute">
+    <origin
+      xyz="0.0340829554320351 -0.0284999972617343 -0.105378840121137"
+      rpy="0 0 0" />
+    <parent
+      link="left_knee_link" />
+    <child
+      link="left_ankle1_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+  <link
+    name="left_ankle2_link">
+    <inertial>
+      <origin
+        xyz="0.0042648 0.016034 -0.027953"
+        rpy="0 0 0" />
+      <mass
+        value="0.089431" />
+      <inertia
+        ixx="4.9619E-05"
+        ixy="-5.7038E-08"
+        ixz="2.1123E-09"
+        iyy="3.5397E-05"
+        iyz="-1.9235E-06"
+        izz="1.525E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_ankle2_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="left_ankle2_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ankle2_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.0645000000000012"
+      rpy="0 0 0" />
+    <parent
+      link="left_ankle1_link" />
+    <child
+      link="left_ankle2_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="10"
+      velocity="1.0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/humanoid_pkg.xml b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/humanoid_pkg.xml
new file mode 100644
index 000000000..755ffc859
--- /dev/null
+++ b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/humanoid_pkg.xml
@@ -0,0 +1,209 @@
+<mujoco model="humanoid_pkg">
+  <compiler angle="radian"/>
+
+  <asset>
+    <mesh name="base_link" content_type="model/stl" file="base_link.stl"/>
+    <mesh name="torso_link" content_type="model/stl" file="torso_link.stl"/>
+    <mesh name="waist_roll_link" content_type="model/stl" file="waist_roll_link.stl"/>
+    <mesh name="waist_pitch_link" content_type="model/stl" file="waist_pitch_link.stl"/>
+    <mesh name="chest_link" content_type="model/stl" file="chest_link.stl"/>
+    <mesh name="left_shoulder_pitch_link" content_type="model/stl" file="left_shoulder_pitch_link.stl"/>
+    <mesh name="left_shoulder_roll_link" content_type="model/stl" file="left_shoulder_roll_link.stl"/>
+    <mesh name="left_elbow_yaw_link" content_type="model/stl" file="left_elbow_yaw_link.stl"/>
+    <mesh name="left_elbow_forearm_yaw_link" content_type="model/stl" file="left_elbow_forearm_yaw_link.stl"/>
+    <mesh name="left_wrist_yaw_link" content_type="model/stl" file="left_wrist_yaw_link.stl"/>
+    <mesh name="right_shoulder_pitch_link" content_type="model/stl" file="right_shoulder_pitch_link.stl"/>
+    <mesh name="right_shoulder_roll_link" content_type="model/stl" file="right_shoulder_roll_link.stl"/>
+    <mesh name="right_elbow_yaw_link" content_type="model/stl" file="right_elbow_yaw_link.stl"/>
+    <mesh name="right_elbow_forearm_yaw_link" content_type="model/stl" file="right_elbow_forearm_yaw_link.stl"/>
+    <mesh name="right_wrist_yaw_link" content_type="model/stl" file="right_wrist_yaw_link.stl"/>
+    <mesh name="neck_link" content_type="model/stl" file="neck_link.stl"/>
+    <mesh name="neck_yaw_link" content_type="model/stl" file="neck_yaw_link.stl"/>
+    <mesh name="head_link" content_type="model/stl" file="head_link.stl"/>
+    <mesh name="camera_link" content_type="model/stl" file="camera_link.stl"/>
+    <mesh name="waist_rod_link" content_type="model/stl" file="waist_rod_link.stl"/>
+    <mesh name="right_hip_pitch_link" content_type="model/stl" file="right_hip_pitch_link.stl"/>
+    <mesh name="right_hip_roll_link" content_type="model/stl" file="right_hip_roll_link.stl"/>
+    <mesh name="right_hip_yaw_link" content_type="model/stl" file="right_hip_yaw_link.stl"/>
+    <mesh name="right_knee_link" content_type="model/stl" file="right_knee_link.stl"/>
+    <mesh name="right_foot1_link" content_type="model/stl" file="right_foot1_link.stl"/>
+    <mesh name="right_foot2_link" content_type="model/stl" file="right_foot2_link.stl"/>
+    <mesh name="right_ankle1_link" content_type="model/stl" file="right_ankle1_link.stl"/>
+    <mesh name="right_ankle2_link" content_type="model/stl" file="right_ankle2_link.stl"/>
+    <mesh name="left_hip_pitch_link" content_type="model/stl" file="left_hip_pitch_link.stl"/>
+    <mesh name="left_hip_roll_link" content_type="model/stl" file="left_hip_roll_link.stl"/>
+    <mesh name="left_hip_yaw_link" content_type="model/stl" file="left_hip_yaw_link.stl"/>
+    <mesh name="left_knee_link" content_type="model/stl" file="left_knee_link.stl"/>
+    <mesh name="left_foot1_link" content_type="model/stl" file="left_foot1_link.stl"/>
+    <mesh name="left_foot2_link" content_type="model/stl" file="left_foot2_link.stl"/>
+    <mesh name="left_ankle1_link" content_type="model/stl" file="left_ankle1_link.stl"/>
+    <mesh name="left_ankle2_link" content_type="model/stl" file="left_ankle2_link.stl"/>
+  </asset>
+
+  <worldbody>
+    <geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="base_link"/>
+    <body name="torso_link" pos="2.08135e-05 -0.064 0.1123" quat="1 0 0 0.000162606">
+      <inertial pos="0.00078123 -0.00026047 0.013243" quat="0.504721 0.503925 -0.495362 0.495916" mass="0.96233" diaginertia="0.000663059 0.000468721 0.00045115"/>
+      <joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+      <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="torso_link"/>
+      <body name="waist_roll_link" pos="0 0 0.0616">
+        <inertial pos="-3.1564e-09 3.1564e-09 0" quat="0.5 0.5 -0.5 0.5" mass="0.23579" diaginertia="9.0898e-05 5.1045e-05 5.1045e-05"/>
+        <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+        <geom type="mesh" rgba="0.52941 0.54902 0.54902 1" mesh="waist_roll_link"/>
+        <body name="waist_pitch_link" pos="0 -0.03 0">
+          <inertial pos="0.00883777 0.0280342 0.162448" quat="0.758995 -0.0836902 -0.066749 0.642236" mass="2.69516" diaginertia="0.0353988 0.0276035 0.0144897"/>
+          <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+          <geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="waist_pitch_link"/>
+          <geom pos="0.059 0.0299988 0.254964" quat="1 0 0 0" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="chest_link"/>
+          <geom pos="0 0.0299988 0.427514" quat="1 0 0 0" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="neck_link"/>
+          <body name="left_shoulder_pitch_link" pos="0 0.163919 0.341705">
+            <inertial pos="0.00031467 -0.0041125 -0.0009434" quat="0.701298 0.0917136 -0.0929036 0.700813" mass="0.55787" diaginertia="0.000562495 0.00046536 0.000316025"/>
+            <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 0.965926 0.258819" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+            <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_shoulder_pitch_link"/>
+            <body name="left_shoulder_roll_link" pos="0.01965 0.064717 0.0173409">
+              <inertial pos="-0.019316 0.00045538 -0.0075538" quat="0.41824 0.908328 0.00337416 0.00203267" mass="0.48965" diaginertia="0.000528752 0.000349197 0.000324481"/>
+              <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="-1 0 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+              <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_shoulder_roll_link"/>
+              <body name="left_elbow_yaw_link" pos="-0.01965 0.0126821 -0.14058" quat="1 0 0 -0.000162606">
+                <inertial pos="3.389e-05 -0.0037073 0.00016863" quat="0.705418 -0.0121492 0.0176214 0.708469" mass="0.24344" diaginertia="9.53696e-05 9.17654e-05 8.435e-05"/>
+                <joint name="left_elbow_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+                <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_elbow_yaw_link"/>
+                <body name="left_elbow_forearm_yaw_link" pos="0 0.0265 -0.06825">
+                  <inertial pos="4.0886e-05 -0.026352 -0.013654" quat="0.99995 0.00497269 0.000477013 0.00863926" mass="0.20469" diaginertia="8.412e-05 8.08155e-05 6.59355e-05"/>
+                  <joint name="left_elbow_forearm_yaw_joint" pos="0 0 0" axis="0 -1 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+                  <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_elbow_forearm_yaw_link"/>
+                  <body name="left_wrist_yaw_link" pos="2.7212e-05 -0.0261963 -0.1235">
+                    <inertial pos="-0.0022153 -0.00030373 -0.017432" quat="0.999968 -0.00184374 -0.00778697 0.000773578" mass="0.3165" diaginertia="0.000131437 0.0001122 0.000103743"/>
+                    <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+                    <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_wrist_yaw_link"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="right_shoulder_pitch_link" pos="0 -0.108459 0.342922">
+            <inertial pos="0.00031467 0.0086652 -0.0021119" quat="0.700818 -0.0928695 0.0916842 0.701301" mass="0.55787" diaginertia="0.000562493 0.00046536 0.000316026"/>
+            <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 -0.965926 0.258819" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+            <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_shoulder_pitch_link"/>
+            <body name="right_shoulder_roll_link" pos="0.01965 -0.0601772 0.0161244">
+              <inertial pos="-0.019338 -0.00043324 -0.007383" quat="0.90966 0.415333 -0.00213923 -0.00350991" mass="0.48888" diaginertia="0.000528423 0.000348694 0.000324022"/>
+              <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="-1 0 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+              <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_shoulder_roll_link"/>
+              <body name="right_elbow_yaw_link" pos="-0.01965 -0.0126821 -0.14058">
+                <inertial pos="-4.3563e-07 0.0037417 0.00016863" quat="0.708768 0.0128929 -0.0130141 0.705204" mass="0.24344" diaginertia="9.54129e-05 9.17169e-05 8.43552e-05"/>
+                <joint name="right_elbow_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+                <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_elbow_yaw_link"/>
+                <body name="right_elbow_forearm_yaw_link" pos="0.000304331 0.02825 -0.0682696">
+                  <inertial pos="-0.00034522 -0.028398 -0.013635" quat="0.99995 -0.00497269 -0.000477013 0.00863926" mass="0.20469" diaginertia="8.412e-05 8.08155e-05 6.59355e-05"/>
+                  <joint name="right_elbow_forearm_yaw_joint" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+                  <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_elbow_forearm_yaw_link"/>
+                  <body name="right_wrist_yaw_link" pos="-0.00053341 -0.0284513 -0.12348">
+                    <inertial pos="-0.0019393 0.00024629 -0.017432" quat="0.999955 0.00363953 -0.00860247 0.00176806" mass="0.3165" diaginertia="0.000131448 0.00011219 0.000103741"/>
+                    <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+                    <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_wrist_yaw_link"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="neck_yaw_link" pos="0 0.0299988 0.427514">
+            <inertial pos="0.0026021 0.017715 0.019315" quat="0.890333 -0.296459 0.0624044 0.33989" mass="0.084323" diaginertia="2.56955e-05 2.39075e-05 1.6763e-05"/>
+            <joint name="neck_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+            <geom type="mesh" rgba="0.89804 0.89804 0.89804 1" mesh="neck_yaw_link"/>
+            <body name="head_link" pos="0.017615 0.0045 0.023005">
+              <inertial pos="0.0295645 -0.0307825 0.0284958" quat="0.388017 0.921403 0.0168308 0.01328" mass="0.29662" diaginertia="0.00124419 0.000879133 0.000385635"/>
+              <joint name="head_joint" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+              <geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="head_link"/>
+              <geom pos="0.045385 -0.0045 0.0774061" quat="1 0 0 0" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="camera_link"/>
+            </body>
+          </body>
+          <body name="waist_rod_link" pos="0 0.025 0.0561">
+            <inertial pos="0.035116 0.005 -0.036408" quat="0.493233 0.493204 -0.506706 0.506675" mass="0.16381" diaginertia="7.50981e-05 4.87459e-05 4.5916e-05"/>
+            <joint name="waist_rod_joint" pos="0 0 0" axis="0 -1 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+            <geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="waist_rod_link"/>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_hip_pitch_link" pos="4.1627e-05 -0.128 0" quat="1 0 0 0.000162606">
+      <inertial pos="-0.0076883 -0.03517 0.00056004" quat="0.992712 0.115309 -0.00964744 -0.0336693" mass="1.5469" diaginertia="0.00288375 0.00207107 0.00197607"/>
+      <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+      <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_hip_pitch_link"/>
+      <body name="right_hip_roll_link" pos="0.0202 -0.076 0">
+        <inertial pos="-0.032145 -3.7396e-06 -0.063538" quat="0.999474 -7.01093e-07 -0.0324354 2.16037e-05" mass="0.7444" diaginertia="0.00155531 0.001194 0.000935294"/>
+        <joint name="right_hip_roll_ joint" pos="0 0 0" axis="-1 0 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+        <geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="right_hip_roll_link"/>
+        <body name="right_hip_yaw_link" pos="-0.0202 0 -0.1757">
+          <inertial pos="-2.7827e-05 -0.0016262 -0.02388" quat="0.501873 0.49827 0.501286 0.498561" mass="1.0856" diaginertia="0.00105081 0.000856782 0.00071265"/>
+          <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+          <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_hip_yaw_link"/>
+          <body name="right_knee_link" pos="0 -0.0247 -0.1343">
+            <inertial pos="0.00046937 0.027135 -0.098078" quat="0.999001 0.0446351 -0.000116938 0.00232482" mass="1.8135" diaginertia="0.008031 0.00798962 0.00131028"/>
+            <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+            <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_knee_link"/>
+            <body name="right_foot1_link" pos="0 0.297852 -0.318642" quat="0.999979 0.00648448 0 0">
