commit 37cc693abbdb73d1d54f4e600df8ff00195d0e69
Author: JiajunLI <gouhanke@outlook.com>
Date:   Tue Jan 27 15:42:02 2026 +0800

    chore(project): 项目初始化

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..6e9a55d
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,126 @@
+# Python
+__pycache__/
+*.py[cod]
+*$py.class
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+!diana_driver/lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# Virtual Environment
+venv/
+ENV/
+env/
+.venv
+
+# IDE
+.vscode/
+.idea/
+*.swp
+*.swo
+*~
+.project
+.pydevproject
+.settings/
+*.sublime-project
+*.sublime-workspace
+
+# Jupyter Notebook
+.ipynb_checkpoints
+# Uncomment to ignore all notebooks (if you don't want to track them)
+# *.ipynb
+
+# PyTorch / ML
+*.pth
+*.pt
+*.ckpt
+*.pkl
+*.pickle
+checkpoints/
+ckpt_models/
+runs/
+wandb/
+weights/
+
+# Dataset
+dataset/
+demos/dataset/
+# Only ignore data files in dataset directories, not test data
+# *.hdf5
+# *.h5
+# *.npz
+
+# Logs
+*.log
+logs/
+tensorboard/
+
+# MuJoCo
+*.xmlc
+*.mjb
+*.mjt
+
+# OS
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+Thumbs.db
+Desktop.ini
+
+# Temporary files
+*.tmp
+*.bak
+*.swp
+tmp/
+temp/
+
+# Robot-specific
+# diana_driver/lib/*.so  # Commented out - track pre-compiled Diana robot drivers
+!diana_driver/lib/add_lib.sh
+
+# Model assets (commented out - MuJoCo XML and textures should be tracked)
+# assets/models/*.xml
+# assets/textures/*.png
+# assets/textures/*.jpg
+
+# Test coverage
+.coverage
+htmlcov/
+.pytest_cache/
+
+# MyPy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Environments
+.env
+.conda
+
+# Claude
+CLAUDE.md
+
+# GEMINI
+GEMINI.md
+
+# Copilot
+.github/copilot-instructions.md
\ No newline at end of file
diff --git a/README.en.md b/README.en.md
new file mode 100644
index 0000000..024238a
--- /dev/null
+++ b/README.en.md
@@ -0,0 +1,36 @@
+# robo-imi-act
+
+#### Description
+{**When you're done, you can delete the content in this README and update the file with details for others getting started with your repository**}
+
+#### Software Architecture
+Software architecture description
+
+#### Installation
+
+1.  xxxx
+2.  xxxx
+3.  xxxx
+
+#### Instructions
+
+1.  xxxx
+2.  xxxx
+3.  xxxx
+
+#### Contribution
+
+1.  Fork the repository
+2.  Create Feat_xxx branch
+3.  Commit your code
+4.  Create Pull Request
+
+
+#### Gitee Feature
+
+1.  You can use Readme\_XXX.md to support different languages, such as Readme\_en.md, Readme\_zh.md
+2.  Gitee blog [blog.gitee.com](https://blog.gitee.com)
+3.  Explore open source project [https://gitee.com/explore](https://gitee.com/explore)
+4.  The most valuable open source project [GVP](https://gitee.com/gvp)
+5.  The manual of Gitee [https://gitee.com/help](https://gitee.com/help)
+6.  The most popular members  [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..b72b112
--- /dev/null
+++ b/README.md
@@ -0,0 +1,39 @@
+# robo-imi-act
+
+#### 介绍
+{**以下是 Gitee 平台说明，您可以替换此简介**
+Gitee 是 OSCHINA 推出的基于 Git 的代码托管平台（同时支持 SVN）。专为开发者提供稳定、高效、安全的云端软件开发协作平台
+无论是个人、团队、或是企业，都能够用 Gitee 实现代码托管、项目管理、协作开发。企业项目请看 [https://gitee.com/enterprises](https://gitee.com/enterprises)}
+
+#### 软件架构
+软件架构说明
+
+
+#### 安装教程
+
+1.  xxxx
+2.  xxxx
+3.  xxxx
+
+#### 使用说明
+
+1.  xxxx
+2.  xxxx
+3.  xxxx
+
+#### 参与贡献
+
+1.  Fork 本仓库
+2.  新建 Feat_xxx 分支
+3.  提交代码
+4.  新建 Pull Request
+
+
+#### 特技
+
+1.  使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md
+2.  Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com)
+3.  你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目
+4.  [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目，是综合评定出的优秀开源项目
+5.  Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
+6.  Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)
diff --git a/roboimi/assets/models/chassises/Omnidirect/Omnidirect.xml b/roboimi/assets/models/chassises/Omnidirect/Omnidirect.xml
new file mode 100644
index 0000000..e2a1177
--- /dev/null
+++ b/roboimi/assets/models/chassises/Omnidirect/Omnidirect.xml
@@ -0,0 +1,327 @@
+<mujoco model="carurdf">
+    <asset>
+        <mesh name="base_car_link" file="meshes/base_link.STL" />
+        <mesh name="wheel_1" file="meshes/wheel_1.STL" />
+        <mesh name="wheel_1_1" file="meshes/wheel_1_1.STL" />
+        <mesh name="wheel_1_2" file="meshes/wheel_1_2.STL" />
+        <mesh name="wheel_1_3" file="meshes/wheel_1_3.STL" />
+        <mesh name="wheel_1_4" file="meshes/wheel_1_4.STL" />
+        <mesh name="wheel_1_5" file="meshes/wheel_1_5.STL" />
+        <mesh name="wheel_1_6" file="meshes/wheel_1_6.STL" />
+        <mesh name="wheel_1_7" file="meshes/wheel_1_7.STL" />
+        <mesh name="wheel_1_8" file="meshes/wheel_1_8.STL" />
+        <mesh name="wheel_1_9" file="meshes/wheel_1_9.STL" />
+        <mesh name="wheel_1_10" file="meshes/wheel_1_10.STL" />
+        <mesh name="wheel_2" file="meshes/wheel_2.STL" />
+        <mesh name="wheel_2_1" file="meshes/wheel_2_1.STL" />
+        <mesh name="wheel_2_2" file="meshes/wheel_2_2.STL" />
+        <mesh name="wheel_2_3" file="meshes/wheel_2_3.STL" />
+        <mesh name="wheel_2_4" file="meshes/wheel_2_4.STL" />
+        <mesh name="wheel_2_5" file="meshes/wheel_2_5.STL" />
+        <mesh name="wheel_2_6" file="meshes/wheel_2_6.STL" />
+        <mesh name="wheel_2_7" file="meshes/wheel_2_7.STL" />
+        <mesh name="wheel_2_8" file="meshes/wheel_2_8.STL" />
+        <mesh name="wheel_2_9" file="meshes/wheel_2_9.STL" />
+        <mesh name="wheel_2_10" file="meshes/wheel_2_10.STL" />
+        <mesh name="wheel_3" file="meshes/wheel_3.STL" />
+        <mesh name="wheel_3_1" file="meshes/wheel_3_1.STL" />
+        <mesh name="wheel_3_2" file="meshes/wheel_3_2.STL" />
+        <mesh name="wheel_3_3" file="meshes/wheel_3_3.STL" />
+        <mesh name="wheel_3_4" file="meshes/wheel_3_4.STL" />
+        <mesh name="wheel_3_5" file="meshes/wheel_3_5.STL" />
+        <mesh name="wheel_3_6" file="meshes/wheel_3_6.STL" />
+        <mesh name="wheel_3_7" file="meshes/wheel_3_7.STL" />
+        <mesh name="wheel_3_8" file="meshes/wheel_3_8.STL" />
+        <mesh name="wheel_3_9" file="meshes/wheel_3_9.STL" />
+        <mesh name="wheel_3_10" file="meshes/wheel_3_10.STL" />
+        <mesh name="wheel_4" file="meshes/wheel_4.STL" />
+        <mesh name="wheel_4_1" file="meshes/wheel_4_1.STL" />
+        <mesh name="wheel_4_2" file="meshes/wheel_4_2.STL" />
+        <mesh name="wheel_4_3" file="meshes/wheel_4_3.STL" />
+        <mesh name="wheel_4_4" file="meshes/wheel_4_4.STL" />
+        <mesh name="wheel_4_5" file="meshes/wheel_4_5.STL" />
+        <mesh name="wheel_4_6" file="meshes/wheel_4_6.STL" />
+        <mesh name="wheel_4_7" file="meshes/wheel_4_7.STL" />
+        <mesh name="wheel_4_8" file="meshes/wheel_4_8.STL" />
+        <mesh name="wheel_4_9" file="meshes/wheel_4_9.STL" />
+        <mesh name="wheel_4_10" file="meshes/wheel_4_10.STL" />
+    </asset>
+    <worldbody>
+        <body name="base_car_link" pos="0 0 0.29">
+            <inertial diaginertia="1.2869 1.2236 0.9868" mass="70.1294" pos="-0.0036 0 0.0014" quat="0.7605 -0.0133 -0.0061 0.6491" />
+            <geom type="mesh" pos="0 0 -0.1" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
+            <geom type="mesh" pos="0 0 -0.1" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
+            <joint name="base_x_slide_joint" type="slide" pos="0 0 0" axis="1 0 0" limited="true" range="-1 0.5" damping="15000"/>
+            <joint name="base_y_slide_joint" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-1 0.5" damping="15000"/>
+            <joint name="base_z_hinge_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.57 0.57" damping="10000"/>
+            <body name="wheel_1" pos="0.320177 -0.247677 -0.1594375" quat="0.92388 0 0 -0.382683">
+                <inertial pos="-0.40093 -0.0516986 0.0569862" quat="-0.27013 0.653441 0.270227 0.653469" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
+                <joint name="wheel_1_x" pos="0 0 0" axis="-1 0 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_1" />
+                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_1" />
+                <body name="wheel_1_1" pos="0.0115 -0.0134816 0.104635" quat="0.997948 0.0640252 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_1_1_y" pos="0 0 0" axis="0 -1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_1" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_1" />
+                </body>
+                <body name="wheel_1_2" pos="0.0115 0.0458003 0.0838009" quat="0.96889 -0.247491 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_1_2_y" pos="0 0 0" axis="0 -1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_2" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_2" />
+                </body>
+                <body name="wheel_1_3" pos="0.0115 0.0953478 0.0451558" quat="0.84499 -0.534782 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_1_3_y" pos="0 0 0" axis="0 -1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_3" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_3" />
+                </body>
+                <body name="wheel_1_4" pos="0.0115 0.0938524 -0.0176627" quat="0.638377 -0.769724 0 0">
+                    <inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_1_4_y" pos="0 0 0" axis="0 -1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_4" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_4" />
+                </body>
+                <body name="wheel_1_5" pos="0.0115 0.0724098 -0.0767273" quat="0.369275 -0.92932 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_1_5_y" pos="0 0 0" axis="0 -1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_5" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_5" />
+                </body>
+                <body name="wheel_1_6" pos="0.0115 0.0122037 -0.094717" quat="0.0640252 -0.997948 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_1_6_y" pos="0 0 0" axis="0 -1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_6" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_6" />
+                </body>
+                <body name="wheel_1_7" pos="0.0115 -0.0505961 -0.0925758" quat="0.247491 0.96889 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_1_7_y" pos="0 0 0" axis="0 -1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_7" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_7" />
+                </body>
+                <body name="wheel_1_8" pos="0.0115 -0.0863101 -0.0408756" quat="0.534782 0.84499 0 0">
+                    <inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_1_8_y" pos="0 0 0" axis="0 -1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_8" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_8" />
+                </body>
+                <body name="wheel_1_9" pos="0.0115 -0.10368 0.0195122" quat="0.769724 0.638377 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_1_9_y" pos="0 0 0" axis="0 -1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_9" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_9" />
+                </body>
+                <body name="wheel_1_10" pos="0.0115 -0.0655463 0.0694545" quat="0.92932 0.369275 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_1_10_y" pos="0 0 0" axis="0 -1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_10" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_10" />
+                </body>
+            </body>
+            <body name="wheel_2" pos="0.320177 0.247677 -0.1594375" quat="0.92388 0 0 0.382683">
+                <inertial pos="-0.401966 0.0506629 0.0569862" quat="0.271061 0.653132 -0.270974 0.653083" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
+                <joint name="wheel_2_x" pos="0 0 0" axis="-1 0 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_2" />
+                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_2" />
+                <body name="wheel_2_1" pos="0.0115 0.0134816 0.104635" quat="0.997948 -0.0640252 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_2_1_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_1" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_1" />
+                </body>
+                <body name="wheel_2_2" pos="0.0115 0.0655463 0.0694545" quat="0.92932 -0.369275 0 0">
+                    <inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_2_2_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_2" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_2" />
+                </body>
+                <body name="wheel_2_3" pos="0.0115 0.10368 0.0195122" quat="0.769724 -0.638377 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_2_3_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_3" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_3" />
+                </body>
+                <body name="wheel_2_4" pos="0.0115 0.0863101 -0.0408756" quat="0.534782 -0.84499 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_2_4_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_4" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_4" />