+              <inertial pos="3.1564e-09 -0.27313 0.0036841" quat="0.00458487 0.707092 0.00458487 0.707092" mass="0.23579" diaginertia="9.08977e-05 5.10453e-05 5.1045e-05"/>
+              <joint name="right_foot1_joint" pos="0 0 0" axis="0 0.999916 -0.0129687" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+              <geom type="mesh" rgba="0.52941 0.54902 0.54902 1" mesh="right_foot1_link"/>
+              <body name="right_foot2_link" pos="-0.02 -0.273127 0.00368408" quat="0.999979 -0.00648448 0 0">
+                <inertial pos="0.057171 -1.693e-09 -0.034065" quat="0 0.720938 0 0.693" mass="0.75781" diaginertia="0.00266586 0.002328 0.000446697"/>
+                <joint name="right_foot2_joint" pos="0 0 0" axis="-1 0 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+                <geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="right_foot2_link"/>
+              </body>
+            </body>
+            <body name="right_ankle1_link" pos="0.0375 0.0247 -0.105">
+              <inertial pos="0.0023931 0.017854 -0.048179" quat="0.999556 -0.0297259 -4.36764e-05 -0.00200704" mass="0.10199" diaginertia="0.00011992 0.00010589 1.52941e-05"/>
+              <joint name="right_ankle1_joint" pos="0 0 0" axis="1 0 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+              <geom type="mesh" rgba="0.64706 0.61961 0.58824 1" mesh="right_ankle1_link"/>
+              <body name="right_ankle2_link" pos="0 0 -0.0645">
+                <inertial pos="0.0012707 -0.016081 -0.027842" quat="0.998839 0.0481263 -3.98955e-05 0.0019853" mass="0.089313" diaginertia="4.96192e-05 3.55855e-05 1.50583e-05"/>
+                <joint name="right_ankle2_joint" pos="0 0 0" axis="1 0 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+                <geom type="mesh" rgba="0.64706 0.61961 0.58824 1" mesh="right_ankle2_link"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_hip_pitch_link">
+      <inertial pos="-0.0076949 0.035164 -0.00056716" quat="0.992601 0.11621 0.00969005 0.0338305" mass="1.5469" diaginertia="0.00288379 0.00207112 0.00197599"/>
+      <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0.000325211 -1 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+      <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_hip_pitch_link"/>
+      <body name="left_hip_roll_link" pos="0.0239754 0.075629 -0.000417045" quat="1 0 0 0.000162606">
+        <inertial pos="-0.034577 0.0013532 -0.074963" quat="0.999252 0.00719015 -0.0379915 -0.000173782" mass="0.84068" diaginertia="0.00165655 0.00129023 0.00112671"/>
+        <joint name="left_hip_roll_joint" pos="0 0 0" axis="-1 0 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+        <geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="left_hip_roll_link"/>
+        <body name="left_hip_yaw_link" pos="-0.024 0.00265744 -0.175268" quat="0.999979 0.00648448 0 0">
+          <inertial pos="5.3998e-05 0.0016007 -0.02388" quat="0.498266 0.501877 0.498624 0.501222" mass="1.0856" diaginertia="0.00105081 0.000856783 0.00071265"/>
+          <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+          <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_hip_yaw_link"/>
+          <body name="left_knee_link" pos="0.000417045 0.0285 -0.133921">
+            <inertial pos="5.5858e-05 -0.030933 -0.098447" quat="0.999001 -0.0446328 -0.000101463 -0.00212519" mass="1.8134" diaginertia="0.0080308 0.00798941 0.00131028"/>
+            <joint name="left_knee_joint" pos="0 0 0" axis="0 -1 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+            <geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="left_knee_link"/>
+            <body name="left_foot1_link" pos="-0.000417045 -0.0435 -0.318879">
+              <inertial pos="-3.1564e-09 0.015 0" quat="0.5 0.5 -0.5 0.5" mass="0.23579" diaginertia="9.0898e-05 5.1045e-05 5.1045e-05"/>
+              <joint name="left_foot1_joint" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+              <geom type="mesh" rgba="0.52941 0.54902 0.54902 1" mesh="left_foot1_link"/>
+              <body name="left_foot2_link" pos="-0.02 0.015 0">
+                <inertial pos="0.057204 -0.00036388 -0.033983" quat="0.00465825 0.720924 0.00447622 0.692984" mass="0.76036" diaginertia="0.00266592 0.00232824 0.000447017"/>
+                <joint name="left_foot2_joint" pos="0 0 0" axis="-1 0 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+                <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_foot2_link"/>
+              </body>
+            </body>
+            <body name="left_ankle1_link" pos="0.034083 -0.0285 -0.105379">
+              <inertial pos="0.0053547 -0.017758 -0.048415" quat="0.99961 0.0278516 -4.82163e-05 0.00198332" mass="0.1027" diaginertia="0.00011993 0.000105871 1.53253e-05"/>
+              <joint name="left_ankle1_joint" pos="0 0 0" axis="1 0 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+              <geom type="mesh" rgba="0.64706 0.61961 0.58824 1" mesh="left_ankle1_link"/>
+              <body name="left_ankle2_link" pos="0 0 -0.0645">
+                <inertial pos="0.0042648 0.016034 -0.027953" quat="0.998886 -0.0471512 -4.84159e-05 -0.00202925" mass="0.089431" diaginertia="4.96192e-05 3.55788e-05 1.5068e-05"/>
+                <joint name="left_ankle2_joint" pos="0 0 0" axis="1 0 0" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+                <geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="left_ankle2_link"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_ankle1_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_ankle1_link.stl
new file mode 100755
index 000000000..5dbb74860
Binary files /dev/null and b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_ankle1_link.stl differ
diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_ankle2_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_ankle2_link.stl
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index 000000000..0101bd7c4
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_elbow_forearm_yaw_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_elbow_forearm_yaw_link.stl
new file mode 100755
index 000000000..a97d4eabf
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_elbow_yaw_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_elbow_yaw_link.stl
new file mode 100755
index 000000000..a98bccbb7
Binary files /dev/null and b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_elbow_yaw_link.stl differ
diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_foot1_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_foot1_link.stl
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index 000000000..fa4429a48
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_foot2_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_foot2_link.stl
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_hip_pitch_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_hip_pitch_link.stl
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index 000000000..4ec959c79
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_hip_roll_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_hip_roll_link.stl
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index 000000000..880e6db30
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_hip_yaw_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_hip_yaw_link.stl
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index 000000000..ad2baf1a9
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_knee_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_knee_link.stl
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index 000000000..620e6233f
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_shoulder_pitch_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_shoulder_pitch_link.stl
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index 000000000..9598c0c0f
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_shoulder_roll_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_shoulder_roll_link.stl
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index 000000000..e57f2ba41
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_wrist_yaw_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/left_wrist_yaw_link.stl
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/neck_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/neck_link.stl
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/neck_yaw_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/neck_yaw_link.stl
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_ankle1_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_ankle1_link.stl
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_ankle2_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_ankle2_link.stl
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_elbow_forearm_yaw_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_elbow_forearm_yaw_link.stl
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index 000000000..f7cb79929
Binary files /dev/null and b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_elbow_forearm_yaw_link.stl differ
diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_elbow_yaw_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_elbow_yaw_link.stl
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index 000000000..958278a05
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_foot1_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_foot1_link.stl
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_foot2_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_foot2_link.stl
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index 000000000..5f8b71165
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_hip_pitch_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_hip_pitch_link.stl
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_hip_roll_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_hip_roll_link.stl
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_hip_yaw_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_hip_yaw_link.stl
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_knee_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_knee_link.stl
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_shoulder_pitch_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_shoulder_pitch_link.stl
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_shoulder_roll_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_shoulder_roll_link.stl
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index 000000000..bc2314e29
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_wrist_yaw_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/right_wrist_yaw_link.stl
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index 000000000..2e2a4722c
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/torso_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/torso_link.stl
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index 000000000..2478d66ef
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/urdf_to_mjcf.py b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/urdf_to_mjcf.py
new file mode 100644
index 000000000..533c5e2b4
--- /dev/null
+++ b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/urdf_to_mjcf.py
@@ -0,0 +1,14 @@
+import mujoco
+import os
+
+BASE_DIR = "/home/ahmed/E_Disk/worksapce/humanoid_ws/src/humanoid_pkg/meshes"
+
+
+os.chdir(BASE_DIR)
+
+urdf_path = os.path.join(BASE_DIR, "humanoid_pkg.urdf")
+
+model = mujoco.MjModel.from_xml_path(urdf_path)
+mujoco.mj_saveLastXML("humanoid_pkg.xml", model)
+
+print(" MJCF generated successfully")
diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/waist_pitch_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/waist_pitch_link.stl
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index 000000000..7bc7068e9
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/waist_rod_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/waist_rod_link.stl
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index 000000000..213c04572
Binary files /dev/null and b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/waist_rod_link.stl differ
diff --git a/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/waist_roll_link.stl b/src/mjlab/asset_zoo/robots/humanoid/assets/meshes/waist_roll_link.stl
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index 000000000..a65fe74af
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diff --git a/src/mjlab/asset_zoo/robots/humanoid/humanoid_constants.py b/src/mjlab/asset_zoo/robots/humanoid/humanoid_constants.py
new file mode 100644
index 000000000..9ac229f9c
--- /dev/null
+++ b/src/mjlab/asset_zoo/robots/humanoid/humanoid_constants.py
@@ -0,0 +1,337 @@
+"""Humanoid robot constants.
+
+Humanoid is a 12-DOF bipedal robot with 6 joints per leg:
+- hip_pitch, hip_roll, hip_yaw, knee, foot1, foot2
+
+Motor specifications from Synapticon datasheets:
+- Hip pitch: EC-A6416-P2-25 (peak 120 Nm, rated 55 Nm)
+- Hip roll: EC-A5013-H17-100 (peak 90 Nm, rated 45 Nm)
+- Hip yaw: EC-A3814-H14-107 (peak 60 Nm, rated 30 Nm)
+- Knee: EC-A4315-P2-36 (peak 75 Nm, rated 50 Nm)
+- Ankle pitch/roll: EC-A4310-P2-36 (peak 36 Nm, rated 18 Nm)
+"""
+
+from pathlib import Path
+
+import mujoco
+
+from mjlab import MJLAB_SRC_PATH
+from mjlab.actuator import BuiltinPositionActuatorCfg
+from mjlab.entity import EntityArticulationInfoCfg, EntityCfg
+from mjlab.utils.os import update_assets
+from mjlab.utils.spec_config import CollisionCfg
+
+##
+# MJCF and assets.
+##
+
+HUMANOID_XML: Path = (
+    MJLAB_SRC_PATH / "asset_zoo" / "robots" / "humanoid" / "xmls" / "humanoid.xml"
+)
+assert HUMANOID_XML.exists(), f"Humanoid XML not found at {HUMANOID_XML}"
+
+HUMANOID_WALKING_REFERENCE: Path = (
+    MJLAB_SRC_PATH / "asset_zoo" / "robots" / "humanoid" / "assets" / "walking_reference.csv"
+)
+
+
+def get_assets(meshdir: str) -> dict[str, bytes]:
+    assets: dict[str, bytes] = {}
+    update_assets(assets, HUMANOID_XML.parent.parent / "assets" / "meshes", meshdir)
+    return assets
+
+
+def get_spec() -> mujoco.MjSpec:
+    spec = mujoco.MjSpec.from_file(str(HUMANOID_XML))
+    spec.assets = get_assets(spec.meshdir)
+    return spec
+
+
+##
+# Actuator config.
+#
+# Using physics-based PD gains:
+# KP = J_reflected * omega_n^2 (with omega_n = 10 Hz * 2*pi)
+# KD = 5.0 Nm·s/rad (hardware max for all motors)
+##
+
+NATURAL_FREQ = 10 * 2.0 * 3.1415926535  # 10Hz
+DAMPING_RATIO = 2.0
+
+# Reflected inertias from motor spec sheets (J_rotor * gear_ratio^2)
+# Hip pitch: 104.395 kg·mm² * 25² = 0.0652 kg·m²
+# Hip roll: 10 kg·mm² * 100² = 0.100 kg·m²
+# Hip yaw: 3 kg·mm² * 107² = 0.0343 kg·m²
+# Knee: 25.5 kg·mm² * 36² = 0.0330 kg·m²
+# Ankle: 18.2 kg·mm² * 36² = 0.0236 kg·m²
+ARMATURE_HIP_PITCH = 0.0652
+ARMATURE_HIP_ROLL = 0.100
+ARMATURE_HIP_YAW = 0.0343
+ARMATURE_KNEE = 0.0330
+ARMATURE_FOOT1 = 0.0236
+ARMATURE_FOOT2 = 0.0236
+ARMATURE_TORSO = 0.0330  # No armature for torso
+ARMATURE_SHOULDER = 0.02
+ARMATURE_ELBOW = 0.015
+ARMATURE_WAIST_ROLL = 0.01
+ARMATURE_WAIST_PITCH = 0.01
+ARMATURE_WRIST_YAW=0.01
+
+
+# Stiffness (KP) - physics based
+STIFFNESS_HIP_PITCH = ARMATURE_HIP_PITCH * NATURAL_FREQ**2
+STIFFNESS_HIP_ROLL = ARMATURE_HIP_ROLL * NATURAL_FREQ**2
+STIFFNESS_HIP_YAW = ARMATURE_HIP_YAW * NATURAL_FREQ**2
+STIFFNESS_KNEE = ARMATURE_KNEE * NATURAL_FREQ**2
+STIFFNESS_FOOT1 = ARMATURE_FOOT1 * NATURAL_FREQ**2
+STIFFNESS_FOOT2 = ARMATURE_FOOT2 * NATURAL_FREQ**2
+STIFFNESS_TORSO = ARMATURE_TORSO * NATURAL_FREQ**2
+STIFFNESS_SHOULDER = ARMATURE_SHOULDER * NATURAL_FREQ**2
+STIFFNESS_ELBOW = ARMATURE_ELBOW * NATURAL_FREQ**2
+STIFFNESS_WAIST_ROLL = ARMATURE_WAIST_ROLL * NATURAL_FREQ**2
+STIFFNESS_WAIST_PITCH = ARMATURE_WAIST_PITCH * NATURAL_FREQ**2
+STIFFNESS_WRIST_YAW = ARMATURE_WRIST_YAW * NATURAL_FREQ**2
+
+# Damping (KD) - capped at hardware max 5.0 Nm·s/rad for sim2real
+DAMPING_HIP_PITCH = 5.0
+DAMPING_HIP_ROLL = 5.0
+DAMPING_HIP_YAW = 5.0
+DAMPING_KNEE = 5.0
+DAMPING_ANKLE = 5.0
+DAMPING_TORSO = 5.0
+DAMPING_SHOULDER = 5.0
+DAMPING_ELBOW = 5.0
+DAMPING_WAIST_ROLL = 5.0
+DAMPING_WAIST_PITCH = 5.0
+DAMPING_WRIST_YAW = 5.0
+
+# Effort limits (peak torque from datasheets)
+EFFORT_HIP_PITCH = 140.0  # EC-A6416-P2-25: peak 120 Nm
+EFFORT_HIP_ROLL = 100.0    # EC-A5013-H17-100: peak 90 Nm
+EFFORT_HIP_YAW = 80.0     # EC-A3814-H14-107: peak 60 Nm
+EFFORT_KNEE = 95.0        # EC-A4315-P2-36: peak 75 Nm
+EFFORT_ANKLE = 36.0       # EC-A4310-P2-36: peak 36 Nm
+EFFORT_TORSO = 10.0       #  motor for torso
+EFFORT_SHOULDER = 10.0
+EFFORT_ELBOW = 10.0
+EFFORT_WAIST_ROLL = 10.0
+EFFORT_WAIST_PITCH = 10.0
+EFFORT_WRIST_YAW = 10.0
+
+
+
+
+
+
+HUMANOID_ACTUATOR_HIP_PITCH = BuiltinPositionActuatorCfg(
+    joint_names_expr=(".*_hip_pitch_joint",),
+    stiffness=STIFFNESS_HIP_PITCH,
+    damping=DAMPING_HIP_PITCH,
+    effort_limit=EFFORT_HIP_PITCH,
+    armature=ARMATURE_HIP_PITCH,
+)
+
+HUMANOID_ACTUATOR_HIP_ROLL = BuiltinPositionActuatorCfg(
+    joint_names_expr=(".*_hip_roll_joint",),
+    stiffness=STIFFNESS_HIP_ROLL,
+    damping=DAMPING_HIP_ROLL,
+    effort_limit=EFFORT_HIP_ROLL,
+    armature=ARMATURE_HIP_ROLL,
+)
+
+HUMANOID_ACTUATOR_HIP_YAW = BuiltinPositionActuatorCfg(
+    joint_names_expr=(".*_hip_yaw_joint",),
+    stiffness=STIFFNESS_HIP_YAW,
+    damping=DAMPING_HIP_YAW,
+    effort_limit=EFFORT_HIP_YAW,
+    armature=ARMATURE_HIP_YAW,
+)
+
+HUMANOID_ACTUATOR_KNEE = BuiltinPositionActuatorCfg(
+    joint_names_expr=(".*_knee_joint",),
+    stiffness=STIFFNESS_KNEE,
+    damping=DAMPING_KNEE,
+    effort_limit=EFFORT_KNEE,
+    armature=ARMATURE_KNEE,
+)
+
+HUMANOID_ACTUATOR_ANKLE = BuiltinPositionActuatorCfg(
+    joint_names_expr=(".*_foot1_joint", ".*_foot2_joint"),
+    stiffness=STIFFNESS_FOOT1,
+    damping=DAMPING_ANKLE,
+    effort_limit=EFFORT_ANKLE,
+    armature=ARMATURE_FOOT1,
+)
+HUMANOID_ACTION_TORSO = BuiltinPositionActuatorCfg(
+    joint_names_expr=("torso_joint",),
+    stiffness=STIFFNESS_TORSO,
+    damping=DAMPING_TORSO,
+    effort_limit=EFFORT_TORSO,
+    armature=ARMATURE_TORSO,
+)  
+HUMANOID_ACTUATOR_WAIST_ROLL = BuiltinPositionActuatorCfg(
+    joint_names_expr=("waist_roll_joint",),
+    stiffness=STIFFNESS_WAIST_ROLL,
+    damping=DAMPING_WAIST_ROLL,
+    effort_limit=EFFORT_WAIST_ROLL,
+    armature=ARMATURE_WAIST_ROLL,
+)
+HUMANOID_ACTUATOR_WAIST_PITCH = BuiltinPositionActuatorCfg(
+    joint_names_expr=("waist_pitch_joint",),
+    stiffness=STIFFNESS_WAIST_PITCH,
+    damping=DAMPING_WAIST_PITCH,
+    effort_limit=EFFORT_WAIST_PITCH,
+    armature=ARMATURE_WAIST_PITCH,
+)
+
+HUMANOID_ACTUATOR_SHOULDER = BuiltinPositionActuatorCfg(
+    joint_names_expr=(".*_shoulder_.*_joint",),
+    stiffness=STIFFNESS_SHOULDER,
+    damping=DAMPING_SHOULDER,
+    effort_limit=EFFORT_SHOULDER,
+    armature=ARMATURE_SHOULDER,
+)
+
+HUMANOID_ACTUATOR_ELBOW = BuiltinPositionActuatorCfg(
+    joint_names_expr=(".*_elbow_.*_joint",),
+    stiffness=STIFFNESS_ELBOW,
+    damping=DAMPING_ELBOW,
+    effort_limit=EFFORT_ELBOW,
+    armature=ARMATURE_ELBOW,
+)
+
+HUMANOID_ACTUATOR_WRIST_YAW = BuiltinPositionActuatorCfg(
+    joint_names_expr=(".*_wrist_yaw_joint",),
+    stiffness=STIFFNESS_WRIST_YAW,
+    damping=DAMPING_WRIST_YAW,
+    effort_limit=EFFORT_WRIST_YAW,
+    armature=ARMATURE_WRIST_YAW,
+)
+##
+# Keyframe config.
+##
+
+HOME_KEYFRAME = EntityCfg.InitialStateCfg(
+    pos=(0, 0, 0.75),  # Standing height (~0.72m + margin)
+    joint_pos={".*": 0.0},  # All joints at zero = straight standing
+    joint_vel={".*": 0.0},
+)
+
+# Knees bent pose for stability
+# NOTE: Left and right sides have OPPOSITE axis directions!
+# Knees:
+# - Left knee: axis=(0, 1, 0), range=[0, 1.5] → positive = extend back
+# - Right knee: axis=(0, -1, 0), range=[-1.5, 0] → negative = extend back
+# Hip pitch:
+# - Left: axis=(0, 0.707, -0.707) → positive = forward lean
+# - Right: axis=(0, -0.707, -0.707) → negative = forward lean
+# Ankle pitch:
+# - Left: axis=(0, 1, 0) → negative = pitch down
+# - Right: axis=(0, -1, 0) → positive = pitch down
+KNEES_BENT_KEYFRAME = EntityCfg.InitialStateCfg(
+    pos=(0, 0, 0.70),  # Lower height for bent knees
+    joint_pos={
+        "left_hip_pitch_joint": 0.0,
+        "right_hip_pitch_joint": 0.0,
+        ".*_hip_roll_joint": 0.0,
+        ".*_hip_yaw_joint": 0.0,
+        "left_knee_joint": 0.4,    # [0, 1.5] range
+        "right_knee_joint": -0.4,  # [-1.5, 0] range
+        "left_foot1_joint": -0.2,   # Compensate for knee bend
+        "right_foot1_joint": 0.2,   # Opposite sign
+        ".*_foot2_joint": 0.0,
+        "torso_joint": 0.4,
+        "waist_roll_joint": 0.0,
+        "waist_pitch_joint": 0.0,
+        ".*_shoulder_.*_joint": 0.0,
+        ".*_elbow_.*_joint": 0.0,
+        ".*_wrist_yaw_joint": 0.0,
+
+    },
+    joint_vel={".*": 0.0},
+)
+
+##
+# Collision config.
+##
+
+# Full collision including self-collisions
+FULL_COLLISION = CollisionCfg(
+    geom_names_expr=(".*_collision",),
+    condim={
+        r"^(left|right)_foot2_link_collision$": 3,
+        ".*_collision": 1,
+    },
+    priority={r"^(left|right)_foot2_link_collision$": 1},
+    friction={r"^(left|right)_foot2_link_collision$": (0.6,)},
+)
+
+# Feet only collision (disable self-collision)
+FEET_ONLY_COLLISION = CollisionCfg(
+    geom_names_expr=(r"^(left|right)_foot2_link_collision$",),
+    contype=0,
+    conaffinity=1,
+    condim=3,
+    priority=1,
+    friction=(0.6,),
+)
+
+##
+# Final config.
+##
+
+HUMANOID_ARTICULATION = EntityArticulationInfoCfg(
+    actuators=(
+        HUMANOID_ACTUATOR_HIP_PITCH,
+        HUMANOID_ACTUATOR_HIP_ROLL,
+        HUMANOID_ACTUATOR_HIP_YAW,
+        HUMANOID_ACTUATOR_KNEE,
+        HUMANOID_ACTUATOR_ANKLE,
+        HUMANOID_ACTION_TORSO,
+        HUMANOID_ACTUATOR_WAIST_ROLL,
+        HUMANOID_ACTUATOR_WAIST_PITCH,
+        HUMANOID_ACTUATOR_SHOULDER,
+        HUMANOID_ACTUATOR_ELBOW,
+        HUMANOID_ACTUATOR_WRIST_YAW,
+        
+    ),
+    soft_joint_pos_limit_factor=0.9,
+)
+
+
+def get_humanoid_robot_cfg() -> EntityCfg:
+    """Get a fresh Humanoid robot configuration instance.
+
+    Returns a new EntityCfg instance each time to avoid mutation issues when
+    the config is shared across multiple places.
+    """
+    return EntityCfg(
+        init_state=HOME_KEYFRAME,
+        collisions=(FEET_ONLY_COLLISION,),
+        spec_fn=get_spec,
+        articulation=HUMANOID_ARTICULATION,
+    )
+
+
+# Action scale: how much the action scales joint position target
+# Using 0.3 * effort_limit / stiffness (like humanoid-mjlab)
+HUMANOID_ACTION_SCALE: dict[str, float] = {}
+for a in HUMANOID_ARTICULATION.actuators:
+    assert isinstance(a, BuiltinPositionActuatorCfg)
+    e = a.effort_limit
+    s = a.stiffness
+    names = a.joint_names_expr
+    assert e is not None
+    assert s is not None
+    for n in names:
+        HUMANOID_ACTION_SCALE[n] = 0.3 * e / s
+
+
+if __name__ == "__main__":
+    import mujoco.viewer as viewer
+
+    from mjlab.entity.entity import Entity
+
+    robot = Entity(get_humanoid_robot_cfg())
+
+    viewer.launch(robot.spec.compile())
diff --git a/src/mjlab/asset_zoo/robots/humanoid/xmls/asimov4.xml b/src/mjlab/asset_zoo/robots/humanoid/xmls/asimov4.xml
new file mode 100644
index 000000000..666699db4
--- /dev/null
+++ b/src/mjlab/asset_zoo/robots/humanoid/xmls/asimov4.xml
@@ -0,0 +1,302 @@
+<mujoco model="Asimov">
+  
+  <compiler angle="radian" meshdir="../assets/meshes"/>
+  <visual>
+    <global offwidth="1920" offheight="1080"/>
+  </visual>
+
+<default>
+  <joint frictionloss="0.1"/>  <!-- All joints get this by default -->
+  
+  <default class="motor">
+    <joint damping="0.5"/> 
+  </default>
+  
+  <default class="visual">
+    <geom material="visual_grey" contype="0" conaffinity="0" group="2"/>
+  </default>
+  
+  <default class="collision">
+    <geom material="collision_grey" condim="3" contype="0" conaffinity="1" group="1"/>
+  </default>
+</default>
+
+
+
+  <asset>
+      <material name="visual_grey" rgba="0.7 0.7 0.7 1.0" />
+    <material name="collision_grey" rgba="0.5 0.5 0.5 0.5" />
+    <texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
+    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
+    <material name="material" rgba="0.75294 0.75294 0.75294 1" />
+    <material name="collision_material" rgba="1.0 0.28 0.1 0.9" />
+<!-- <mesh name="pelvis" content_type="model/stl" file="base_link.stl"/> -->
+<mesh name="pelvis_link" content_type="model/stl" file="base_link.stl"/>
+<!-- <mesh name="torso_link" content_type="model/stl" file="torso_link.stl"/>
+<mesh name="waist_roll_link" content_type="model/stl" file="waist_roll_link.stl"/>
+<mesh name="waist_pitch_link" content_type="model/stl" file="waist_pitch_link.stl"/>
+<mesh name="chest_link" content_type="model/stl" file="chest_link.stl"/>
+<mesh name="left_shoulder_pitch_link" content_type="model/stl" file="left_shoulder_pitch_link.stl"/>
+<mesh name="left_shoulder_roll_link" content_type="model/stl" file="left_shoulder_roll_link.stl"/>
+<mesh name="left_elbow_yaw_link" content_type="model/stl" file="left_elbow_yaw_link.stl"/>
+<mesh name="left_elbow_forearm_yaw_link" content_type="model/stl" file="left_elbow_forearm_yaw_link.stl"/>
+<mesh name="left_wrist_yaw_link" content_type="model/stl" file="left_wrist_yaw_link.stl"/>
+<mesh name="right_shoulder_pitch_link" content_type="model/stl" file="right_shoulder_pitch_link.stl"/>
+<mesh name="right_shoulder_roll_link" content_type="model/stl" file="right_shoulder_roll_link.stl"/>
+<mesh name="right_elbow_yaw_link" content_type="model/stl" file="right_elbow_yaw_link.stl"/>
+<mesh name="right_elbow_forearm_yaw_link" content_type="model/stl" file="right_elbow_forearm_yaw_link.stl"/>
+<mesh name="right_wrist_yaw_link" content_type="model/stl" file="right_wrist_yaw_link.stl"/>
+<mesh name="neck_link" content_type="model/stl" file="neck_link.stl"/>
+<mesh name="neck_yaw_link" content_type="model/stl" file="neck_yaw_link.stl"/>
+<mesh name="head_link" content_type="model/stl" file="head_link.stl"/>
+<mesh name="camera_link" content_type="model/stl" file="camera_link.stl"/>
+<mesh name="waist_rod_link" content_type="model/stl" file="waist_rod_link.stl"/> -->
+<mesh name="right_hip_pitch_link" content_type="model/stl" file="right_hip_pitch_link.stl"/>
+<mesh name="right_hip_roll_link" content_type="model/stl" file="right_hip_roll_link.stl"/>
+<mesh name="right_hip_yaw_link" content_type="model/stl" file="right_hip_yaw_link.stl"/>
+<mesh name="right_knee_link" content_type="model/stl" file="right_knee_link.stl"/>
+<mesh name="right_foot1_link" content_type="model/stl" file="right_foot1_link.stl"/>
+<mesh name="right_foot2_link" content_type="model/stl" file="right_foot2_link.stl"/>
+<mesh name="right_ankle1_link" content_type="model/stl" file="right_ankle1_link.stl"/>
+<mesh name="right_ankle2_link" content_type="model/stl" file="right_ankle2_link.stl"/>
+<mesh name="left_hip_pitch_link" content_type="model/stl" file="left_hip_pitch_link.stl"/>
+<mesh name="left_hip_roll_link" content_type="model/stl" file="left_hip_roll_link.stl"/>
+<mesh name="left_hip_yaw_link" content_type="model/stl" file="left_hip_yaw_link.stl"/>
+<mesh name="left_knee_link" content_type="model/stl" file="left_knee_link.stl"/>
+<mesh name="left_foot1_link" content_type="model/stl" file="left_foot1_link.stl"/>
+<mesh name="left_foot2_link" content_type="model/stl" file="left_foot2_link.stl"/>
+<mesh name="left_ankle1_link" content_type="model/stl" file="left_ankle1_link.stl"/>
+<mesh name="left_ankle2_link" content_type="model/stl" file="left_ankle2_link.stl"/>
+</asset>
+<worldbody>
+    <light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false" />
+    <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
+
+<!-- <body name="pelvis" pos="0 0 0.68">
+<inertial pos="0.00011927 -0.053041 0.11817" mass="0.85358" diaginertia="0.000753949 0.000519781 0.0005022"/>
+