+                </body>
+                <body name="wheel_2_5" pos="0.0115 0.0505961 -0.0925758" quat="0.247491 -0.96889 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_2_5_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_5" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_5" />
+                </body>
+                <body name="wheel_2_6" pos="0.0115 -0.0122037 -0.094717" quat="0.0640252 0.997948 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_2_6_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_6" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_6" />
+                </body>
+                <body name="wheel_2_7" pos="0.0115 -0.0724098 -0.0767273" quat="0.369275 0.92932 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_2_7_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_7" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_7" />
+                </body>
+                <body name="wheel_2_8" pos="0.0115 -0.0938524 -0.0176627" quat="0.638377 0.769724 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_2_8_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_8" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_8" />
+                </body>
+                <body name="wheel_2_9" pos="0.0115 -0.0953478 0.0451558" quat="0.84499 0.534782 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_2_9_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_9" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_9" />
+                </body>
+                <body name="wheel_2_10" pos="0.0115 -0.0458003 0.0838009" quat="0.96889 0.247491 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_2_10_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_10" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_10" />
+                </body>
+            </body>
+            <body name="wheel_3" pos="-0.320177 0.247677 -0.1594375" quat="0.382683 0 0 0.92388">
+                <inertial pos="-0.402135 -0.0508319 0.0569862" quat="-0.270227 0.653469 0.27013 0.653441" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
+                <joint name="wheel_3_x" pos="0 0 0" axis="-1 0 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_3" />
+                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_3" />
+                <body name="wheel_3_1" pos="0.0115 0.00556754 0.0953376" quat="0.999575 -0.0291618 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_3_1_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_1" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_1" />
+                </body>
+                <body name="wheel_3_2" pos="0.0115 0.0668818 0.0815909" quat="0.941641 -0.33662 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_3_2_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_2" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_2" />
+                </body>
+                <body name="wheel_3_3" pos="0.0115 0.0923919 0.0241659" quat="0.791532 -0.611128 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_3_3_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_3" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_3" />
+                </body>
+                <body name="wheel_3_4" pos="0.0115 0.0982652 -0.0383953" quat="0.563943 -0.825814 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_3_4_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_4" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_4" />
+                </body>
+                <body name="wheel_3_5" pos="0.0115 0.0515338 -0.0804022" quat="0.281151 -0.959664 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_3_5_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_5" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_5" />
+                </body>
+                <body name="wheel_3_6" pos="0.0115 -0.00615053 -0.105321" quat="0.0291618 0.999575 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_3_6_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_6" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_6" />
+                </body>
+                <body name="wheel_3_7" pos="0.0115 -0.0605423 -0.0738572" quat="0.33662 0.941641 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_3_7_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_7" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_7" />
+                </body>
+                <body name="wheel_3_8" pos="0.0115 -0.102066 -0.0266963" quat="0.611128 0.791532 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_3_8_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_8" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_8" />
+                </body>
+                <body name="wheel_3_9" pos="0.0115 -0.088951 0.034756" quat="0.825814 0.563943 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_3_9_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_9" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_9" />
+                </body>
+                <body name="wheel_3_10" pos="0.0115 -0.05693 0.0888213" quat="0.959664 0.281151 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_3_10_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_10" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_10" />
+                </body>
+            </body>
+            <body name="wheel_4" pos="-0.320177 -0.247677 -0.1594375" quat="0.382683 0 0 -0.92388">
+                <inertial pos="-0.401099 0.0518676 0.0569862" quat="0.270974 0.653083 -0.271061 0.653132" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
+                <joint name="wheel_4_x" pos="0 0 0" axis="-1 0 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_4" />
+                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_4" />
+                <body name="wheel_4_1" pos="0.0115 0.0134816 0.104635" quat="0.997948 -0.0640252 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_4_1_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_1" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_1" />
+                </body>
+                <body name="wheel_4_2" pos="0.0115 0.0655463 0.0694545" quat="0.92932 -0.369275 0 0">
+                    <inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_4_2_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_2" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_2" />
+                </body>
+                <body name="wheel_4_3" pos="0.0115 0.10368 0.0195122" quat="0.769724 -0.638377 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_4_3_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_3" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_3" />
+                </body>
+                <body name="wheel_4_4" pos="0.0115 0.0863101 -0.0408756" quat="0.534782 -0.84499 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_4_4_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_4" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_4" />
+                </body>
+                <body name="wheel_4_5" pos="0.0115 0.0505961 -0.0925758" quat="0.247491 -0.96889 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_4_5_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_5" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_5" />
+                </body>
+                <body name="wheel_4_6" pos="0.0115 -0.0122037 -0.094717" quat="0.0640252 0.997948 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_4_6_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_6" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_6" />
+                </body>
+                <body name="wheel_4_7" pos="0.0115 -0.0724098 -0.0767273" quat="0.369275 0.92932 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_4_7_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_7" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_7" />
+                </body>
+                <body name="wheel_4_8" pos="0.0115 -0.0938524 -0.0176627" quat="0.638377 0.769724 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_4_8_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_8" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_8" />
+                </body>
+                <body name="wheel_4_9" pos="0.0115 -0.0953478 0.0451558" quat="0.84499 0.534782 0 0">
+                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                    <joint name="wheel_4_9_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_9" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_9" />
+                </body>
+                <body name="wheel_4_10" pos="0.0115 -0.0458003 0.0838009" quat="0.96889 0.247491 0 0">
+                    <inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                    <joint name="wheel_4_10_y" pos="0 0 0" axis="0 1 0" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_10" />
+                    <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_10" />
+                </body>
+            </body>
+        </body>
+    </worldbody>
+
+
+    <actuator>
+    </actuator>
+</mujoco>
diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/base_link.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/base_link.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1.STL
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index 0000000..a83b967
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_1.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_1.STL
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index 0000000..b4890c2
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_10.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_10.STL
new file mode 100644
index 0000000..0bf4d9d
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_2.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_2.STL
new file mode 100644
index 0000000..c70a991
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_3.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_3.STL
new file mode 100644
index 0000000..fe6e46e
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_4.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_4.STL
new file mode 100644
index 0000000..b2561e5
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_5.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_5.STL
new file mode 100644
index 0000000..ccddd0a
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_6.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_6.STL
new file mode 100644
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_7.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_7.STL
new file mode 100644
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_8.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_8.STL
new file mode 100644
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_9.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_9.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_1.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_1.STL
new file mode 100644
index 0000000..5019736
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_10.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_10.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_2.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_2.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_3.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_3.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_4.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_4.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_5.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_5.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_6.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_6.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_7.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_7.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_8.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_8.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_9.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_9.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_1.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_1.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_10.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_10.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_2.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_2.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_3.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_3.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_4.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_4.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_5.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_5.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_6.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_6.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_7.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_7.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_8.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_8.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_9.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_9.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_1.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_1.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_10.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_10.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_2.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_2.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_3.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_3.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_4.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_4.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_5.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_5.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_6.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_6.STL