+<geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="pelvis"/> -->
+
+<body name="pelvis_link" pos="0 0 0.68" quat="1 0 0 0 ">
+<inertial pos="0.00011927 -0.053041 0.11817" mass="0.85358" diaginertia="0.000753949 0.000519781 0.0005022"/>
+<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
+<geom name="pelvis_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="pelvis_link"/>
+<geom name="pelvis_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="pelvis_link" class="visual" />
+<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
+<!-- <body name="torso_link" pos="2.08135124461772E-05 -0.0639999966156143 0.1123" quat="1 0 0 0.000162606">
+<inertial pos="0.00062749 -0.00020921 0.02276" quat="0.503923 0.503256 -0.496149 0.496619" mass="0.96233" diaginertia="0.000753949 0.000519781 0.0005022"/>
+<joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-1.2217 1.2217" actuatorfrcrange="-88 88"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="torso_link"/>
+<body name="waist_roll_link" pos="0 0 0.0616">
+<inertial pos="-3.1564E-09 3.1564E-09 1.3878E-16" quat="0.5 0.5 -0.5 0.5" mass="0.23579" diaginertia="9.0898e-05 5.1045e-05 5.1045e-05"/>
+<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
+<geom type="mesh" rgba="0.52941 0.54902 0.54902 1" mesh="waist_roll_link"/>
+<body name="waist_pitch_link" pos="0 -0.03 0">
+<inertial pos="-0.00021479 0.02804 0.057521" quat="0.758995 -0.0836902 -0.066749 0.642236" mass="0.91683" diaginertia="0.0353988 0.0276035 0.0144897"/>
+<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
+<geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="waist_pitch_link"/>
+<geom pos="0.059 0.0299988 0.254964" quat="1 0 0 0" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="chest_link"/>
+<geom pos="0 0.0299988 0.427514" quat="1 0 0 0" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="neck_link"/>
+<body name="left_shoulder_pitch_link" pos="0 0.163919 0.341705">
+<inertial pos="0.00031467 -0.0041125 -0.0009434" quat="0.701298 0.0917136 -0.0929036 0.700813" mass="0.55787" diaginertia="0.000562495 0.00046536 0.000316025"/>
+<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 0.965926 0.258819" range="-0.78539 0.78539" actuatorfrcrange="-25 25"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_shoulder_pitch_link"/>
+<body name="left_shoulder_roll_link" pos="0.01965 0.064717 0.0173409">
+<inertial pos="-0.019316 0.00045538 -0.0075538" quat="0.41824 0.908328 0.00337416 0.00203267" mass="0.48965" diaginertia="0.000528752 0.000349197 0.000324481"/>
+<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.251 3.14159" actuatorfrcrange="-25 25"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_shoulder_roll_link"/>
+<body name="left_elbow_yaw_link" pos="-0.01965 0.0126821 -0.14058" quat="1 0 0 -0.000162606">
+<inertial pos="3.389e-05 -0.0037073 0.00016863" quat="0.705418 -0.0121492 0.0176214 0.708469" mass="0.24344" diaginertia="9.53696e-05 9.17654e-05 8.435e-05"/>
+<joint name="left_elbow_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-25 25"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_elbow_yaw_link"/>
+<body name="left_elbow_forearm_yaw_link" pos="0 0.0265 -0.06825">
+<inertial pos="4.0886e-05 -0.026352 -0.013654" quat="0.99995 0.00497269 0.000477013 0.00863926" mass="0.20469" diaginertia="8.412e-05 8.08155e-05 6.59355e-05"/>
+<joint name="left_elbow_forearm_yaw_joint" pos="0 0 0" axis="0 -1 0" range="-3.14159 3.14159" actuatorfrcrange="-5 5"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_elbow_forearm_yaw_link"/>
+<body name="left_wrist_yaw_link" pos="2.7212e-05 -0.0261963 -0.1235">
+<inertial pos="-0.0022153 -0.00030373 -0.017432" quat="0.999968 -0.00184374 -0.00778697 0.000773578" mass="0.3165" diaginertia="0.000131437 0.0001122 0.000103743"/>
+<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-3.14159 3.14159" actuatorfrcrange="-5 5"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_wrist_yaw_link"/>
+</body>
+</body>
+</body>
+</body>
+</body>
+<body name="right_shoulder_pitch_link" pos="0 -0.108459 0.342922">
+<inertial pos="0.00031467 0.0086652 -0.0021119" quat="0.700818 -0.0928695 0.0916842 0.701301" mass="0.55787" diaginertia="0.000562493 0.00046536 0.000316026"/>
+<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 -0.965926 0.258819" range="-0.78539 0.78539" actuatorfrcrange="-25 25"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_shoulder_pitch_link"/>
+<body name="right_shoulder_roll_link" pos="0.01965 -0.0601772 0.0161244">
+<inertial pos="-0.019338 -0.00043324 -0.007383" quat="0.90966 0.415333 -0.00213923 -0.00350991" mass="0.48888" diaginertia="0.000528423 0.000348694 0.000324022"/>
+<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.14159 0.251" actuatorfrcrange="-25 25"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_shoulder_roll_link"/>
+<body name="right_elbow_yaw_link" pos="-0.01965 -0.0126821 -0.14058">
+<inertial pos="-4.3563e-07 0.0037417 0.00016863" quat="0.708768 0.0128929 -0.0130141 0.705204" mass="0.24344" diaginertia="9.54129e-05 9.17169e-05 8.43552e-05"/>
+<joint name="right_elbow_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-25 25"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_elbow_yaw_link"/>
+<body name="right_elbow_forearm_yaw_link" pos="0.000304331 0.02825 -0.0682696">
+<inertial pos="-0.00034522 -0.028398 -0.013635" quat="0.99995 -0.00497269 -0.000477013 0.00863926" mass="0.20469" diaginertia="8.412e-05 8.08155e-05 6.59355e-05"/>
+<joint name="right_elbow_forearm_yaw_joint" pos="0 0 0" axis="0 1 0" range="-3.14159 3.14159" actuatorfrcrange="-5 5"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_elbow_forearm_yaw_link"/>
+<body name="right_wrist_yaw_link" pos="-0.00053341 -0.0284513 -0.12348">
+<inertial pos="-0.0019393 0.00024629 -0.017432" quat="0.999955 0.00363953 -0.00860247 0.00176806" mass="0.3165" diaginertia="0.000131448 0.00011219 0.000103741"/>
+<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-3.14159 3.14159" actuatorfrcrange="-5 5"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_wrist_yaw_link"/>
+</body>
+</body>
+</body>
+</body>
+</body>
+<body name="neck_yaw_link" pos="0 0.0299988 0.427514">
+<inertial pos="0.0026021 0.017715 0.019315" quat="0.890333 -0.296459 0.0624044 0.33989" mass="0.084323" diaginertia="2.56955e-05 2.39075e-05 1.6763e-05"/>
+<joint name="neck_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" actuatorfrcrange="-10 10"/>
+<geom type="mesh" rgba="0.89804 0.89804 0.89804 1" mesh="neck_yaw_link"/>
+<body name="head_link" pos="0.017615 0.0045 0.023005">
+<inertial pos="0.0295645 -0.0307825 0.0284958" quat="0.388017 0.921403 0.0168308 0.01328" mass="0.29662" diaginertia="0.00124419 0.000879133 0.000385635"/>
+<joint name="head_joint" pos="0 0 0" axis="0 1 0" range="-0.78539 0.78539" actuatorfrcrange="-10 10"/>
+<geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="head_link"/>
+<geom pos="0.045385 -0.0045 0.0774061" quat="1 0 0 0" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="camera_link"/>
+</body>
+</body>
+<body name="waist_rod_link" pos="0 0.025 0.0561">
+<inertial pos="0.035116 0.005 -0.036408" quat="0.493233 0.493204 -0.506706 0.506675" mass="0.16381" diaginertia="7.50981e-05 4.87459e-05 4.5916e-05"/>
+<joint name="waist_rod_joint" pos="0 0 0" axis="0 -1 0" range="-0.0 0.723" actuatorfrcrange="-10 10"/>
+<geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="waist_rod_link"/>
+</body>
+</body>
+</body>
+</body> -->
+<body name="right_hip_pitch_link" pos="4.16270248897038E-05 -0.127999993231209 0">
+<inertial pos="-0.0076883 -0.03517 0.00056004" quat="0.992712 0.115309 -0.00964744 -0.0336693" mass="1.5469" diaginertia="0.00288375 0.00207107 0.00197607"/>
+<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.8798 2.5073" actuatorfrcrange="-88 88"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_hip_pitch_link"/>
+<body name="right_hip_roll_link" pos="0.0202 -0.076 0">
+<inertial pos="-0.032145 -3.7396e-06 -0.063538" quat="0.999474 -7.01093e-07 -0.0324354 2.16037e-05" mass="0.7444" diaginertia="0.00155531 0.001194 0.000935294"/>
+<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5707 0.0514" actuatorfrcrange="-10 10"/>
+<geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="right_hip_roll_link"/>
+<body name="right_hip_yaw_link" pos="-0.0202000000000037 0 -0.1757" quat="0.999979 0.00648448 0 0">
+<inertial pos="-2.7827e-05 -0.0016262 -0.02388" quat="0.501873 0.49827 0.501286 0.498561" mass="1.0856" diaginertia="0.00105081 0.000856782 0.00071265"/>
+<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.5707 0.78539" actuatorfrcrange="-88 88"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_hip_yaw_link"/>
+<body name="right_knee_link" pos="0 -0.0247000000000758 -0.134300000000004">
+<inertial pos="0.00018686274200333 0.0273157431367975 -0.0975490194978977" quat="0.73938 0.00727448 -0.0507906 0.67133" mass="1.68479653824874" diaginertia="0.00943616 0.00928693 0.00158256"/>
+<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 1.5707" actuatorfrcrange="-139 139"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_knee_link"/>
+<geom pos="0.0375 0.0247 -0.105" quat="1 0 0 0" type="mesh" rgba="0.64706 0.61961 0.58824 1" mesh="right_ankle1_link"/>
+<geom pos="0.0375 0.0247 -0.1695" type="mesh" rgba="0.64706 0.61961 0.58824 1" mesh="right_ankle2_link"/>
+<body name="right_foot1_link" pos="0 0.297852075295849 -0.3186416753026" quat="0.999979 0.00648448 0 0">
+<inertial pos="3.1564e-09 -0.27313 0.0036841" quat="0.5 0.5 -0.5 0.5" mass="0.23579" diaginertia="9.08977e-05 5.10453e-05 5.1045e-05"/>
+<joint name="right_foot1_joint" pos="0 0 0" axis="0 -1 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
+<geom type="mesh" rgba="0.52941 0.54902 0.54902 1" mesh="right_foot1_link"/>
+<body name="right_foot2_link" pos="-0.0199999999999545 -0.273127266729484 0.0036840845761229" quat="0.999979 -0.00648448 0 0">
+<inertial pos="0.057171 -1.693e-09 -0.034065" quat="0 0.720938 0 0.693" mass="0.75781" diaginertia="0.00266586 0.002328 0.000446697"/>
+<joint name="right_foot2_joint" pos="0 0 0" axis="-1 0 0" range="-0.5618 0.5618" actuatorfrcrange="-50 50"/>
+<geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="right_foot2_link"/>
+<geom type="mesh" mesh="right_foot2_link" name="right_foot2_link_collision" contype="1" conaffinity="1"/>
+<site name="right_foot" pos="0.04 0 -0.025"/>
+</body>
+</body>
+</body>
+</body>
+</body>
+</body>
+<body name="left_hip_pitch_link" pos="0 0 0">
+<inertial pos="-0.0076949 0.035164 -0.00056716" quat="0.992601 0.11621 0.00969005 0.0338305" mass="1.5469" diaginertia="0.00288379 0.00207112 0.00197599"/>
+<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.8798 2.5073" actuatorfrcrange="-88 88"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_hip_pitch_link"/>
+<body name="left_hip_roll_link" pos="0.0239754 0.075629 -0.000417045" quat="1 0 0 0.000162606">
+<inertial pos="-0.034577 0.0013532 -0.074963" quat="0.999252 0.00719015 -0.0379915 -0.000173782" mass="0.84068" diaginertia="0.00165655 0.00129023 0.00112671"/>
+<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.0514 1.5707" actuatorfrcrange="-88 88"/>
+<geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="left_hip_roll_link"/>
+<body name="left_hip_yaw_link" pos="-0.024 0.00265744 -0.175268" quat="0.999979 0.00648448 0 0">
+<inertial pos="5.3998e-05 0.0016007 -0.02388" quat="0.498266 0.501877 0.498624 0.501222" mass="1.0856" diaginertia="0.00105081 0.000856783 0.00071265"/>
+<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.78539 1.5707" actuatorfrcrange="-88 88"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_hip_yaw_link"/>
+<body name="left_knee_link" pos="0.000417045 0.0285 -0.133921">
+<inertial pos="0.00377987 -0.0312987 -0.105632" quat="0.671945 -0.0508905 0.00714861 0.738816" mass="2.00553" diaginertia="0.00944072 0.00929183 0.00158368"/>
+<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 1.5707" actuatorfrcrange="-139 139"/>
+<geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="left_knee_link"/>
+<geom pos="0.034083 -0.0285 -0.105379" quat="1 0 0 0" type="mesh" rgba="0.64706 0.61961 0.58824 1" mesh="left_ankle1_link"/>
+<geom pos="0.034083 -0.0285 -0.169879" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="left_ankle2_link"/>
+<body name="left_foot1_link" pos="-0.000417045 -0.0435 -0.318879">
+<inertial pos="0.028298 0.0146625 -0.026002" quat="0.00408055 0.752967 0.00332422 0.658037" mass="0.23579" diaginertia="0.00304354 0.00283597 0.000667818"/>
+<joint name="left_foot1_joint" pos="0 0 0" axis="0 -1 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
+<geom type="mesh" rgba="0.52941 0.54902 0.54902 1" mesh="left_foot1_link"/>
+<body name="left_foot2_link" pos="-0.02 0.015 0">
+<inertial pos="0.057204 -0.00036388 -0.033983" quat="0.00465825 0.720924 0.00447622 0.692984" mass="0.76036" diaginertia="0.00266592 0.00232824 0.000447017"/>
+<joint name="left_foot2_joint" pos="0 0 0" axis="-1 0 0" range="-0.5618 0.5618" actuatorfrcrange="-50 50"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_foot2_link"/>
+<geom type="mesh" mesh="left_foot2_link" name="left_foot2_link_collision" contype="1" conaffinity="1"/>
+<site name="left_foot" pos="0.04 0 -0.025"/>
+</body>
+</body>
+</body>
+</body>
+</body>
+</body>
+
+
+
+      <site name="pelvis_link_site" pos="0 0 0" quat="1 0 0 0" />
+      <camera name="front_camera" mode="track" fovy="90.0" quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476" pos="0.0 2.0 0.5" />
+      <camera name="side_camera" mode="track" fovy="90.0" quat="-0.5 -0.4999999999999999 0.5 0.5000000000000001" pos="-2.0 0.0 0.5" />