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_7.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_7.STL
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index 0000000..cd047ca
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_8.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_8.STL
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index 0000000..3fc2346
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diff --git a/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_9.STL b/roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_9.STL
new file mode 100644
index 0000000..6e2fd85
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diff --git a/roboimi/assets/models/grippers/Swab_gripper/Swab_gripper.xml b/roboimi/assets/models/grippers/Swab_gripper/Swab_gripper.xml
new file mode 100644
index 0000000..a9a299b
--- /dev/null
+++ b/roboimi/assets/models/grippers/Swab_gripper/Swab_gripper.xml
@@ -0,0 +1,32 @@
+<mujoco>
+    <asset>
+        <mesh name="cambase" file="meshes/cambase.STL" />
+        <mesh name="cam" file="meshes/cam.STL" />
+        <mesh name="stick" file="meshes/stick.STL" />
+    </asset>
+   <worldbody>
+        <body name="end_effector">
+            <inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0"/>
+            <geom type="mesh" rgba="1 1 1 1" mesh="cambase" />
+
+            <body name="cam" pos="0.065054 0.00068038 -0.013835" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
+                <inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="cam" />
+                <camera name="cam" mode="fixed" pos="0.0175 0.00 0.0038" quat="0 0 1 0" fovy="45"/>
+            </body>
+            <body name="rod" pos="0 0 0" quat="0.707105 -0.707108 0 0" >
+                <inertial pos="0 0 0" quat="1 0 0 0" mass="0.0000" diaginertia="0.0000 0.0000 0.0000"/>
+                <geom type="mesh" mesh="stick"  rgba="1 1 1 1" friction="0.2 0.05 0.01"/>
+                <body name="end" pos="0 0.15 0">
+                    <inertial pos="0 0 0" quat="1 0 0 0" mass="0.0000" diaginertia="0.0000 0.0000 0.0000"/>
+                    <geom size="0.005" quat="0 0 1 1" rgba="1 0 0 1" type="sphere" friction="0.3 0.005 0.001"/>
+                    <site name="gripper_frame" size="0.001" quat="0 0 1 1"/>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <sensor>
+        <force name="wall_force_sensor" site="gripper_frame" cutoff="3.0"/>
+    </sensor>
+</mujoco>
+
diff --git a/roboimi/assets/models/grippers/Swab_gripper/meshes/cam.STL b/roboimi/assets/models/grippers/Swab_gripper/meshes/cam.STL
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index 0000000..c77b1db
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diff --git a/roboimi/assets/models/grippers/Swab_gripper/meshes/cambase.STL b/roboimi/assets/models/grippers/Swab_gripper/meshes/cambase.STL
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index 0000000..f691457
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diff --git a/roboimi/assets/models/grippers/Swab_gripper/meshes/stick.STL b/roboimi/assets/models/grippers/Swab_gripper/meshes/stick.STL
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index 0000000..87c94ed
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diff --git a/roboimi/assets/models/grippers/dual_ur5_husky/Whole_Body_gripper.xml b/roboimi/assets/models/grippers/dual_ur5_husky/Whole_Body_gripper.xml
new file mode 100644
index 0000000..67dd054
--- /dev/null
+++ b/roboimi/assets/models/grippers/dual_ur5_husky/Whole_Body_gripper.xml
@@ -0,0 +1,763 @@
+<mujoco model="carurdf">
+    <compiler angle="radian"  autolimits="true"/>
+    <size njmax="500" nconmax="100" />
+    <asset>
+        <!-- car meshs -->
+        <mesh name="base_car_link" file="../meshes/base_link.STL" />
+        <mesh name="wheel_1" file="../meshes/wheel_1.STL" />
+        <mesh name="wheel_1_1" file="../meshes/wheel_1_1.STL" />
+        <mesh name="wheel_1_2" file="../meshes/wheel_1_2.STL" />
+        <mesh name="wheel_1_3" file="../meshes/wheel_1_3.STL" />
+        <mesh name="wheel_1_4" file="../meshes/wheel_1_4.STL" />
+        <mesh name="wheel_1_5" file="../meshes/wheel_1_5.STL" />
+        <mesh name="wheel_1_6" file="../meshes/wheel_1_6.STL" />
+        <mesh name="wheel_1_7" file="../meshes/wheel_1_7.STL" />
+        <mesh name="wheel_1_8" file="../meshes/wheel_1_8.STL" />
+        <mesh name="wheel_1_9" file="../meshes/wheel_1_9.STL" />
+        <mesh name="wheel_1_10" file="../meshes/wheel_1_10.STL" />
+        <mesh name="wheel_2" file="../meshes/wheel_2.STL" />
+        <mesh name="wheel_2_1" file="../meshes/wheel_2_1.STL" />
+        <mesh name="wheel_2_2" file="../meshes/wheel_2_2.STL" />
+        <mesh name="wheel_2_3" file="../meshes/wheel_2_3.STL" />
+        <mesh name="wheel_2_4" file="../meshes/wheel_2_4.STL" />
+        <mesh name="wheel_2_5" file="../meshes/wheel_2_5.STL" />
+        <mesh name="wheel_2_6" file="../meshes/wheel_2_6.STL" />
+        <mesh name="wheel_2_7" file="../meshes/wheel_2_7.STL" />
+        <mesh name="wheel_2_8" file="../meshes/wheel_2_8.STL" />
+        <mesh name="wheel_2_9" file="../meshes/wheel_2_9.STL" />
+        <mesh name="wheel_2_10" file="../meshes/wheel_2_10.STL" />
+        <mesh name="wheel_3" file="../meshes/wheel_3.STL" />
+        <mesh name="wheel_3_1" file="../meshes/wheel_3_1.STL" />
+        <mesh name="wheel_3_2" file="../meshes/wheel_3_2.STL" />
+        <mesh name="wheel_3_3" file="../meshes/wheel_3_3.STL" />
+        <mesh name="wheel_3_4" file="../meshes/wheel_3_4.STL" />
+        <mesh name="wheel_3_5" file="../meshes/wheel_3_5.STL" />
+        <mesh name="wheel_3_6" file="../meshes/wheel_3_6.STL" />
+        <mesh name="wheel_3_7" file="../meshes/wheel_3_7.STL" />
+        <mesh name="wheel_3_8" file="../meshes/wheel_3_8.STL" />
+        <mesh name="wheel_3_9" file="../meshes/wheel_3_9.STL" />
+        <mesh name="wheel_3_10" file="../meshes/wheel_3_10.STL" />
+        <mesh name="wheel_4" file="../meshes/wheel_4.STL" />
+        <mesh name="wheel_4_1" file="../meshes/wheel_4_1.STL" />
+        <mesh name="wheel_4_2" file="../meshes/wheel_4_2.STL" />
+        <mesh name="wheel_4_3" file="../meshes/wheel_4_3.STL" />
+        <mesh name="wheel_4_4" file="../meshes/wheel_4_4.STL" />
+        <mesh name="wheel_4_5" file="../meshes/wheel_4_5.STL" />
+        <mesh name="wheel_4_6" file="../meshes/wheel_4_6.STL" />
+        <mesh name="wheel_4_7" file="../meshes/wheel_4_7.STL" />
+        <mesh name="wheel_4_8" file="../meshes/wheel_4_8.STL" />
+        <mesh name="wheel_4_9" file="../meshes/wheel_4_9.STL" />
+        <mesh name="wheel_4_10" file="../meshes/wheel_4_10.STL" />
+
+        <mesh name="robot_stand"  file="meshes/dual_robot_stand.stl" />
+        <mesh name="dual_robot_stand_ring" file="meshes/dual_robot_stand_ring.stl" />
+        <mesh name="robot_stand2"  file="meshes/dual_robot_stand4.stl" />
+        <!-- arm meshes -->
+        <mesh name="base_link" file="meshes/robot/base_link.STL"/>
+        <mesh name="link1" file="meshes/robot/link1.STL"/>
+        <mesh name="link2" file="meshes/robot/link2.STL"/>
+        <mesh name="link3" file="meshes/robot/link3.STL"/>
+        <mesh name="link4" file="meshes/robot/link4.STL"/>
+        <mesh name="link5" file="meshes/robot/link5.STL"/>
+        <mesh name="link6" file="meshes/robot/link6.STL"/>
+        <mesh name="link7" file="meshes/robot/link7.STL"/>
+        <material name="silver" specular="1" shininess="0.5" reflectance="1" emission="0.25" rgba="0.82 0.82 0.82 1"/>
+        <material name="grey" specular="1" shininess="0.5" reflectance="1" emission="0.1" rgba="0.5 0.5 0.5 1"/>
+        <material name="blue" specular="1" shininess="0.5" reflectance="1" emission="0" rgba="0.678 0.847 0.902 1"/>
+        <material name="black" specular="1" shininess="0.5" reflectance="1" emission="0" rgba="0.2 0.2 0.2 1"/>
+        <mesh name="cam" file="../diana_med/meshes/robot/cam.STL" />
+        <!-- gripper meshes -->
+        <mesh name="dual_arm_bulkhead" file="meshes/dual_ur5_husky/dual_arm_bulkhead.stl" />
+        <mesh name="flir-ptu-simple" file="meshes/dual_ur5_husky/flir-ptu-simple.stl" />
+        <mesh name="sick-lms1xx" file="meshes/dual_ur5_husky/sick-lms1xx.stl" />
+        <mesh name="pointgrey_bumblebee2" file="meshes/dual_ur5_husky/pointgrey_bumblebee2.stl" />
+        <mesh name="robotiq_fts300" file="meshes/dual_ur5_husky/robotiq_fts300.stl" />
+        <mesh name="link_0" file="meshes/dual_ur5_husky/link_0.STL" />
+        <mesh name="link_1" file="meshes/dual_ur5_husky/link_1.STL" />
+        <mesh name="link_2" file="meshes/dual_ur5_husky/link_2.STL" />
+        <mesh name="link_3" file="meshes/dual_ur5_husky/link_3.STL" />
+        <mesh name="palm" file="meshes/dual_ur5_husky/palm.STL" />
+        <!-- from Standford robosuite -->
+        <mesh name="collision_link_0" file="meshes/dual_ur5_husky/collision_link_0.STL" />
+        <mesh name="collision_link_1" file="meshes/dual_ur5_husky/collision_link_1.STL" />
+        <mesh name="collision_link_2" file="meshes/dual_ur5_husky/collision_link_2.STL" />
+        <mesh name="collision_link_3" file="meshes/dual_ur5_husky/collision_link_3.STL" />
+        <mesh name="collision_palm" file="meshes/dual_ur5_husky/collision_palm.STL" />
+    </asset>
+    <worldbody>
+        <!-- <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
+        <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" /> -->
+        <body name="base_car_link" pos="0.0 0.0 0.0" euler="0 0 0">
+            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
+            <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
+            <joint armature="0.0001" axis="1 0 0" damping="1e+11" name="robot0:slide0" pos="0 0 0" type="slide"></joint>
+            <joint armature="0.0001" axis="0 1 0" damping="1e+11" name="robot0:slide1" pos="0 0 0" type="slide"></joint>
+            <joint armature="0.0001" axis="0 0 1" damping="1e+0" name="robot0:slide2" pos="0 0 0" type="slide"></joint>
+            <inertial diaginertia="1.2869 1.2236 0.9868" mass="70.1294" pos="-0.0036 0 0.0014" quat="0.7605 -0.0133 -0.0061 0.6491"></inertial>
+            <joint name="base_x_slide_joint" type="slide" pos="0 0 0" axis="1 0 0" limited="true" range="-1 0.5" damping="15000"/>
+            <joint name="base_y_slide_joint" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-1 0.5" damping="15000"/>
+            <joint name="base_z_hinge_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.57 0.57" damping="10000"/>
+       
+        <body name="wheel_1" pos="0.320177 -0.247677 -0.0594375" quat="0.92388 0 0 -0.382683">
+            <inertial pos="-0.40093 -0.0516986 0.0569862" quat="-0.27013 0.653441 0.270227 0.653469" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
+            <joint name="wheel_1_x" pos="0 0 0" axis="-1 0 0" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_1" />
+            <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_1" />
+            <body name="wheel_1_1" pos="0.0115 -0.0134816 0.104635" quat="0.997948 0.0640252 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_1_1_y" pos="0 0 0" axis="0 -1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_1" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_1" />
+            </body>
+            <body name="wheel_1_2" pos="0.0115 0.0458003 0.0838009" quat="0.96889 -0.247491 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_1_2_y" pos="0 0 0" axis="0 -1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_2" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_2" />
+            </body>
+            <body name="wheel_1_3" pos="0.0115 0.0953478 0.0451558" quat="0.84499 -0.534782 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_1_3_y" pos="0 0 0" axis="0 -1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_3" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_3" />
+            </body>