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="left_hip_pitch_joint_ctrl" joint="left_hip_pitch_joint" />
+    <motor name="left_hip_roll_joint_ctrl" joint="left_hip_roll_joint"  />
+    <motor name="left_hip_yaw_joint_ctrl" joint="left_hip_yaw_joint"  />
+    <motor name="left_knee_joint_ctrl" joint="left_knee_joint"  />
+    <motor name="left_foot1_joint_ctrl" joint="left_foot1_joint"  />
+    <motor name="left_foot2_joint_ctrl" joint="left_foot2_joint"  />
+    <motor name="right_hip_pitch_joint_ctrl" joint="right_hip_pitch_joint"  />
+    <motor name="right_hip_roll_joint_ctrl" joint="right_hip_roll_joint"  />
+    <motor name="right_hip_yaw_joint_ctrl" joint="right_hip_yaw_joint"  />
+    <motor name="right_knee_joint_ctrl" joint="right_knee_joint"  />
+    <motor name="right_foot1_joint_ctrl" joint="right_foot1_joint"  />
+    <motor name="right_foot2_joint_ctrl" joint="right_foot2_joint"  />
+  </actuator>
+
+  <contact>
+    <exclude body1="pelvis_link" body2="left_hip_pitch_link" />
+    <exclude body1="left_hip_pitch_link" body2="left_hip_roll_link" />
+    <exclude body1="left_hip_roll_link" body2="left_hip_yaw_link" />
+    <exclude body1="left_hip_yaw_link" body2="left_knee_link" />
+    <exclude body1="left_knee_link" body2="left_foot1_link" />
+    <exclude body1="left_foot1_link" body2="left_foot2_link" />
+    <exclude body1="pelvis_link" body2="right_hip_pitch_link" />
+    <exclude body1="right_hip_pitch_link" body2="right_hip_roll_link" />
+    <exclude body1="right_hip_roll_link" body2="right_hip_yaw_link" />
+    <exclude body1="right_hip_yaw_link" body2="right_knee_link" />
+    <exclude body1="right_knee_link" body2="right_foot1_link" />
+    <exclude body1="right_foot1_link" body2="right_foot2_link" />
+  </contact>
+
+
+
+
+
+  <sensor>
+    <gyro name="imu_ang_vel" site="imu_in_pelvis"/>
+    <velocimeter name="imu_lin_vel" site="imu_in_pelvis"/>
+    <framequat name="imu_quat" objtype="site" objname="imu_in_pelvis"/>
+    <subtreeangmom name="root_angmom" body="pelvis_link"/>
+  </sensor>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-140" elevation="-20"/>
+  </visual>
+
+
+</mujoco>
+
+
+
diff --git a/src/mjlab/asset_zoo/robots/humanoid/xmls/humanoid.xml b/src/mjlab/asset_zoo/robots/humanoid/xmls/humanoid.xml
new file mode 100644
index 000000000..e41fc57b1
--- /dev/null
+++ b/src/mjlab/asset_zoo/robots/humanoid/xmls/humanoid.xml
@@ -0,0 +1,346 @@
+<mujoco model="Humanoid" >
+  <compiler angle="radian" meshdir="../assets/meshes"/>
+  <visual>
+    <global offwidth="1920" offheight="1080"/>
+  </visual>
+
+<default>
+  <joint frictionloss="0.1"/>  <!-- All joints get this by default -->
+  
+  <default class="motor">
+    <joint damping="0.5"/> 
+  </default>
+  
+  <default class="visual">
+    <geom material="visual_grey" contype="0" conaffinity="0" group="2"/>
+  </default>
+  
+  <default class="collision">
+    <geom material="collision_grey" condim="3" contype="0" conaffinity="1" group="1"/>
+  </default>
+</default>
+
+
+
+  <asset>
+    <!-- Add these material definitions -->
+    <material name="visual_grey" rgba="0.7 0.7 0.7 1.0" />
+    <material name="collision_grey" rgba="0.5 0.5 0.5 0.5" />
+    <texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
+    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
+    <material name="material" rgba="0.75294 0.75294 0.75294 1" />
+    <material name="collision_material" rgba="1.0 0.28 0.1 0.9" />
+    <mesh name="pelvis_link" file="base_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_foot1_link" file="left_foot1_link.stl" />
+    <mesh name="left_foot2_link" file="left_foot2_link.stl" />
+    <mesh name="left_ankle1_link"  file="left_ankle1_link.stl"/>
+    <mesh name="left_ankle2_link"  file="left_ankle2_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_foot1_link" file="right_foot1_link.stl" />
+    <mesh name="right_foot2_link" file="right_foot2_link.stl" />
+    <mesh name="right_ankle1_link"  file="right_ankle1_link.stl"/>
+   <mesh name="right_ankle2_link"  file="right_ankle2_link.stl"/>
+   <mesh name="torso_link"  file="torso_link.stl"/>
+   <mesh name="waist_roll_link"  file="waist_roll_link.stl"/>
+   <mesh name="waist_pitch_link"  file="waist_pitch_link.stl"/>
+   <mesh name="chest_link"  file="chest_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_elbow_yaw_link"  file="left_elbow_yaw_link.stl"/>
+   <mesh name="left_elbow_forearm_yaw_link"  file="left_elbow_forearm_yaw_link.stl"/>
+   <mesh name="left_wrist_yaw_link"  file="left_wrist_yaw_link.stl"/>
+   <mesh name="right_shoulder_pitch_link"  file="right_shoulder_pitch_link.stl"/>
+   <mesh name="right_shoulder_roll_link"  file="right_shoulder_roll_link.stl"/>
+   <mesh name="right_elbow_yaw_link"  file="right_elbow_yaw_link.stl"/>
+   <mesh name="right_elbow_forearm_yaw_link"  file="right_elbow_forearm_yaw_link.stl"/>
+   <mesh name="right_wrist_yaw_link"  file="right_wrist_yaw_link.stl"/>
+   <mesh name="neck_link"  file="neck_link.stl"/>
+   <mesh name="neck_yaw_link"  file="neck_yaw_link.stl"/>
+   <mesh name="head_link"  file="head_link.stl"/>
+   <mesh name="camera_link"  file="camera_link.stl"/>
+   <mesh name="waist_rod_link"  file="waist_rod_link.stl"/> 
+  </asset>
+
+  <worldbody>
+    <light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false" />
+    <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
+
+    <body name="pelvis_link" pos="0 0 0.68" quat="1 0 0 0 "> 
+      <inertial pos="0.00011927 -0.053041 0.11817" mass="0.85358" diaginertia="0.000753949 0.000519781 0.0005022"/>
+      <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
+      <geom name="pelvis_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="pelvis_link"/>
+      <geom name="pelvis_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="pelvis_link" class="visual" />
+      <site name="imu_in_pelvis" size="0.01" pos="0.00011927 -0.053041 0.11817"/>
+
+      <body name="left_hip_pitch_link"  pos="0 0 0" >
+
+        <joint name="left_hip_pitch_joint" type="hinge" ref="0.0" class="motor" range="-2.094395 1" axis="0 0.70711 -0.70711" armature="0.0652"/>
+        <inertial pos="-0.0076949 0.035164 -0.00056716" quat="0.992601 0.11621 0.00969005 0.0338305" mass="1.5469" diaginertia="0.00288379 0.00207112 0.00197599"/>
+        <geom name="left_hip_pitch_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_hip_pitch_link" class="collision" />
+        <geom name="left_hip_pitch_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_hip_pitch_link" class="visual" />
+
+        <body name="left_hip_roll_link" pos="0.0239754 0.075629 -0.000417045" quat="1 0 0 0.000162606">
+          <joint name="left_hip_roll_joint" type="hinge" ref="0.0" class="motor" range="-0.785398 0.785398" axis="1 0 0" armature="0.100"/>
+
+          <inertial pos="-0.034577 0.0013532 -0.074963" quat="0.999252 0.00719015 -0.0379915 -0.000173782" mass="0.84068" diaginertia="0.00165655 0.00129023 0.00112671"/>
+          <geom name="left_hip_roll_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_hip_roll_link" class="collision" />
+          <geom name="left_hip_roll_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0"  type="mesh" mesh="left_hip_roll_link" class="visual" />
+          <body name="left_hip_yaw_link"  pos="-0.024 0.00265744 -0.175268" quat="0.999979 0.00648448 0 0">
+
+            <joint name="left_hip_yaw_joint" type="hinge" ref="0.0" class="motor" range="-0.785398 0.785398" axis="0 0 -1" armature="0.0343"/>
+            <inertial pos="5.3998e-05 0.0016007 -0.02388" quat="0.498266 0.501877 0.498624 0.501222" mass="1.0856" diaginertia="0.00105081 0.000856783 0.00071265"/>
+            <geom name="left_hip_yaw_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_hip_yaw_link" class="collision" />
+            <geom name="left_hip_yaw_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0"  type="mesh" mesh="left_hip_yaw_link" class="visual" />
+          
+            <body name="left_knee_link" pos="0.000417045 0.0285 -0.133921">
+              <joint name="left_knee_joint" type="hinge" ref="0.0" class="motor" range="0 1.5" axis="0 1 0" armature="0.0330"/>
+              <inertial pos="0.00377987 -0.0312987 -0.105632" quat="0.671945 -0.0508905 0.00714861 0.738816" mass="2.00553" diaginertia="0.00944072 0.00929183 0.00158368"/>
+              <geom name="left_knee_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_knee_link" class="collision" />
+              <geom name="left_knee_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0"  type="mesh" mesh="left_knee_link" class="visual" />
+              <geom name="left_ankle1_link_collision" pos="0.034083 -0.0285 -0.10537" quat="1 0 0 0" type="mesh"  mesh="left_ankle1_link" class="collision" />
+              <geom name="left_ankle1_link_visual" pos="0.034083 -0.0285 -0.10537" quat="1 0 0 0" type="mesh"  mesh="left_ankle1_link" class="visual" />              
+              <geom name="left_ankle2_link_visual" pos="0.034083 -0.0285 -0.169879"  type="mesh"  mesh="left_ankle2_link" class="visual"/>
+              <body name="left_foot1_link" pos="-0.000417045 -0.0435 -0.318879">
+
+
+                <joint name="left_foot1_joint" type="hinge" ref="0.0" class="motor" range="-0.349066 0.5" axis="0 1 0" armature="0.0236"/>
+                <inertial pos="0.028298 0.0146625 -0.026002" quat="0.00408055 0.752967 0.00332422 0.658037" mass="0.23579" diaginertia="0.00304354 0.00283597 0.000667818"/>
+                <geom name="left_foot1_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_foot1_link" class="collision" />
+                <geom name="left_foot1_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0"  type="mesh" mesh="left_foot1_link" class="visual" />
+                <body name="left_foot2_link" pos="-0.02 0.015 0">
+
+                  <joint name="left_foot2_joint" type="hinge" ref="0.0" class="motor" range="-0.1 0.1" axis="-1 0 0" armature="0.0236"/>
+                  <inertial pos="0.057204 -0.00036388 -0.033983" quat="0.00465825 0.720924 0.00447622 0.692984" mass="0.76036" diaginertia="0.00266592 0.00232824 0.000447017"/>
+                  <geom name="left_foot2_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="left_foot2_link" class="collision" />
+                  <geom name="left_foot2_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0"  type="mesh" mesh="left_foot2_link" class="visual" />
+
+                    <site name="left_foot" pos="0.04 0 -0.025"/>
+
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="4.16270248897038E-05 -0.127999993231209 0">
+        <inertial pos="-0.0076883 -0.03517 0.00056004" quat="0.992712 0.115309 -0.00964744 -0.0336693" mass="1.5469" diaginertia="0.00288375 0.00207107 0.00197607"/>
+        <joint name="right_hip_pitch_joint" type="hinge" ref="0.0" class="motor" range="-1 2.094395" axis="0 -0.70711 -0.70711" armature="0.0652"/>
+        <geom name="right_hip_pitch_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="right_hip_pitch_link" class="collision" />
+        <geom name="right_hip_pitch_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0"  type="mesh" mesh="right_hip_pitch_link" class="visual" />
+        <body name="right_hip_roll_link" pos="0.0202 -0.076 0" quat="1 0 0 0.000162606">
+          <joint name="right_hip_roll_joint" type="hinge" ref="0.0" class="motor" range="-0.785398 0.785398" axis="1 0 0" armature="0.100"/>
+          <inertial pos="-0.032145 -3.7396e-06 -0.063538" quat="0.999474 -7.01093e-07 -0.0324354 2.16037e-05" mass="0.7444" diaginertia="0.00155531 0.001194 0.000935294"/>
+          <geom name="right_hip_roll_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="right_hip_roll_link" class="collision" />
+          <geom name="right_hip_roll_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0"  type="mesh" mesh="right_hip_roll_link" class="visual" />
+          <body name="right_hip_yaw_link" pos="-0.0202000000000037 0 -0.1757" quat="0.999979 0.00648448 0 0">
+            <joint name="right_hip_yaw_joint" type="hinge" ref="0.0" class="motor" range="-0.785398 0.785398" axis="0 0 -1" armature="0.0343"/>
+            <inertial pos="-2.7827e-05 -0.0016262 -0.02388" quat="0.501873 0.49827 0.501286 0.498561" mass="1.0856" diaginertia="0.00105081 0.000856782 0.00071265"/>
+            <geom name="right_hip_yaw_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="right_hip_yaw_link" class="collision" />
+            <geom name="right_hip_yaw_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0"  type="mesh" mesh="right_hip_yaw_link" class="visual" />
+            <body name="right_knee_link" pos="0 -0.0247000000000758 -0.134300000000004">
+              <joint name="right_knee_joint" type="hinge" ref="0.0" class="motor" range="-1.5 0" axis="0 -1 0" armature="0.0330"/>
+              <inertial pos="0.00018686274200333 0.0273157431367975 -0.0975490194978977" quat="0.73938 0.00727448 -0.0507906 0.67133" mass="1.68479653824874" diaginertia="0.00943616 0.00928693 0.00158256"/>
+              <geom name="right_knee_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="right_knee_link" class="collision" />
+              <geom name="right_knee_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0"  type="mesh" mesh="right_knee_link" class="visual" />
+              <geom name="right_ankle1_link_collision" pos="0.0375 0.0247 -0.105" quat="1 0 0 0" type="mesh" rgba="0.64706 0.61961 0.58824 1" mesh="right_ankle1_link" class="collision" />
+              <geom name="right_ankle1_link_visual" pos="0.0375 0.0247 -0.105" quat="1 0 0 0" type="mesh" rgba="0.64706 0.61961 0.58824 1" mesh="right_ankle1_link" class="visual" />