+            <body name="wheel_1_4" pos="0.0115 0.0938524 -0.0176627" quat="0.638377 -0.769724 0 0">
+                <inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_1_4_y" pos="0 0 0" axis="0 -1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_4" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_4" />
+            </body>
+            <body name="wheel_1_5" pos="0.0115 0.0724098 -0.0767273" quat="0.369275 -0.92932 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_1_5_y" pos="0 0 0" axis="0 -1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_5" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_5" />
+            </body>
+            <body name="wheel_1_6" pos="0.0115 0.0122037 -0.094717" quat="0.0640252 -0.997948 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_1_6_y" pos="0 0 0" axis="0 -1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_6" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_6" />
+            </body>
+            <body name="wheel_1_7" pos="0.0115 -0.0505961 -0.0925758" quat="0.247491 0.96889 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_1_7_y" pos="0 0 0" axis="0 -1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_7" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_7" />
+            </body>
+            <body name="wheel_1_8" pos="0.0115 -0.0863101 -0.0408756" quat="0.534782 0.84499 0 0">
+                <inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_1_8_y" pos="0 0 0" axis="0 -1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_8" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_8" />
+            </body>
+            <body name="wheel_1_9" pos="0.0115 -0.10368 0.0195122" quat="0.769724 0.638377 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_1_9_y" pos="0 0 0" axis="0 -1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_9" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_9" />
+            </body>
+            <body name="wheel_1_10" pos="0.0115 -0.0655463 0.0694545" quat="0.92932 0.369275 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_1_10_y" pos="0 0 0" axis="0 -1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_10" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_10" />
+            </body>
+        </body>
+        <body name="wheel_2" pos="0.320177 0.247677 -0.0594375" quat="0.92388 0 0 0.382683">
+            <inertial pos="-0.401966 0.0506629 0.0569862" quat="0.271061 0.653132 -0.270974 0.653083" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
+            <joint name="wheel_2_x" pos="0 0 0" axis="-1 0 0" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_2" />
+            <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_2" />
+            <body name="wheel_2_1" pos="0.0115 0.0134816 0.104635" quat="0.997948 -0.0640252 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_2_1_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_1" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_1" />
+            </body>
+            <body name="wheel_2_2" pos="0.0115 0.0655463 0.0694545" quat="0.92932 -0.369275 0 0">
+                <inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_2_2_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_2" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_2" />
+            </body>
+            <body name="wheel_2_3" pos="0.0115 0.10368 0.0195122" quat="0.769724 -0.638377 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_2_3_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_3" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_3" />
+            </body>
+            <body name="wheel_2_4" pos="0.0115 0.0863101 -0.0408756" quat="0.534782 -0.84499 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_2_4_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_4" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_4" />
+            </body>
+            <body name="wheel_2_5" pos="0.0115 0.0505961 -0.0925758" quat="0.247491 -0.96889 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_2_5_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_5" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_5" />
+            </body>
+            <body name="wheel_2_6" pos="0.0115 -0.0122037 -0.094717" quat="0.0640252 0.997948 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_2_6_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_6" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_6" />
+            </body>
+            <body name="wheel_2_7" pos="0.0115 -0.0724098 -0.0767273" quat="0.369275 0.92932 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_2_7_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_7" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_7" />
+            </body>
+            <body name="wheel_2_8" pos="0.0115 -0.0938524 -0.0176627" quat="0.638377 0.769724 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_2_8_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_8" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_8" />
+            </body>
+            <body name="wheel_2_9" pos="0.0115 -0.0953478 0.0451558" quat="0.84499 0.534782 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_2_9_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_9" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_9" />
+            </body>
+            <body name="wheel_2_10" pos="0.0115 -0.0458003 0.0838009" quat="0.96889 0.247491 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_2_10_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_10" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_10" />
+            </body>
+        </body>
+        <body name="wheel_3" pos="-0.320177 0.247677 -0.0594375" quat="0.382683 0 0 0.92388">
+            <inertial pos="-0.402135 -0.0508319 0.0569862" quat="-0.270227 0.653469 0.27013 0.653441" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
+            <joint name="wheel_3_x" pos="0 0 0" axis="-1 0 0" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_3" />
+            <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_3" />
+            <body name="wheel_3_1" pos="0.0115 0.00556754 0.0953376" quat="0.999575 -0.0291618 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_3_1_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_1" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_1" />
+            </body>
+            <body name="wheel_3_2" pos="0.0115 0.0668818 0.0815909" quat="0.941641 -0.33662 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_3_2_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_2" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_2" />
+            </body>
+            <body name="wheel_3_3" pos="0.0115 0.0923919 0.0241659" quat="0.791532 -0.611128 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_3_3_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_3" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_3" />
+            </body>
+            <body name="wheel_3_4" pos="0.0115 0.0982652 -0.0383953" quat="0.563943 -0.825814 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_3_4_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_4" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_4" />
+            </body>
+            <body name="wheel_3_5" pos="0.0115 0.0515338 -0.0804022" quat="0.281151 -0.959664 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_3_5_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_5" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_5" />
+            </body>
+            <body name="wheel_3_6" pos="0.0115 -0.00615053 -0.105321" quat="0.0291618 0.999575 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_3_6_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_6" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_6" />
+            </body>
+            <body name="wheel_3_7" pos="0.0115 -0.0605423 -0.0738572" quat="0.33662 0.941641 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_3_7_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_7" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_7" />
+            </body>
+            <body name="wheel_3_8" pos="0.0115 -0.102066 -0.0266963" quat="0.611128 0.791532 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_3_8_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_8" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_8" />
+            </body>
+            <body name="wheel_3_9" pos="0.0115 -0.088951 0.034756" quat="0.825814 0.563943 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_3_9_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_9" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_9" />
+            </body>
+            <body name="wheel_3_10" pos="0.0115 -0.05693 0.0888213" quat="0.959664 0.281151 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_3_10_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_10" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_10" />
+            </body>
+        </body>
+        <body name="wheel_4" pos="-0.320177 -0.247677 -0.0594375" quat="0.382683 0 0 -0.92388">
+            <inertial pos="-0.401099 0.0518676 0.0569862" quat="0.270974 0.653083 -0.271061 0.653132" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
+            <joint name="wheel_4_x" pos="0 0 0" axis="-1 0 0" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_4" />
+            <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_4" />
+            <body name="wheel_4_1" pos="0.0115 0.0134816 0.104635" quat="0.997948 -0.0640252 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_4_1_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_1" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_1" />
+            </body>
+            <body name="wheel_4_2" pos="0.0115 0.0655463 0.0694545" quat="0.92932 -0.369275 0 0">
+                <inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_4_2_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_2" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_2" />
+            </body>
+            <body name="wheel_4_3" pos="0.0115 0.10368 0.0195122" quat="0.769724 -0.638377 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_4_3_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_3" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_3" />
+            </body>
+            <body name="wheel_4_4" pos="0.0115 0.0863101 -0.0408756" quat="0.534782 -0.84499 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_4_4_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_4" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_4" />
+            </body>
+            <body name="wheel_4_5" pos="0.0115 0.0505961 -0.0925758" quat="0.247491 -0.96889 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_4_5_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_5" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_5" />
+            </body>
+            <body name="wheel_4_6" pos="0.0115 -0.0122037 -0.094717" quat="0.0640252 0.997948 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_4_6_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_6" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_6" />
+            </body>
+            <body name="wheel_4_7" pos="0.0115 -0.0724098 -0.0767273" quat="0.369275 0.92932 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_4_7_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_7" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_7" />
+            </body>
+            <body name="wheel_4_8" pos="0.0115 -0.0938524 -0.0176627" quat="0.638377 0.769724 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_4_8_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_8" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_8" />
+            </body>
+            <body name="wheel_4_9" pos="0.0115 -0.0953478 0.0451558" quat="0.84499 0.534782 0 0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
+                <joint name="wheel_4_9_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_9" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_9" />
+            </body>
+            <body name="wheel_4_10" pos="0.0115 -0.0458003 0.0838009" quat="0.96889 0.247491 0 0">
+                <inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
+                <joint name="wheel_4_10_y" pos="0 0 0" axis="0 1 0" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_10" />
+                <geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_10" />
+            </body>
+        </body>
+        <body name="my_cylinder">
+            <geom size="0.085 0.28" pos="0.0 0.0 0.38" type="cylinder" rgba="0.3 0.3 0.3 1" />
+            <inertial pos="0.0 0.0 0.0" mass="0.5" diaginertia="0.184 0.1 0.1"/>
+          </body>
+            <body name="dual_robot_stand" pos="0.0 0.0 0.66" euler="0 0 0">
+                <inertial pos="0 0 0" mass="2.0" diaginertia="0.15 0.15 0.15"/>
+                <joint name="base_stand_joint" axis="0 0 1" pos="0 0 0" limited="true" range="-3.0 3.0"/>
+                <geom name="robot_stand" type="mesh" mesh="robot_stand2" pos="0 0 0"  conaffinity="0" contype="0"/>
+                <body name="cam" pos="0.0 0.0 0.5425" euler="1.570796 0.0 0.0">
+                    <inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="cam" />
+                    <camera name="cam" mode="fixed" pos="0.0175 0.00 0.00" quat="0 0 1 0" fovy="45"/>
+                </body>
+                <!-- right arm -->
+                
+                <body name="right_base_link" pos="0.15 0 0.46" euler="0.0 0.785398 0.0">
+                    <geom type="mesh" rgba="1 1 1 1" mesh="base_link" pos="0 0 0"/>
+                    <body name="right_link1" pos="8.7058e-05 -0.00063474 0.2985" quat="-3.67321e-06 1 0 0">
+                        <inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616"/>
+                        <joint name="right_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                        <geom type="mesh"  rgba="1 1 1 1" mesh="link1"/>
+                        <body name="right_link2" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
+                            <inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505"/>
+                            <joint name="right_j2" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                            <geom type="mesh"  rgba="1 1 1 1" mesh="link2"/>
+                            <body name="right_link3" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
+                                <inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482"/>
+                                <joint name="right_j3" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                                <geom type="mesh"  rgba="1 1 1 1" mesh="link3"/>
+                                <body name="right_link4" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
+                                    <inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104"/>
+                                    <joint name="right_j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.8"/>
+                                    <geom type="mesh"  rgba="1 1 1 1" mesh="link4"/>
+                                    <body name="right_link5" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
+                                        <inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656"/>
+                                        <joint name="right_j5" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                                        <geom type="mesh"  rgba="1 1 1 1" mesh="link5"/>
+                                        <body name="right_link6" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                                            <inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065"/>
+                                            <joint name="right_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.1"/>
+                                            <geom type="mesh"  rgba="1 1 1 1" mesh="link6"/>
+                                            <body name="right_link7" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
+                                                <inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
+                                                <joint name="right_j7" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                                <geom type="mesh"  rgba="1 1 1 1" mesh="link7"/>
+
+                                                <body name="r_gripper" pos="0 0 0.13"  quat="0.707105 -0.707105 0 0">
+                                                    <body name="r_gripper_palm_link" pos="1.64197e-10 0.17378 7.2848e-05" quat="-0.382132 8.29339e-10 0.924108 0.000735892">
+                                                
+                                                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="palm" />
+                                                        <geom name="r_gripper_palm" type="mesh" group="0" mesh="collision_palm" />
+                                                    </body>
+                                                    <body name="r_finger_1_link_0" pos="0.00679839 0.195255 -0.0575191" quat="-0.653702 -0.270618 -0.269798 -0.653184" >
+                                                        <inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
+                                                        <joint name="r_palm_finger_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.25" />
+                                                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_0" />
+                                                        <geom name="f1_l0" type="mesh" group="0" mesh="collision_link_0" />
+                                                        <body name="r_finger_1_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
+                                                            <inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
+                                                            <joint name="r_finger_1_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
+                                                            <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_1" />
+                                                            <geom name="f1_l1" type="mesh" group="0" pos="0 0.05717 0" quat="0.707105 0 0 0.707108" mesh="collision_link_1" />
+                                                            <body name="r_finger_1_link_2" pos="0 0.05715 0">
+                                                                <inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
+                                                                <joint name="r_finger_1_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
+                                                                <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_2" />
+                                                                <geom name="f1_l2" pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_2" />
+                                                                <body name="r_finger_1_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
+                                                                    <inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
+                                                                    <joint name="r_finger_1_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
+                                                                    <geom type="mesh" contype="0" conaffinity="0" group="1"  mesh="link_3" />
+                                                                    <geom name="f1_l3" type="mesh"  mesh="collision_link_3" />
+                                                                </body>
+                                                            </body>
+                                                        </body>
+                                                    </body>
+                                                    <body name="r_finger_2_link_0" pos="0.0576492 0.195157 -0.00654675" quat="-0.653702 -0.270618 -0.269798 -0.653184" >
+                                                        <inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
+                                                        <joint name="r_palm_finger_2_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.25 0.16" />
+                                                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_0" />
+                                                        <geom name="f2_l0" type="mesh" mesh="collision_link_0" />
+                                                        <body name="r_finger_2_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
+                                                            <inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
+                                                            <joint name="r_finger_2_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
+                                                            <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_1" />
+                                                            <geom name="f2_l1" pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_1" />
+                                                            <body name="r_finger_2_link_2" pos="0 0.05715 0">
+                                                                <inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
+                                                                <joint name="r_finger_2_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
+                                                                <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_2" />
+                                                                <geom name="f2_l2" pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_2" />
+                                                                <body name="r_finger_2_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
+                                                                    <inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
+                                                                    <joint name="r_finger_2_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
+                                                                    <geom type="mesh" contype="0" conaffinity="0" group="1"  mesh="link_3" />
+                                                                    <geom name="f2_l3" type="mesh"  mesh="collision_link_3" />
+                                                                </body>
+                                                            </body>
+                                                        </body>
+                                                    </body>
+                                                    <body name="r_finger_middle_link_0" pos="-0.0321997 0.195154 0.0322368" quat="-0.270836 0.653183 0.653703 -0.26958"  >
+                                                        <inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
+                                                        <joint name="r_palm_finger_middle_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1e-3 1e-3"/>
+                                                        <geom type="mesh" contype="0" conaffinity="0" group="1"  mesh="link_0" />
+                                                        <geom name="f3_l0" type="mesh" mesh="collision_link_0" />
+                                                        <body name="r_finger_middle_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
+                                                            <inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
+                                                            <joint name="r_finger_middle_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
+                                                            <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1"  mesh="link_1" />
+                                                            <geom name="f3_l1" pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_1" />
+                                                            <body name="r_finger_middle_link_2" pos="0 0.05715 0">
+                                                                <inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
+                                                                <joint name="r_finger_middle_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
+                                                                <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1"  mesh="link_2" />
+                                                                <geom name="f3_l2" pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh"  mesh="collision_link_2" />
+                                                                <body name="r_finger_middle_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
+                                                                    <inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
+                                                                    <joint name="r_finger_middle_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
+                                                                    <geom type="mesh" contype="0" conaffinity="0" group="1"  mesh="link_3" />
+                                                                    <geom name="f3_l3" type="mesh"  mesh="collision_link_3" />
+                                                                </body>
+                                                            </body>