+              <geom name="right_ankle2_link_collision" pos="0.0375 0.0247 -0.1695" quat="1 0 0 0" type="mesh" rgba="0.64706 0.61961 0.58824 1" mesh="right_ankle2_link" class="collision" />
+              <geom name="right_ankle2_link_visual" pos="0.0375 0.0247 -0.1695" quat="1 0 0 0" type="mesh" rgba="0.64706 0.61961 0.58824 1" mesh="right_ankle2_link" class="visual" />
+              <body name="right_foot1_link" pos="0 0.297852075295849 -0.3186416753026" quat="0.999979 0.00648448 0 0">
+                <joint name="right_foot1_joint" type="hinge" ref="0.0" class="motor" range="-0.5 0.349066" axis="0 -1 0" armature="0.0236"/>
+                <inertial pos="3.1564e-09 -0.27313 0.0036841" quat="0.5 0.5 -0.5 0.5" mass="0.23579" diaginertia="9.08977e-05 5.10453e-05 5.1045e-05"/>
+                <geom name="right_foot1_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="right_foot1_link" class="collision" />
+                <geom name="right_foot1_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0"  type="mesh" mesh="right_foot1_link" class="visual" />
+                <body name="right_foot2_link" pos="-0.0199999999999545 -0.273127266729484 0.0036840845761229" quat="0.999979 -0.00648448 0 0">
+                  <joint name="right_foot2_joint" type="hinge" ref="0.0" class="motor" range="-0.1 0.1" axis="-1 0 0" armature="0.0236"/>
+                  <inertial pos="0.057171 -1.693e-09 -0.034065" quat="0 0.720938 0 0.693" mass="0.75781" diaginertia="0.00266586 0.002328 0.000446697"/>
+                  <geom name="right_foot2_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="right_foot2_link" class="collision" />
+                  <geom name="right_foot2_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0"  type="mesh" mesh="right_foot2_link" class="visual" />
+
+                    <site name="right_foot" pos="0.04 0 -0.025"/>
+
+                </body>
+              </body>
+            </body>
+          </body>
+    </body>
+        
+      </body>
+      <body name="torso_link" pos="2.08135124461772E-05 -0.0639999966156143 0.1123" quat="1 0 0 0.000162606">
+<inertial pos="0.00062749 -0.00020921 0.02276" quat="0.503923 0.503256 -0.496149 0.496619" mass="0.96233" diaginertia="0.000753949 0.000519781 0.0005022"/>
+<joint name="torso_joint" axis="-1 0 0" range="-1.2217 1.2217" />
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="torso_link"/>
+<body name="waist_roll_link" pos="0 0 0.0616">
+<inertial pos="-3.1564E-09 3.1564E-09 1.3878E-16" quat="0.5 0.5 -0.5 0.5" mass="0.23579" diaginertia="9.0898e-05 5.1045e-05 5.1045e-05"/>
+<joint name="waist_roll_joint" axis="1 0 0" range="-0.52 0.52"/>
+<geom type="mesh" rgba="0.52941 0.54902 0.54902 1" mesh="waist_roll_link"/>
+<body name="waist_pitch_link" pos="0 -0.03 0">
+<inertial pos="-0.00021479 0.02804 0.057521" quat="0.758995 -0.0836902 -0.066749 0.642236" mass="0.91683" diaginertia="0.0353988 0.0276035 0.0144897"/>
+<joint name="waist_pitch_joint" axis="0 1 0" range="-0.52 0.52" />
+<geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="waist_pitch_link"/>
+<geom pos="0.059 0.0299988 0.254964" quat="1 0 0 0" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="chest_link"/>
+<geom pos="0 0.0299988 0.427514" quat="1 0 0 0" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="neck_link"/>
+<body name="left_shoulder_pitch_link" pos="0 0.163919 0.341705">
+<inertial pos="0.00031467 -0.0041125 -0.0009434" quat="0.701298 0.0917136 -0.0929036 0.700813" mass="0.55787" diaginertia="0.000562495 0.00046536 0.000316025"/>
+<joint name="left_shoulder_pitch_joint" axis="0 0.965926 0.258819" range="-0.78539 0.78539"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_shoulder_pitch_link"/>
+<body name="left_shoulder_roll_link" pos="0.01965 0.064717 0.0173409">
+<inertial pos="-0.019316 0.00045538 -0.0075538" quat="0.41824 0.908328 0.00337416 0.00203267" mass="0.48965" diaginertia="0.000528752 0.000349197 0.000324481"/>
+<joint name="left_shoulder_roll_joint" axis="1 0 0" range="-0.251 3.14159"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_shoulder_roll_link"/>
+<body name="left_elbow_yaw_link" pos="-0.01965 0.0126821 -0.14058" quat="1 0 0 -0.000162606">
+<inertial pos="3.389e-05 -0.0037073 0.00016863" quat="0.705418 -0.0121492 0.0176214 0.708469" mass="0.24344" diaginertia="9.53696e-05 9.17654e-05 8.435e-05"/>
+<joint name="left_elbow_yaw_joint"  axis="0 0 1" range="-3.14159 3.14159"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_elbow_yaw_link"/>
+<body name="left_elbow_forearm_yaw_link" pos="0 0.0265 -0.06825">
+<inertial pos="4.0886e-05 -0.026352 -0.013654" quat="0.99995 0.00497269 0.000477013 0.00863926" mass="0.20469" diaginertia="8.412e-05 8.08155e-05 6.59355e-05"/>
+<joint name="left_elbow_forearm_yaw_joint" axis="0 -1 0" range="-3.14159 3.14159" />
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_elbow_forearm_yaw_link"/>
+<body name="left_wrist_yaw_link" pos="2.7212e-05 -0.0261963 -0.1235">
+<inertial pos="-0.0022153 -0.00030373 -0.017432" quat="0.999968 -0.00184374 -0.00778697 0.000773578" mass="0.3165" diaginertia="0.000131437 0.0001122 0.000103743"/>
+<joint name="left_wrist_yaw_joint" axis="0 0 -1" range="-3.14159 3.14159"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_wrist_yaw_link"/>
+</body>
+</body>
+</body>
+</body>
+</body>
+<body name="right_shoulder_pitch_link" pos="0 -0.108459 0.342922">
+<inertial pos="0.00031467 0.0086652 -0.0021119" quat="0.700818 -0.0928695 0.0916842 0.701301" mass="0.55787" diaginertia="0.000562493 0.00046536 0.000316026"/>
+<joint name="right_shoulder_pitch_joint" axis="0 -0.965926 0.258819" range="-0.78539 0.78539" />
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_shoulder_pitch_link"/>
+<body name="right_shoulder_roll_link" pos="0.01965 -0.0601772 0.0161244">
+<inertial pos="-0.019338 -0.00043324 -0.007383" quat="0.90966 0.415333 -0.00213923 -0.00350991" mass="0.48888" diaginertia="0.000528423 0.000348694 0.000324022"/>
+<joint name="right_shoulder_roll_joint" axis="1 0 0" range="-3.14159 0.251"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_shoulder_roll_link"/>
+<body name="right_elbow_yaw_link" pos="-0.01965 -0.0126821 -0.14058">
+<inertial pos="-4.3563e-07 0.0037417 0.00016863" quat="0.708768 0.0128929 -0.0130141 0.705204" mass="0.24344" diaginertia="9.54129e-05 9.17169e-05 8.43552e-05"/>
+<joint name="right_elbow_yaw_joint" axis="0 0 1" range="-3.14159 3.14159"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_elbow_yaw_link"/>
+<body name="right_elbow_forearm_yaw_link" pos="0.000304331 0.02825 -0.0682696">
+<inertial pos="-0.00034522 -0.028398 -0.013635" quat="0.99995 -0.00497269 -0.000477013 0.00863926" mass="0.20469" diaginertia="8.412e-05 8.08155e-05 6.59355e-05"/>
+<joint name="right_elbow_forearm_yaw_joint" axis="0 1 0" range="-3.14159 3.14159"/>
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_elbow_forearm_yaw_link"/>
+<body name="right_wrist_yaw_link" pos="-0.00053341 -0.0284513 -0.12348">
+<inertial pos="-0.0019393 0.00024629 -0.017432" quat="0.999955 0.00363953 -0.00860247 0.00176806" mass="0.3165" diaginertia="0.000131448 0.00011219 0.000103741"/>
+<joint name="right_wrist_yaw_joint" axis="0 0 -1" range="-3.14159 3.14159" />
+<geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_wrist_yaw_link"/>
+</body>
+</body>
+</body>
+</body>
+</body>
+<body name="neck_yaw_link" pos="0 0.0299988 0.427514">
+<inertial pos="0.0026021 0.017715 0.019315" quat="0.890333 -0.296459 0.0624044 0.33989" mass="0.084323" diaginertia="2.56955e-05 2.39075e-05 1.6763e-05"/>
+<!-- <joint name="neck_yaw_joint" axis="0 0 1" range="-3.14 3.14"/> -->
+<geom type="mesh" rgba="0.89804 0.89804 0.89804 1" mesh="neck_yaw_link"/>
+<body name="head_link" pos="0.017615 0.0045 0.023005">
+<inertial pos="0.0295645 -0.0307825 0.0284958" quat="0.388017 0.921403 0.0168308 0.01328" mass="0.29662" diaginertia="0.00124419 0.000879133 0.000385635"/>
+<!-- <joint name="head_joint" axis="0 1 0" range="-0.78539 0.78539"/> -->
+<geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="head_link"/>
+<geom pos="0.045385 -0.0045 0.0774061" quat="1 0 0 0" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="camera_link"/>
+</body>
+</body>
+<body name="waist_rod_link" pos="0 0.025 0.0561">
+<inertial pos="0.035116 0.005 -0.036408" quat="0.493233 0.493204 -0.506706 0.506675" mass="0.16381" diaginertia="7.50981e-05 4.87459e-05 4.5916e-05"/>
+<!-- <joint name="waist_rod_joint" axis="0 -1 0" range="-0.0 0.723"/> -->
+<geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="waist_rod_link"/>
+</body>
+</body>
+</body>
+</body>
+      <site name="pelvis_link_site" pos="0 0 0" quat="1 0 0 0" />
+      <camera name="front_camera" mode="track" fovy="90.0" quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476" pos="0.0 2.0 0.5" />
+      <camera name="side_camera" mode="track" fovy="90.0" quat="-0.5 -0.4999999999999999 0.5 0.5000000000000001" pos="-2.0 0.0 0.5" />
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="left_hip_pitch_joint_ctrl" joint="left_hip_pitch_joint" />
+    <motor name="left_hip_roll_joint_ctrl" joint="left_hip_roll_joint"  />
+    <motor name="left_hip_yaw_joint_ctrl" joint="left_hip_yaw_joint"  />
+    <motor name="left_knee_joint_ctrl" joint="left_knee_joint"  />
+    <motor name="left_foot1_joint_ctrl" joint="left_foot1_joint"  />
+    <motor name="left_foot2_joint_ctrl" joint="left_foot2_joint"  />
+    <motor name="right_hip_pitch_joint_ctrl" joint="right_hip_pitch_joint"  />
+    <motor name="right_hip_roll_joint_ctrl" joint="right_hip_roll_joint"  />
+    <motor name="right_hip_yaw_joint_ctrl" joint="right_hip_yaw_joint"  />
+    <motor name="right_knee_joint_ctrl" joint="right_knee_joint"  />
+    <motor name="right_foot1_joint_ctrl" joint="right_foot1_joint"  />
+    <motor name="right_foot2_joint_ctrl" joint="right_foot2_joint"  />
+    <motor name="torso_joint_ctrl" joint="torso_joint"  />
+    <motor name="waist_roll_joint_ctrl" joint="waist_roll_joint"/>
+    <motor name="waist_pitch_joint_ctrl" joint="waist_pitch_joint"/>
+    <motor name="left_shoulder_pitch_joint_ctrl" joint="left_shoulder_pitch_joint"/>
+    <motor name="left_shoulder_roll_joint_ctrl" joint="left_shoulder_roll_joint"/>
+    <motor name="left_elbow_yaw_joint_ctrl" joint="left_elbow_yaw_joint"/>
+    <motor name="left_elbow_forearm_yaw_joint_ctrl" joint="left_elbow_forearm_yaw_joint"/>
+    <motor name="left_wrist_yaw_joint_ctrl" joint="left_wrist_yaw_joint"/>
+    <motor name="right_shoulder_pitch_joint_ctrl" joint="right_shoulder_pitch_joint"/>
+    <motor name="right_shoulder_roll_joint_ctrl" joint="right_shoulder_roll_joint"/>
+    <motor name="right_elbow_yaw_joint_ctrl" joint="right_elbow_yaw_joint"/>
+    <motor name="right_elbow_forearm_yaw_joint_ctrl" joint="right_elbow_forearm_yaw_joint"/>
+    <motor name="right_wrist_yaw_joint_ctrl" joint="right_wrist_yaw_joint"/>    
+    <!-- <motor name="neck_yaw_joint_ctrl" joint="neck_yaw_joint"/>
+    <motor name="head_joint_ctrl" joint="head_joint"/>
+    <motor name="waist_rod_joint_ctrl" joint="waist_rod_joint"/> -->
+  </actuator>
+
+  <contact>
+    <exclude body1="pelvis_link" body2="left_hip_pitch_link" />
+    <exclude body1="left_hip_pitch_link" body2="left_hip_roll_link" />
+    <exclude body1="left_hip_roll_link" body2="left_hip_yaw_link" />
+    <exclude body1="left_hip_yaw_link" body2="left_knee_link" />
+    <exclude body1="left_knee_link" body2="left_foot1_link" />
+    <exclude body1="left_foot1_link" body2="left_foot2_link" />
+    <exclude body1="pelvis_link" body2="right_hip_pitch_link" />
+    <exclude body1="right_hip_pitch_link" body2="right_hip_roll_link" />
+    <exclude body1="right_hip_roll_link" body2="right_hip_yaw_link" />
+    <exclude body1="right_hip_yaw_link" body2="right_knee_link" />
+    <exclude body1="right_knee_link" body2="right_foot1_link" />
+    <exclude body1="right_foot1_link" body2="right_foot2_link" />
+    <exclude body1="pelvis_link" body2="torso_link" />
+    <exclude body1="torso_link" body2="waist_roll_link" />
+    <exclude body1="waist_roll_link" body2="waist_pitch_link" />
+    <exclude body1="waist_pitch_link" body2="chest_link" />
+    <exclude body1="chest_link" body2="neck_link" />
+    <exclude body1="neck_link" body2="head_link" />
+    <exclude body1="chest_link" body2="left_shoulder_pitch_link" />
+    <exclude body1="left_shoulder_pitch_link" body2="left_shoulder_roll_link" />
+    <exclude body1="left_shoulder_roll_link" body2="left_elbow_yaw_link" />
+    <exclude body1="left_elbow_yaw_link" body2="left_elbow_forearm_yaw_link" />
+    <exclude body1="left_elbow_forearm_yaw_link" body2="left_wrist_yaw_link" />
+    <exclude body1="chest_link" body2="right_shoulder_pitch_link" />
+    <exclude body1="right_shoulder_pitch_link" body2="right_shoulder_roll_link" />
+  </contact>
+
+
+
+
+  <sensor>
+    <gyro name="imu_ang_vel" site="imu_in_pelvis"/>
+    <velocimeter name="imu_lin_vel" site="imu_in_pelvis"/>
+    <framequat name="imu_quat" objtype="site" objname="imu_in_pelvis"/>
+    <subtreeangmom name="root_angmom" body="pelvis_link"/>
+  </sensor>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-140" elevation="-20"/>
+  </visual>
+
+
+</mujoco>
\ No newline at end of file
diff --git a/src/mjlab/scripts/play.py b/src/mjlab/scripts/play.py
index 3fd8602d9..3c3f350a0 100644
--- a/src/mjlab/scripts/play.py
+++ b/src/mjlab/scripts/play.py
@@ -133,6 +133,7 @@ def run_play(task_id: str, cfg: PlayConfig):
       resume_path, was_cached = get_wandb_checkpoint_path(
         log_root_path, Path(cfg.wandb_run_path), cfg.wandb_checkpoint_name
       )