+                                                        </body>
+                                                    </body>
+                                                </body>
+                                            </body>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+                <!-- left arm -->
+                <body name="left_base_link" pos="-0.15 0 0.46" euler="0.0 -0.785398 3.14">
+                    <geom type="mesh" rgba="1 1 1 1" mesh="base_link" pos="0 0 0"/>
+                    <body name="left_link1" pos="8.7058e-05 -0.00063474 0.2985" quat="-3.67321e-06 1 0 0">
+                        <inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616"/>
+                        <joint name="left_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                        <geom type="mesh"  rgba="1 1 1 1" mesh="link1"/>
+                        <body name="left_link2" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
+                            <inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505"/>
+                            <joint name="left_j2" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                            <geom type="mesh"  rgba="1 1 1 1" mesh="link2"/>
+                            <body name="left_link3" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
+                                <inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482"/>
+                                <joint name="left_j3" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                                <geom type="mesh"  rgba="1 1 1 1" mesh="link3"/>
+                                <body name="left_link4" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
+                                    <inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104"/>
+                                    <joint name="left_j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.8"/>
+                                    <geom type="mesh"  rgba="1 1 1 1" mesh="link4"/>
+                                    <body name="left_link5" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
+                                        <inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656"/>
+                                        <joint name="left_j5" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                                        <geom type="mesh"  rgba="1 1 1 1" mesh="link5"/>
+                                        <body name="left_link6" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                                            <inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065"/>
+                                            <joint name="left_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.1"/>
+                                            <geom type="mesh"  rgba="1 1 1 1" mesh="link6"/>
+                                            <body name="left_link7" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
+                                                <inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
+                                                <joint name="left_j7" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                                <geom type="mesh"  rgba="1 1 1 1" mesh="link7"/>
+                                        <body name="l_gripper" pos="0 0 0.135"  quat=" 0.707  -0.707 0 0">
+
+                                            <body name="l_gripper_palm_link" pos="1.64197e-10 0.17378 7.2848e-05" quat="0.28154 8.61146e-10 0.959549 0.000764115" >
+                                                    <geom type="mesh"  mesh="palm" />
+                                                </body>
+                                                <body name="l_finger_1_link_0" pos="0.0577286 0.195213 -0.00560494" quat="-0.678775 0.198461 0.199695 -0.678233" >
+                                                    <inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
+                                                    <joint name="l_palm_finger_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.2967 0.2967" />
+                                                    <geom type="mesh" mesh="link_0" />
+                                                    <body name="l_finger_1_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
+                                                        <inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
+                                                        <joint name="l_finger_1_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" />
+                                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh"  mesh="link_1" />
+                                                        <body name="l_finger_1_link_2" pos="0 0.05715 0">
+                                                            <inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
+                                                            <joint name="l_finger_1_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
+                                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh"  mesh="link_2" />
+                                                            <body name="l_finger_1_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075" >
+                                                                <inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
+                                                                <joint name="l_finger_1_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" />
+                                                                <geom type="mesh"  mesh="link_3" />
+                                                            </body>
+                                                        </body>
+                                                    </body>
+                                                </body>
+                                            
+                                                <body name="l_finger_2_link_0" pos="0.0188268 0.195108 0.0549809" quat="-0.678775 0.198461 0.199695 -0.678233" >
+                                                    <inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
+                                                    <joint name="l_palm_finger_2_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.2967 0.2967" />
+                                                    <geom type="mesh"  mesh="link_0" />
+                                                    <body name="l_finger_2_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
+                                                        <inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
+                                                        <joint name="l_finger_2_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" />
+                                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh"  mesh="link_1" />
+                                                        <body name="l_finger_2_link_2" pos="0 0.05715 0">
+                                                            <inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
+                                                            <joint name="l_finger_2_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
+                                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="link_2" />
+                                                            <body name="l_finger_2_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075" >
+                                                                <inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
+                                                                <joint name="l_finger_2_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" />
+                                                                <geom type="mesh"  mesh="link_3" />
+                                                            </body>
+                                                        </body>
+                                                    </body>
+                                                </body>
+                                            
+                                                <body name="l_finger_middle_link_0" pos="-0.0382961 0.1952 -0.0244795" quat="0.198618 0.678234 0.678774 0.19954" >
+                                                    <inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
+                                                    <joint name="l_palm_finger_middle_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1e-3 1e-3"/>
+                                                    <geom type="mesh"  mesh="link_0" />
+
+                                                    <body name="l_finger_middle_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
+                                                        <inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
+                                                        <joint name="l_finger_middle_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" />
+                                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh"  mesh="link_1" />
+                                                        
+                                                        <body name="l_finger_middle_link_2" pos="0 0.05715 0">
+                                                            <inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
+                                                            <joint name="l_finger_middle_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
+                                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh"  mesh="link_2" />
+                                                            <body name="l_finger_middle_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075" >
+                                                                <inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
+                                                                <joint name="l_finger_middle_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" />
+                                                                <geom type="mesh"  mesh="link_3" />
+                                                            </body>
+
+                                                            </body>
+                                                        </body>
+                                                    </body>
+                                                </body>
+                                            </body>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+    </body>
+           <body name="object" pos="1.1 0 0.4">
+         <inertial pos="0.0 0.0 0.0" mass="2" diaginertia="0.184 0.1 0.1"/>
+         <joint type="free" stiffness="0" damping="0.01" frictionloss="0" armature="0"/>
+         <geom name="wall" type="box" size="0.1 0.4 0.4" rgba="0.8 0.8 0.8 1" friction="0.0000 0.000 0.0000"/>
+        </body>
+    </worldbody>
+
+
+    <actuator>
+        <position ctrllimited="true" ctrlrange="-10.0 10.0" joint="base_x_slide_joint" kp="18000" name="base_x_slide_joint" user="1"/>
+        <position ctrllimited="true" ctrlrange="-10.0 10.0" joint="base_y_slide_joint" kp="18000" name="base_y_slide_joint" user="1"/>
+        <position ctrllimited="true" ctrlrange="-0.57 0.57" kp="20000" joint="base_z_hinge_joint" name="base_z_hinge_joint" user="1"/>
+        <motor name="base_stand_joint_motor" joint="base_stand_joint" ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <!-- right arm  -->
+        <motor name="right_m1" joint="right_j1" ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="right_m2" joint="right_j2" ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="right_m3" joint="right_j3"  ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="right_m4" joint="right_j4"  ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="right_m5" joint="right_j5"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="right_m6" joint="right_j6"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="right_m7" joint="right_j7"  ctrllimited="true" ctrlrange="-80.0 80.0"/>
+
+        <!-- left arm  -->
+        <motor name="left_m1" joint="left_j1"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="left_m2" joint="left_j2"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="left_m3" joint="left_j3"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="left_m4" joint="left_j4"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="left_m5" joint="left_j5"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="left_m6" joint="left_j6"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="left_m7" joint="left_j7"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+    </actuator>
+    <tendon>