+#      resume_path = None
       # Extract run_id and checkpoint name from path for display.
       run_id = resume_path.parent.name
       checkpoint_name = resume_path.name
diff --git a/src/mjlab/tasks/velocity/config/humanoid/__init__.py b/src/mjlab/tasks/velocity/config/humanoid/__init__.py
new file mode 100644
index 000000000..6606925d7
--- /dev/null
+++ b/src/mjlab/tasks/velocity/config/humanoid/__init__.py
@@ -0,0 +1,31 @@
+"""humanoid velocity task configurations."""
+
+from mjlab.tasks.registry import register_mjlab_task
+from mjlab.tasks.velocity.rl import VelocityOnPolicyRunner
+
+from .env_cfgs import humanoid_balance_env_cfg, humanoid_flat_env_cfg, humanoid_rough_env_cfg
+from .rl_cfg import humanoid_ppo_runner_cfg
+
+register_mjlab_task(
+    task_id="Mjlab-Velocity-Rough-Humanoid",
+    env_cfg=humanoid_rough_env_cfg(),
+    play_env_cfg=humanoid_rough_env_cfg(play=True),
+    rl_cfg=humanoid_ppo_runner_cfg(),
+    runner_cls=VelocityOnPolicyRunner,
+)
+
+register_mjlab_task(
+    task_id="Mjlab-Velocity-Flat-Humanoid",
+    env_cfg=humanoid_flat_env_cfg(),
+    play_env_cfg=humanoid_flat_env_cfg(play=True),
+    rl_cfg=humanoid_ppo_runner_cfg(),
+    runner_cls=VelocityOnPolicyRunner,
+)
+
+register_mjlab_task(
+    task_id="Mjlab-Balance-Humanoid",
+    env_cfg=humanoid_balance_env_cfg(),
+    play_env_cfg=humanoid_balance_env_cfg(play=True),
+    rl_cfg=humanoid_ppo_runner_cfg(),
+    runner_cls=VelocityOnPolicyRunner,
+)
diff --git a/src/mjlab/tasks/velocity/config/humanoid/env_cfgs.py b/src/mjlab/tasks/velocity/config/humanoid/env_cfgs.py
new file mode 100644
index 000000000..4348ab17f
--- /dev/null
+++ b/src/mjlab/tasks/velocity/config/humanoid/env_cfgs.py
@@ -0,0 +1,246 @@
+"""humanoid bipedal robot velocity tracking environment configurations."""
+
+from mjlab.asset_zoo.robots.humanoid.humanoid_constants import (
+    HUMANOID_ACTION_SCALE,
+    HUMANOID_WALKING_REFERENCE,
+    get_humanoid_robot_cfg,
+)
+from mjlab.envs import ManagerBasedRlEnvCfg
+from mjlab.envs.mdp.actions import JointPositionActionCfg
+from mjlab.managers.manager_term_config import ObservationTermCfg, RewardTermCfg
+from mjlab.sensor import ContactMatch, ContactSensorCfg
+from mjlab.tasks.velocity import mdp
+from mjlab.tasks.velocity.mdp import UniformVelocityCommandCfg
+from mjlab.tasks.velocity.velocity_env_cfg import make_velocity_env_cfg
+
+
+def humanoid_rough_env_cfg(play: bool = False) -> ManagerBasedRlEnvCfg:
+    """Create humanoid rough terrain velocity tracking configuration."""
+    cfg = make_velocity_env_cfg()
+
+    cfg.scene.entities = {"robot": get_humanoid_robot_cfg()}
+
+    # humanoid feet sites
+    site_names = ("left_foot", "right_foot")
+    geom_names = (
+        "left_foot2_link_collision",
+        "right_foot2_link_collision",
+    )
+
+    feet_ground_cfg = ContactSensorCfg(
+        name="feet_ground_contact",
+        primary=ContactMatch(
+            mode="subtree",
+            pattern=r"^(left_foot2_link|right_foot2_link)$",
+            entity="robot",
+        ),
+        secondary=ContactMatch(mode="body", pattern="terrain"),
+        fields=("found", "force"),
+        reduce="netforce",
+        num_slots=1,
+        track_air_time=True,
+    )
+
+    self_collision_cfg = ContactSensorCfg(
+        name="self_collision",
+        primary=ContactMatch(mode="subtree", pattern="pelvis_link", entity="robot"),
+        secondary=ContactMatch(mode="subtree", pattern="pelvis_link", entity="robot"),
+        fields=("found",),
+        reduce="none",
+        num_slots=1,
+    )
+
+    cfg.scene.sensors = (feet_ground_cfg, self_collision_cfg)
+
+    if cfg.scene.terrain is not None and cfg.scene.terrain.terrain_generator is not None:
+        cfg.scene.terrain.terrain_generator.curriculum = True
+
+    joint_pos_action = cfg.actions["joint_pos"]
+    assert isinstance(joint_pos_action, JointPositionActionCfg)
+    joint_pos_action.scale = HUMANOID_ACTION_SCALE
+
+    cfg.viewer.body_name = "pelvis_link"
+
+    assert cfg.commands is not None
+    twist_cmd = cfg.commands["twist"]
+    assert isinstance(twist_cmd, UniformVelocityCommandCfg)
+    twist_cmd.viz.z_offset = 0.8  # humanoid is shorter than G1
+
+    # More conservative velocity commands due to:
+    # 1. Narrow stance (11.3 cm hip width)
+    # 2. Canted hip pitch (less stable)
+    # 3. Limited ankle ROM
+    twist_cmd.ranges.lin_vel_x = (-0.8, 0.8)
+    twist_cmd.ranges.lin_vel_y = (-0.6, 0.6)
+    twist_cmd.ranges.ang_vel_z = (-0.6, 0.6)
+
+    # Remove base_lin_vel - not available on real robot IMU
+    del cfg.observations["policy"].terms["base_lin_vel"]
+    del cfg.observations["critic"].terms["base_lin_vel"]
+
+    # Add gait clock observation for phase-aware locomotion
+    gait_clock_cfg = ObservationTermCfg(
+        func=mdp.gait_clock,
+        params={
+            "command_name": "twist",
+            "command_threshold": 0.1,
+            "gait_frequency": 1.25,  # Match imitation data frequency
+        },
+    )
+    cfg.observations["policy"].terms["gait_clock"] = gait_clock_cfg
+    cfg.observations["critic"].terms["gait_clock"] = gait_clock_cfg
+
+    cfg.observations["critic"].terms["foot_height"].params[
+        "asset_cfg"
+    ].site_names = site_names
+
+    cfg.events["foot_friction"].params["asset_cfg"].geom_names = geom_names
+
+    cfg.rewards["pose"].params["std_standing"] = {".*": 0.05}
+    cfg.rewards["pose"].params["std_walking"] = {
+        # Larger variance for canted hip pitch (allows coupled roll/pitch motion)
+        r".*hip_pitch.*": 0.5,
+        # Moderate hip roll (asymmetric ranges)
+        r".*hip_roll.*": 0.25,
+        # Standard hip yaw
+        r".*hip_yaw.*": 0.2,
+        # Large knee variance (extends backwards, different from G1)
+        r".*knee.*": 0.5,
+        # Lower ankle variance due to limited ROM (±20° pitch, ±15° roll)
+        r".*foot1.*": 0.2,
+        r".*foot2.*": 0.12,
+        r".*torso.*": 0.3,
+         r".*waist_roll.*": 0.3,
+        r".*waist_pitch.*": 0.1,
+        r".*shoulder.*": 0.1,
+        r".*elbow.*": 0.1,
+        r".*wrist_yaw.*": 0.1,
+    }
+    cfg.rewards["pose"].params["std_running"] = {
+        # Even larger variance for dynamic motion with canted hips
+        r".*hip_pitch.*": 0.8,
+        r".*hip_roll.*": 0.35,
+        r".*hip_yaw.*": 0.3,
+        r".*knee.*": 0.8,
+        
+        # Keep feet constrained even when running
+        r".*foot1.*": 0.25,
+        r".*foot2.*": 0.15,
+        r".*torso.*": 0.3,
+        r".*waist_roll.*": 0.15,
+        r".*waist_pitch.*": 0.15,
+        r".*shoulder.*": 0.15,
+        r".*elbow.*": 0.15,
+        r".*wrist_yaw.*": 0.15,
+    }
+
+    cfg.rewards["upright"].params["asset_cfg"].body_names = ("pelvis_link",)
+    cfg.rewards["body_ang_vel"].params["asset_cfg"].body_names = ("pelvis_link",)
+
+    for reward_name in ["foot_clearance", "foot_swing_height", "foot_slip"]:
+        cfg.rewards[reward_name].params["asset_cfg"].site_names = site_names
+
+    # Increase body angular velocity penalty (narrow stance = less stable)
+    cfg.rewards["body_ang_vel"].weight = -0.08
+    cfg.rewards["angular_momentum"].weight = -0.03
+    # Enable air time reward for lighter robot (better for jumping)
+    cfg.rewards["air_time"].weight = 0.5
+
+    cfg.rewards["self_collisions"] = RewardTermCfg(
+        func=mdp.self_collision_cost,
+        weight=-1.0,
+        params={"sensor_name": self_collision_cfg.name},
+    )
+
+    # Imitation reward for walking reference motion
+    cfg.rewards["imitation"] = RewardTermCfg(
+        func=mdp.imitation_joint_pos,
+        weight=1.5,
+        params={
+            "data_path": str(HUMANOID_WALKING_REFERENCE),
+            "gait_frequency": 1.25,  # Match the reference data frequency
+            "std": 0.5,  # Tolerance for joint position matching
+            "command_name": "twist",
+            "command_threshold": 0.1,
+        },
+    )
+
+    # Alternating feet contact reward for proper bipedal gait
+    cfg.rewards["alternating_feet"] = RewardTermCfg(
+        func=mdp.alternating_feet_contact,
+        weight=0.5,
+        params={
+            "sensor_name": feet_ground_cfg.name,
+            "command_name": "twist",
+            "command_threshold": 0.1,
+            "gait_frequency": 1.25,  # Match imitation data frequency
+        },
+    )
+
+    # Apply play mode overrides.
+    if play:
+        # Effectively infinite episode length.
+        cfg.episode_length_s = int(1e9)
+
+        cfg.observations["policy"].enable_corruption = False
+        cfg.events.pop("push_robot", None)
+
+        if cfg.scene.terrain is not None:
+            if cfg.scene.terrain.terrain_generator is not None:
+                cfg.scene.terrain.terrain_generator.curriculum = False
+                cfg.scene.terrain.terrain_generator.num_cols = 5
+                cfg.scene.terrain.terrain_generator.num_rows = 5
+                cfg.scene.terrain.terrain_generator.border_width = 10.0
+
+    return cfg
+
+
+def humanoid_flat_env_cfg(play: bool = False) -> ManagerBasedRlEnvCfg:
+    """Create humanoid flat terrain velocity tracking configuration."""
+    cfg = humanoid_rough_env_cfg(play=play)
+
+    # Switch to flat terrain.
+    assert cfg.scene.terrain is not None
+    cfg.scene.terrain.terrain_type = "plane"
+    cfg.scene.terrain.terrain_generator = None
+
+    # Disable terrain curriculum.
+    assert cfg.curriculum is not None
+    assert "terrain_levels" in cfg.curriculum
+    del cfg.curriculum["terrain_levels"]
+
+    if play:
+        commands = cfg.commands
+        assert commands is not None
+        twist_cmd = commands["twist"]
+        assert isinstance(twist_cmd, UniformVelocityCommandCfg)
+        twist_cmd.ranges.lin_vel_x = (-1.0, 1.5)
+        twist_cmd.ranges.ang_vel_z = (-0.7, 0.7)
+
+    return cfg
+
+
+def humanoid_balance_env_cfg(play: bool = False) -> ManagerBasedRlEnvCfg:
+    """Create humanoid balance-only config with reactive stepping.
+
+    The robot learns to balance in place and take small corrective steps
+    when disturbed. No velocity tracking - just stay upright.
+    """
+    cfg = humanoid_flat_env_cfg(play=play)
+
+    # Zero out velocity commands (not trying to go anywhere)
+    assert cfg.commands is not None
+    twist_cmd = cfg.commands["twist"]
+    assert isinstance(twist_cmd, UniformVelocityCommandCfg)
+    twist_cmd.ranges.lin_vel_x = (0.0, 0.0)
+    twist_cmd.ranges.lin_vel_y = (0.0, 0.0)
+    twist_cmd.ranges.ang_vel_z = (0.0, 0.0)
+
+    # Disable velocity tracking rewards (not trying to go anywhere)
+    cfg.rewards["track_linear_velocity"].weight = 0.0
+    cfg.rewards["track_angular_velocity"].weight = 0.0
+
+    # Keep foot rewards for reactive stepping
+    # Keep upright, pose, body_ang_vel for balance
+
+    return cfg
diff --git a/src/mjlab/tasks/velocity/config/humanoid/rl_cfg.py b/src/mjlab/tasks/velocity/config/humanoid/rl_cfg.py
new file mode 100644
index 000000000..eb4e1471c
--- /dev/null
+++ b/src/mjlab/tasks/velocity/config/humanoid/rl_cfg.py
@@ -0,0 +1,39 @@
+"""RL configuration for humanoid velocity task."""
+
+from mjlab.rl import (
+    RslRlOnPolicyRunnerCfg,
+    RslRlPpoActorCriticCfg,
+    RslRlPpoAlgorithmCfg,
+)
+
+
+def humanoid_ppo_runner_cfg() -> RslRlOnPolicyRunnerCfg:
+    """Create RL runner configuration for humanoid velocity task."""
+    return RslRlOnPolicyRunnerCfg(
+        policy=RslRlPpoActorCriticCfg(
+            init_noise_std=1.0,
+            actor_obs_normalization=True,
+            critic_obs_normalization=True,
+            actor_hidden_dims=(256, 256, 128),  # Smaller network for 12-DOF robot
+            critic_hidden_dims=(256, 256, 128),
+            activation="elu",
+        ),
+        algorithm=RslRlPpoAlgorithmCfg(
+            value_loss_coef=1.0,
+            use_clipped_value_loss=True,
+            clip_param=0.2,
+            entropy_coef=0.01,
+            num_learning_epochs=5,
+            num_mini_batches=4,
+            learning_rate=1.0e-3,
+            schedule="adaptive",
+            gamma=0.99,
+            lam=0.95,
+            desired_kl=0.01,
+            max_grad_norm=1.0,
+        ),
+        experiment_name="humanoid_velocity",
+        save_interval=50,
+        num_steps_per_env=24,
+        max_iterations=30_000,
+    )
diff --git a/src/mjlab/tasks/velocity/mdp/observations.py b/src/mjlab/tasks/velocity/mdp/observations.py
index 8d72f9f4f..1791c47f0 100644
--- a/src/mjlab/tasks/velocity/mdp/observations.py
+++ b/src/mjlab/tasks/velocity/mdp/observations.py
@@ -42,3 +42,47 @@ def foot_contact_forces(env: ManagerBasedRlEnv, sensor_name: str) -> torch.Tenso
   assert sensor_data.force is not None
   forces_flat = sensor_data.force.flatten(start_dim=1)  # [B, N*3]
   return torch.sign(forces_flat) * torch.log1p(torch.abs(forces_flat))
+
+
+class gait_clock:
+  """Gait clock observation - sin/cos of gait phase like Booster.
+
+  Returns [cos(2*pi*phase), sin(2*pi*phase)] as a 2D observation.
+  The phase advances based on gait_frequency when robot is commanded to move.
+  """
+
+  def __init__(self, cfg, env: ManagerBasedRlEnv):
+    self.gait_phase = torch.zeros(env.num_envs, device=env.device, dtype=torch.float32)
+    self.gait_frequency = cfg.params.get("gait_frequency", 1.5)
+    self.step_dt = env.step_dt
+
+  def __call__(
+    self,
+    env: ManagerBasedRlEnv,
+    command_name: str,
+    command_threshold: float = 0.1,
+    gait_frequency: float = 1.5,
+  ) -> torch.Tensor:
+    command = env.command_manager.get_command(command_name)
+    assert command is not None
+
+    # Only advance phase when moving
+    linear_norm = torch.norm(command[:, :2], dim=1)
+    angular_norm = torch.abs(command[:, 2])
+    total_command = linear_norm + angular_norm
+    active = (total_command > command_threshold).float()
+
+    # Update gait phase
+    self.gait_phase = torch.fmod(
+      self.gait_phase + self.step_dt * gait_frequency * active, 1.0
+    )
+
+    # Reset phase on episode reset (only if termination_manager exists)
+    if hasattr(env, 'termination_manager') and env.termination_manager is not None:
+      reset_ids = env.termination_manager.terminated.nonzero(as_tuple=False).flatten()
+      if len(reset_ids) > 0:
+        self.gait_phase[reset_ids] = torch.rand(len(reset_ids), device=env.device)
+
+    # Return cos/sin of phase
+    phase_2pi = 2.0 * 3.14159265359 * self.gait_phase
+    return torch.stack([torch.cos(phase_2pi), torch.sin(phase_2pi)], dim=1)
diff --git a/src/mjlab/tasks/velocity/mdp/rewards.py b/src/mjlab/tasks/velocity/mdp/rewards.py
index 772dad74c..1f5c68a6f 100644
--- a/src/mjlab/tasks/velocity/mdp/rewards.py
+++ b/src/mjlab/tasks/velocity/mdp/rewards.py
@@ -300,6 +300,159 @@ def soft_landing(
   return cost
 
 
+class alternating_feet_contact:
+  """Reward alternating foot contacts to encourage walking gait.
+
+  Tracks a gait phase (0 to 1) and rewards:
+  - Left foot in air when phase is 0.0-0.5
+  - Right foot in air when phase is 0.5-1.0
+  """
+
+  def __init__(self, cfg: RewardTermCfg, env: ManagerBasedRlEnv):
+    self.gait_phase = torch.zeros(env.num_envs, device=env.device, dtype=torch.float32)
+    self.gait_frequency = cfg.params.get("gait_frequency", 1.5)  # Hz
+    self.step_dt = env.step_dt
+
+  def __call__(
+    self,
+    env: ManagerBasedRlEnv,
+    sensor_name: str,
+    command_name: str,
+    command_threshold: float = 0.1,
+    gait_frequency: float = 1.5,
+  ) -> torch.Tensor:
+    contact_sensor: ContactSensor = env.scene[sensor_name]
+    command = env.command_manager.get_command(command_name)
+    assert command is not None
+
+    # Update gait phase
+    self.gait_phase = torch.fmod(self.gait_phase + self.step_dt * gait_frequency, 1.0)
+
+    # Check foot contact (assume 2 feet: left=0, right=1)
+    assert contact_sensor.data.found is not None
+    in_contact = contact_sensor.data.found > 0  # [B, 2]
+    left_contact = in_contact[:, 0]
+    right_contact = in_contact[:, 1]
+
+    # Desired: left swing (not contact) when phase 0.0-0.5, right swing when 0.5-1.0
+    left_should_swing = self.gait_phase < 0.5
+    right_should_swing = self.gait_phase >= 0.5
+
+    # Reward when foot is in air at the right time
+    left_reward = (left_should_swing & ~left_contact).float()
+    right_reward = (right_should_swing & ~right_contact).float()
+    reward = left_reward + right_reward
+
+    # Only apply when moving
+    linear_norm = torch.norm(command[:, :2], dim=1)
+    angular_norm = torch.abs(command[:, 2])
+    total_command = linear_norm + angular_norm
+    active = (total_command > command_threshold).float()
+    reward = reward * active
+
+    # Reset phase on episode reset
+    reset_ids = env.termination_manager.terminated.nonzero(as_tuple=False).flatten()
+    if len(reset_ids) > 0:
+      self.gait_phase[reset_ids] = torch.rand(len(reset_ids), device=env.device)
+
+    return reward
+
+
+class imitation_joint_pos:
+  """Reward for tracking reference joint positions from imitation data.
+
+  Loads cyclic walking trajectory from CSV and rewards matching the reference
+  pose based on gait phase computed from velocity command.
+  """
+
+  def __init__(self, cfg: RewardTermCfg, env: ManagerBasedRlEnv):
+    import numpy as np
+    import os
+
+    self.step_dt = env.step_dt
+    self.gait_phase = torch.zeros(env.num_envs, device=env.device, dtype=torch.float32)
+
+    # Load imitation data
+    data_path = cfg.params.get("data_path", None)
+    if data_path is None or not os.path.exists(data_path):
+      print(f"[WARNING] Imitation data not found at {data_path}, reward disabled")
+      self.enabled = False
+      self.ref_joint_pos = None
+      return
+
+    self.enabled = True
+    data = np.loadtxt(data_path, delimiter=",", skiprows=1)
+    # First 12 columns are joint positions
+    ref_joint_pos = data[:, :12]
+    self.ref_joint_pos = torch.tensor(ref_joint_pos, device=env.device, dtype=torch.float32)
+    self.num_frames = self.ref_joint_pos.shape[0]
+    self.gait_frequency = cfg.params.get("gait_frequency", 1.25)  # Hz
+    print(f"[INFO] Loaded imitation data: {self.num_frames} frames at {self.gait_frequency} Hz")
+
+    # Joint mapping from CSV to mjlab order
+    # CSV order: L_hip_pitch, R_hip_pitch, L_hip_roll, R_hip_roll, L_hip_yaw, R_hip_yaw,
+    #            L_knee, R_knee, L_ankle_pitch, R_ankle_pitch, L_ankle_roll, R_ankle_roll
+    # mjlab order: L_hip_pitch, L_hip_roll, L_hip_yaw, L_knee, L_ankle_pitch, L_ankle_roll,
+    #              R_hip_pitch, R_hip_roll, R_hip_yaw, R_knee, R_ankle_pitch, R_ankle_roll
+    # For mjlab[i], which CSV index to use:
+    # mjlab[0]=CSV[0], mjlab[1]=CSV[2], mjlab[2]=CSV[4], mjlab[3]=CSV[6], mjlab[4]=CSV[8], mjlab[5]=CSV[10]
+    # mjlab[6]=CSV[1], mjlab[7]=CSV[3], mjlab[8]=CSV[5], mjlab[9]=CSV[7], mjlab[10]=CSV[9], mjlab[11]=CSV[11]
+    csv_to_mjlab = [0, 2, 4, 6, 8, 10, 1, 3, 5, 7, 9, 11]
+    self.ref_joint_pos_reordered = self.ref_joint_pos[:, csv_to_mjlab].clone()
+
+  def __call__(
+    self,
+    env: ManagerBasedRlEnv,
+    data_path: str,
+    gait_frequency: float,
+    std: float,
+    command_name: str,
+    command_threshold: float = 0.1,
+    asset_cfg: SceneEntityCfg = _DEFAULT_ASSET_CFG,
+  ) -> torch.Tensor:
+    del data_path  # Used in __init__
+
+    if not self.enabled:
+      return torch.zeros(env.num_envs, device=env.device)
+
+    asset: Entity = env.scene[asset_cfg.name]
+    command = env.command_manager.get_command(command_name)
+    assert command is not None
+
+    # Update gait phase based on velocity
+    linear_speed = torch.norm(command[:, :2], dim=1)
+    angular_speed = torch.abs(command[:, 2])
+    total_speed = linear_speed + angular_speed
+    active = (total_speed > command_threshold).float()
+
+    # Advance phase proportional to speed
+    phase_delta = self.step_dt * gait_frequency * (total_speed / 0.5).clamp(min=0.5, max=2.0)
+    self.gait_phase = torch.fmod(self.gait_phase + phase_delta, 1.0)
+
+    # Get frame index from phase
+    frame_idx = (self.gait_phase * self.num_frames).long() % self.num_frames
+
+    # Get reference joint positions for each env
+    ref_pos = self.ref_joint_pos_reordered[frame_idx]  # [B, 12]
+
+    # Get current joint positions
+    current_pos = asset.data.joint_pos[:, asset_cfg.joint_ids]  # [B, 12]
+
+    # Compute error
+    error_sq = torch.sum(torch.square(current_pos - ref_pos), dim=1)
+    reward = torch.exp(-error_sq / (std ** 2))
+
+    # Only apply when moving
+    reward = reward * active
+
+    # Reset phase on episode reset
+    reset_ids = env.termination_manager.terminated.nonzero(as_tuple=False).flatten()
+    if len(reset_ids) > 0:
+      self.gait_phase[reset_ids] = torch.rand(len(reset_ids), device=env.device)
+
+    return reward
+
+
 class variable_posture:
   """Penalize deviation from default pose with speed-dependent tolerance.