+		<!--Middlefinger tendons-->
+		<fixed name="r_middle12_cpl" range="0 1">
+			<joint joint="r_finger_middle_joint_1"  coef="1"/>
+			<joint joint="r_finger_middle_joint_2"  coef="-1.5"/>
+		</fixed>
+		<fixed name="r_middle23_cpl" range="0 1">
+			<joint joint="r_finger_middle_joint_2"  coef="1"/>
+			<joint joint="r_finger_middle_joint_3"  coef="-3.5"/>
+		</fixed>
+
+		<!--finger2 tendons-->
+        <fixed name="r_finger2_12_cpl" range="0 1">
+			<joint joint="r_finger_2_joint_1"  coef="1"/>
+			<joint joint="r_finger_2_joint_2"  coef="-1.5"/>
+		</fixed>
+		<fixed name="r_finger2_23_cpl" range="0 1">
+			<joint joint="r_finger_2_joint_2"  coef="1"/>
+			<joint joint="r_finger_2_joint_3"  coef="-3.5"/>
+		</fixed>
+
+		<!--Finger1 tendons-->
+        <fixed name="r_finger1_12_cpl" range="0 1">
+			<joint joint="r_finger_1_joint_1"  coef="1"/>
+			<joint joint="r_finger_1_joint_2"  coef="-1.5"/>
+		</fixed>
+		<fixed name="r_finger1_23_cpl" range="0 1">
+			<joint joint="r_finger_1_joint_2"  coef="1"/>
+			<joint joint="r_finger_1_joint_3"  coef="-3.5"/>
+		</fixed>
+	</tendon>
+
+	<!-- left gripper -->
+    <tendon>
+		<!--Middlefinger tendons-->
+		<fixed name="l_middle12_cpl" range="0 1">
+			<joint joint="l_finger_middle_joint_1"  coef="1"/>
+			<joint joint="l_finger_middle_joint_2"  coef="-1.5"/>
+		</fixed>
+		<fixed name="l_middle23_cpl" range="0 1">
+			<joint joint="l_finger_middle_joint_2"  coef="1"/>
+			<joint joint="l_finger_middle_joint_3"  coef="-3.5"/>
+		</fixed>
+
+		<!--finger2 tendons-->
+        <fixed name="l_finger2_12_cpl" range="0 1">
+			<joint joint="l_finger_2_joint_1"  coef="1"/>
+			<joint joint="l_finger_2_joint_2"  coef="-1.5"/>
+		</fixed>
+		<fixed name="l_finger2_23_cpl" range="0 1">
+			<joint joint="l_finger_2_joint_2"  coef="1"/>
+			<joint joint="l_finger_2_joint_3"  coef="-3.5"/>
+		</fixed>
+
+		<!--Finger1 tendons-->
+        <fixed name="l_finger1_12_cpl" range="0 1">
+			<joint joint="l_finger_1_joint_1"  coef="1"/>
+			<joint joint="l_finger_1_joint_2"  coef="-1.5"/>
+		</fixed>
+		<fixed name="l_finger1_23_cpl" range="0 1">
+			<joint joint="l_finger_1_joint_2"  coef="1"/>
+			<joint joint="l_finger_1_joint_3"  coef="-3.5"/>
+		</fixed>
+	</tendon>
+
+	<!-- right gripper -->
+    <equality>
+		<!-- GRIPPER Couplings -->
+		<tendon name="r_middle12_cpl" 	tendon1="r_middle12_cpl"/>
+		<tendon name="r_middle23_cpl" 	tendon1="r_middle23_cpl"/>
+
+        <tendon name="r_finger2_12_cpl" 	tendon1="r_finger2_12_cpl"/>
+		<tendon name="r_finger2_23_cpl" 	tendon1="r_finger2_23_cpl"/>
+
+        <tendon name="r_finger1_12_cpl" 	tendon1="r_finger1_12_cpl"/>
+		<tendon name="r_finger1_23_cpl" 	tendon1="r_finger1_23_cpl"/>
+
+		<!-- SCISSOR Coupling -->
+		<joint name="r_finger_12_scissor" joint1="r_palm_finger_2_joint" joint2="r_palm_finger_1_joint" polycoef="0 -1 0 0 0"/>
+	</equality>
+
+	<!-- left gripper -->
+    <equality>
+		<!-- GRIPPER Couplings -->
+		<tendon name="l_middle12_cpl" 	tendon1="l_middle12_cpl"/>
+		<tendon name="l_middle23_cpl" 	tendon1="l_middle23_cpl"/>
+
+        <tendon name="l_finger2_12_cpl" 	tendon1="l_finger2_12_cpl"/>
+		<tendon name="l_finger2_23_cpl" 	tendon1="l_finger2_23_cpl"/>
+
+        <tendon name="l_finger1_12_cpl" 	tendon1="l_finger1_12_cpl"/>
+		<tendon name="l_finger1_23_cpl" 	tendon1="l_finger1_23_cpl"/>
+
+		<!-- SCISSOR Coupling -->
+		<joint name="l_finger_12_scissor" joint1="l_palm_finger_2_joint" joint2="l_palm_finger_1_joint" polycoef="0 -1 0 0 0"/>
+	</equality>
+
+    <contact>
+        <!-- left gripper  -->
+        <exclude body1="l_finger_1_link_1" body2="l_gripper_palm_link"/>
+        <exclude body1="l_finger_2_link_1" body2="l_gripper_palm_link"/>
+        <exclude body1="l_finger_middle_link_1" body2="l_gripper_palm_link"/>
+        <exclude body1="l_finger_1_link_0" body2="l_gripper_palm_link"/>
+        <exclude body1="l_finger_2_link_0" body2="l_gripper_palm_link"/>
+        <exclude body1="l_finger_middle_link_0" body2="l_gripper_palm_link"/>
+        <exclude body1="l_finger_1_link_0" body2="l_finger_1_link_1"/>
+        <exclude body1="l_finger_2_link_0" body2="l_finger_2_link_1"/>
+		<exclude body1="l_finger_middle_link_0" body2="l_finger_middle_link_1"/>
+		
+        <!-- right gripper -->
+        <exclude body1="r_finger_1_link_1" body2="r_gripper_palm_link"/>
+        <exclude body1="r_finger_2_link_1" body2="r_gripper_palm_link"/>
+        <exclude body1="r_finger_middle_link_1" body2="r_gripper_palm_link"/>
+        <exclude body1="r_finger_1_link_0" body2="r_gripper_palm_link"/>
+        <exclude body1="r_finger_2_link_0" body2="r_gripper_palm_link"/>
+        <exclude body1="r_finger_middle_link_0" body2="r_gripper_palm_link"/>
+        <exclude body1="r_finger_1_link_0" body2="r_finger_1_link_1"/>
+        <exclude body1="r_finger_2_link_0" body2="r_finger_2_link_1"/>
+        <exclude body1="r_finger_middle_link_0" body2="r_finger_middle_link_1"/>
+    </contact>
+    <include file ="empty_floor.xml"/> 
+
+</mujoco>
diff --git a/roboimi/assets/models/grippers/dual_ur5_husky/meshes/base.stl b/roboimi/assets/models/grippers/dual_ur5_husky/meshes/base.stl
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diff --git a/roboimi/assets/models/grippers/dual_ur5_husky/meshes/base_link.stl b/roboimi/assets/models/grippers/dual_ur5_husky/meshes/base_link.stl
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index 0000000..7b52a28
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diff --git a/roboimi/assets/models/grippers/dual_ur5_husky/meshes/bottle.stl b/roboimi/assets/models/grippers/dual_ur5_husky/meshes/bottle.stl
new file mode 100644
index 0000000..80a3039
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diff --git a/roboimi/assets/models/grippers/dual_ur5_husky/meshes/bumper.stl b/roboimi/assets/models/grippers/dual_ur5_husky/meshes/bumper.stl
new file mode 100644
index 0000000..d81b6fa
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diff --git a/roboimi/assets/models/grippers/dual_ur5_husky/meshes/can.stl b/roboimi/assets/models/grippers/dual_ur5_husky/meshes/can.stl
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diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/connector_plate.dae b/roboimi/assets/models/grippers/rethink_gripper/meshes/connector_plate.dae
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--- /dev/null
+++ b/roboimi/assets/models/grippers/rethink_gripper/meshes/connector_plate.dae
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+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
+    </contributor>
+    <created>2017-07-24T10:44:08</created>
+    <modified>2017-07-24T10:44:08</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0.1 0.1 0.1 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.1 0.1 0.1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.001650709 0.001650709 0.001650709 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material_001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="connector_plate-mesh" name="connector plate">
+      <mesh>
+        <source id="connector_plate-mesh-positions">
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="connector_plate" name="connector_plate" type="NODE">
+        <matrix sid="transform">0.09823004 0 0 0 0 0.09823004 0 0 0 0 0.09823004 0 0 0 0 1</matrix>
+        <instance_geometry url="#connector_plate-mesh" name="connector_plate">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/connector_plate.mtl b/roboimi/assets/models/grippers/rethink_gripper/meshes/connector_plate.mtl
new file mode 100644
index 0000000..ca14a19
--- /dev/null
+++ b/roboimi/assets/models/grippers/rethink_gripper/meshes/connector_plate.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material_001
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.001651 0.001651 0.001651
+Ks 0.500000 0.500000 0.500000
+Ke 0.100000 0.100000 0.100000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/connector_plate.obj b/roboimi/assets/models/grippers/rethink_gripper/meshes/connector_plate.obj
new file mode 100644
index 0000000..1e7d21f
--- /dev/null
+++ b/roboimi/assets/models/grippers/rethink_gripper/meshes/connector_plate.obj
@@ -0,0 +1,94126 @@
+# Blender v2.92.0 OBJ File: ''
+# www.blender.org
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diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/connector_plate.stl b/roboimi/assets/models/grippers/rethink_gripper/meshes/connector_plate.stl
new file mode 100644
index 0000000..6cd44d9
Binary files /dev/null and b/roboimi/assets/models/grippers/rethink_gripper/meshes/connector_plate.stl differ
diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/electric_gripper_base.dae b/roboimi/assets/models/grippers/rethink_gripper/meshes/electric_gripper_base.dae
new file mode 100644
index 0000000..6c18913
--- /dev/null
+++ b/roboimi/assets/models/grippers/rethink_gripper/meshes/electric_gripper_base.dae
@@ -0,0 +1,140 @@
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+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08</authoring_tool>
+    </contributor>
+    <created>2016-08-17T19:35:38</created>
+    <modified>2016-08-17T19:35:38</modified>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="electric_gripper_base" name="electric_gripper_base" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#_0031555-mesh" name="electric_gripper_base">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/electric_gripper_base.mtl b/roboimi/assets/models/grippers/rethink_gripper/meshes/electric_gripper_base.mtl
new file mode 100644
index 0000000..f22f5ad
--- /dev/null
+++ b/roboimi/assets/models/grippers/rethink_gripper/meshes/electric_gripper_base.mtl
@@ -0,0 +1,22 @@
+# Blender MTL File: 'None'
+# Material Count: 2
+
+newmtl Material_001
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.640000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Material_002
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/electric_gripper_base.obj b/roboimi/assets/models/grippers/rethink_gripper/meshes/electric_gripper_base.obj
new file mode 100644
index 0000000..c243cc6
--- /dev/null
+++ b/roboimi/assets/models/grippers/rethink_gripper/meshes/electric_gripper_base.obj
@@ -0,0 +1,38600 @@
+# Blender v2.92.0 OBJ File: ''
+# www.blender.org
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diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/electric_gripper_base.stl b/roboimi/assets/models/grippers/rethink_gripper/meshes/electric_gripper_base.stl
new file mode 100644
index 0000000..8336d33
Binary files /dev/null and b/roboimi/assets/models/grippers/rethink_gripper/meshes/electric_gripper_base.stl differ
diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/half_round_tip.dae b/roboimi/assets/models/grippers/rethink_gripper/meshes/half_round_tip.dae
new file mode 100644
index 0000000..55c4640
--- /dev/null
+++ b/roboimi/assets/models/grippers/rethink_gripper/meshes/half_round_tip.dae
@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
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+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
+    </contributor>
+    <created>2015-10-14T16:50:23</created>
+    <modified>2015-10-14T16:50:23</modified>
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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_0017836" name="_0017836" type="NODE">
+        <matrix sid="transform">-1 -6.60024e-15 1.50996e-7 0 -1.50996e-7 4.37114e-8 -1 0 0 -1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#_0017836-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001_001-material" target="#Material_001_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/half_round_tip.mtl b/roboimi/assets/models/grippers/rethink_gripper/meshes/half_round_tip.mtl
new file mode 100644
index 0000000..2d3f635
--- /dev/null
+++ b/roboimi/assets/models/grippers/rethink_gripper/meshes/half_round_tip.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material_001_001
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/half_round_tip.obj b/roboimi/assets/models/grippers/rethink_gripper/meshes/half_round_tip.obj
new file mode 100644
index 0000000..b8df69e
--- /dev/null
+++ b/roboimi/assets/models/grippers/rethink_gripper/meshes/half_round_tip.obj
@@ -0,0 +1,9449 @@
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diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/half_round_tip.stl b/roboimi/assets/models/grippers/rethink_gripper/meshes/half_round_tip.stl
new file mode 100644
index 0000000..ec3fb67
Binary files /dev/null and b/roboimi/assets/models/grippers/rethink_gripper/meshes/half_round_tip.stl differ
diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/standard_narrow.dae b/roboimi/assets/models/grippers/rethink_gripper/meshes/standard_narrow.dae
new file mode 100644
index 0000000..473e1e2
--- /dev/null
+++ b/roboimi/assets/models/grippers/rethink_gripper/meshes/standard_narrow.dae
@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
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+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
+    </contributor>
+    <created>2015-10-14T16:45:46</created>
+    <modified>2015-10-14T16:45:46</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_0030517" name="_0030517" type="NODE">
+        <matrix sid="transform">-4.37114e-8 -4.37114e-8 -1 0 -1 1.91069e-15 4.37114e-8 0 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#_0030517_001-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001_002-material" target="#Material_001_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/standard_narrow.mtl b/roboimi/assets/models/grippers/rethink_gripper/meshes/standard_narrow.mtl
new file mode 100644
index 0000000..d869ec3
--- /dev/null
+++ b/roboimi/assets/models/grippers/rethink_gripper/meshes/standard_narrow.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material_001_002
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+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/standard_narrow.obj b/roboimi/assets/models/grippers/rethink_gripper/meshes/standard_narrow.obj
new file mode 100644
index 0000000..9c50022
--- /dev/null
+++ b/roboimi/assets/models/grippers/rethink_gripper/meshes/standard_narrow.obj
@@ -0,0 +1,20206 @@
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+f 2991/5575/5670 2959/5478/5670 2990/5574/5670
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+f 2955/5471/5673 2948/5460/5673 2989/5571/5673
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+f 2991/5575/5675 2955/5471/5675 1585/5573/5675
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+f 2961/5480/5686 1586/5580/5686 2992/5578/5686
diff --git a/roboimi/assets/models/grippers/rethink_gripper/meshes/standard_narrow.stl b/roboimi/assets/models/grippers/rethink_gripper/meshes/standard_narrow.stl
new file mode 100644
index 0000000..dc1cda3
Binary files /dev/null and b/roboimi/assets/models/grippers/rethink_gripper/meshes/standard_narrow.stl differ
diff --git a/roboimi/assets/models/grippers/rethink_gripper/rethink_gripper.xml b/roboimi/assets/models/grippers/rethink_gripper/rethink_gripper.xml
new file mode 100644
index 0000000..b7228fd
--- /dev/null
+++ b/roboimi/assets/models/grippers/rethink_gripper/rethink_gripper.xml
@@ -0,0 +1,65 @@
+<mujoco model="base">
+    <asset>
+        <mesh name="electric_gripper_base" file="meshes/electric_gripper_base.stl" />
+        <mesh name="standard_narrow" file="meshes/standard_narrow.stl" />
+        <mesh name="half_round_tip" file="meshes/half_round_tip.stl" />
+        <mesh name="connector_plate" file="meshes/connector_plate.stl" />
+    </asset>
+    <actuator>
+<!--        <position ctrllimited="true" ctrlrange="-0.020833 0.0115" joint="r_finger_joint" kp="1000" name="gripper_r_finger_joint" forcelimited="true" forcerange="-20 20"/>-->
+<!--        <position ctrllimited="true" ctrlrange="-0.020833 0.0115" joint="l_finger_joint" kp="1000" name="gripper_l_finger_joint" forcelimited="true" forcerange="-20 20"/>-->
+        <motor name="gripper_l_finger_joint" ctrllimited="true" ctrlrange="-100.0 100.0" joint="l_finger_joint" />
+    </actuator>
+
+    <worldbody>
+        <body name="gripper_base" pos="0 0 0" quat="0 1 0 0">
+            <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
+            <inertial pos="0 0 0" quat="-0.5 0.5 0.5 0.5" mass="0.0001" diaginertia="3e-08 2e-08 2e-08" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="connector_plate" name="connector_plate" pos="0 0 0.0018" rgba="0.499 0.499 0.499 1"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="electric_gripper_base" name="electric_gripper_base" pos="0 0 0.0194" rgba="0.499 0.499 0.499 1"/>
+            <geom size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" group="0" name="gripper_base_col" pos="0.004 0.0 0.04"/>
+            <!-- This site was added for visualization. -->
+            <body name="eef" pos="0 0 0.109" quat="0.707105 0 0 -0.707105">
+                <site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
+                <site name="ee_x" pos="0.1 0 0" size="0.005 .1"  quat="0.707105  0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
+                <site name="ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/>
+                <site name="ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1"/>
+                <!-- This site was added for visualization. -->
+                <!-- <site name="grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/> -->
+            </body>
+            <body name="l_finger" pos="0 0.01 0.0444">
+                <inertial pos="0 0 0" quat="0 0 0 -1" mass="0.0001" diaginertia="0.001 0.001 0.001" />
+                <joint name="l_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.0115 0.020833" damping="100" armature="1.0" frictionloss="1.0"/>
+                <geom name="l_finger" quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" mesh="standard_narrow" rgba="0.499 0.499 0.499 1"/>
+                <geom size="0.005 0.00675 0.0375" pos="0 0.01725 0.04" quat="0 0 0 -1" type="box" group="0" conaffinity="1" contype="0" name="l_finger_g0" friction="0 0 0"/>
+                <geom size="0.005 0.025 0.0085" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" type="box" group="0" conaffinity="1" contype="0" name="l_finger_g1" friction="0 0 0"/>
+                <body name="l_finger_tip" pos="0 0.01725 0.075">
+                    <inertial pos="0 0 0" quat="0 0 0 1" mass="0.0001" diaginertia="0.001 0.001 0.001" />
+                    <geom name="l_fingertip_g0_vis" quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="half_round_tip" rgba="0.499 0.499 0.499 1"/>
+                    <geom size="0.004 0.004 0.0185" pos="0 -0.0045 -0.015" quat="0 0 0 -1" type="box" group="0"  conaffinity="1" contype="0" name="l_fingertip_g0" friction="0.95 0.3 0.1"/>
+                    <geom size="0.0035 0.004 0.0165" pos="0 -0.0047 -0.017" type="box"  conaffinity="1" contype="0" name="l_fingerpad_g0" friction="0.95 0.3 0.1"/>
+                </body>
+            </body>
+            <body name="r_finger" pos="0 -0.01 0.0444">
+                <inertial pos="0 0 0" mass="0.0001" diaginertia="0.001 0.001 0.001" />
+                <joint name="r_finger_joint" pos="0 0 0" axis="0 -1 0" type="slide" limited="true" range="-0.020833 0.0115" damping="100" armature="1.0" frictionloss="1.0"/>
+                <geom name="r_finger" type="mesh" contype="0" conaffinity="0" group="1" mesh="standard_narrow" rgba="0.499 0.499 0.499 1"/>
+                <geom size="0.005 0.00675 0.0375" pos="0 -0.01725 0.04" type="box" group="0" conaffinity="1" contype="0" name="r_finger_g0" friction="0 0 0"/>
+                <geom size="0.005 0.025 0.0085" pos="0.005 0.003 0.0083" type="box" group="0" conaffinity="1" contype="0" name="r_finger_g1" friction="0 0 0"/>
+                <body name="r_finger_tip" pos="0 -0.01725 0.075">
+                    <inertial pos="0 0 0" mass="0.0001" diaginertia="0.001 0.001 0.001" />
+                    <geom name="r_fingertip_g0_vis" type="mesh" contype="0" conaffinity="0" group="1" mesh="half_round_tip" rgba="0.499 0.499 0.499 1"/>
+                    <geom size="0.004 0.004 0.0185" pos="0 0.0045 -0.015" type="box" group="0" conaffinity="1" contype="0" name="r_fingertip_g0" friction="0.95 0.3 0.1"/>
+                    <geom size="0.0035 0.004 0.0165" pos="0 0.0047 -0.017" type="box"  conaffinity="1" contype="0" name="r_fingerpad_g0" friction="0.95 0.3 0.1"/>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <equality>
+        <joint joint1="r_finger_joint" joint2="l_finger_joint"/>
+    </equality>
+    <sensor>
+        <force name="force_ee" site="ft_frame"/>
+        <torque name="torque_ee" site="ft_frame"/>
+    </sensor>
+</mujoco>
\ No newline at end of file
diff --git a/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-base.stl b/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-base.stl
new file mode 100644
index 0000000..94a2d20
Binary files /dev/null and b/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-base.stl differ
diff --git a/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-coupler.stl b/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-coupler.stl
new file mode 100644
index 0000000..170b0da
Binary files /dev/null and b/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-coupler.stl differ
diff --git a/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-driver.stl b/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-driver.stl
new file mode 100644
index 0000000..5759593
Binary files /dev/null and b/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-driver.stl differ
diff --git a/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-follower.stl b/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-follower.stl
new file mode 100644
index 0000000..3cda9be
Binary files /dev/null and b/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-follower.stl differ
diff --git a/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-pad.stl b/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-pad.stl
new file mode 100644
index 0000000..7be9f7f
Binary files /dev/null and b/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-pad.stl differ
diff --git a/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-spring_link.stl b/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-spring_link.stl
new file mode 100644
index 0000000..d92de81
Binary files /dev/null and b/roboimi/assets/models/grippers/robotiq_gripper/meshes/robotiq-2f-spring_link.stl differ
diff --git a/roboimi/assets/models/grippers/robotiq_gripper/robotiq_gripper.xml b/roboimi/assets/models/grippers/robotiq_gripper/robotiq_gripper.xml
new file mode 100644
index 0000000..d106383
--- /dev/null
+++ b/roboimi/assets/models/grippers/robotiq_gripper/robotiq_gripper.xml
@@ -0,0 +1,111 @@
+<mujoco model="example">
+    <compiler angle="radian"/>
+    <option timestep="0.0005" gravity="0 0 -9.81">
+        <flag sensornoise="disable" contact="enable" energy="enable" gravity="enable"/>
+    </option>
+   <visual>
+        <headlight ambient="0.50 0.50 0.50" diffuse="0.50 0.50 0.50" specular="0.50 0.50 0.50"/>
+   </visual>
+   <asset>
+        <mesh name="robotiq-2f-base" file="meshes/robotiq-2f-base.stl" scale="0.001 0.001 0.001"/>
+        <mesh name="robotiq-2f-driver" file="meshes/robotiq-2f-driver.stl" scale="0.001 0.001 0.001"/>
+        <mesh name="robotiq-2f-coupler" file="meshes/robotiq-2f-coupler.stl" scale="0.001 0.001 0.001"/>
+        <mesh name="robotiq-2f-follower" file="meshes/robotiq-2f-follower.stl" scale="0.001 0.001 0.001"/>
+        <mesh name="robotiq-2f-pad" file="meshes/robotiq-2f-pad.stl" scale="0.001 0.001 0.001"/>
+        <mesh name="robotiq-2f-spring_link" file="meshes/robotiq-2f-spring_link.stl" scale="0.001 0.001 0.001"/>
+    </asset>
+    <default>
+        <default class="robotiq2f85">
+            <joint damping=".1" pos="0 0 0" axis="1 0 0" limited="true"/>
+            <geom rgba=".1 .1 .1 1" type="mesh" contype="0" conaffinity="0" group="1"/>
+            <default class="robotiq_col">
+                <geom rgba=".3 .4 .5 1" type="mesh" contype="1" conaffinity="0" group="3"/>
+            </default>
+            <default class="robotiq_pad_col">
+                <geom rgba=".3 .4 .5 1" type="mesh" contype="1" conaffinity="1" group="3" condim="4"/>
+            </default>
+        </default>
+    </default>
+    <contact>
+        <exclude body1="robotiq_2f_85_right_spring_link" body2="robotiq_2f_85_right_follower"/>
+        <exclude body1="robotiq_2f_85_left_spring_link" body2="robotiq_2f_85_left_follower"/>
+    </contact>
+    <sensor>
+        <jointpos name="robotiq_2f_85" joint="robotiq_2f_85_right_driver_joint"/>
+    </sensor>
+    <equality>
+        <connect anchor="0 0.037 0.043" body1="robotiq_2f_85_right_spring_link" body2="robotiq_2f_85_right_follower" name="robotiq_2f_85_right"/>
+        <connect anchor="0 0.037 0.043" body1="robotiq_2f_85_left_spring_link" body2="robotiq_2f_85_left_follower" name="robotiq_2f_85_left"/>
+        <joint joint1="robotiq_2f_85_right_driver_joint" joint2="robotiq_2f_85_left_driver_joint"/>
+    </equality>
+    <actuator>
+        <position name="robotiq_2f_85" joint="robotiq_2f_85_right_driver_joint" ctrlrange="0 1" ctrllimited="true"/>
+    </actuator>
+
+   <worldbody>
+        <body name="end_effector" pos="0 0 0" quat="0 1 0 0" childclass="robotiq2f85">
+            <geom mesh="robotiq-2f-base"/>
+            <geom class="robotiq_col" type="mesh" mesh="robotiq-2f-base" euler="0 0 0"/>
+            <body name="robotiq_2f_85_right_driver" pos="0 0.0306011 0.054904">
+                <inertial pos="0 0.01575 0.05295" quat="0.738425 0.674335 0 0" mass="0.0002" diaginertia="0.00043212 0.000431866 0.000360253"/>
+                <joint name="robotiq_2f_85_right_driver_joint" range="0 0.834"/>
+                <geom mesh="robotiq-2f-driver"/>
+                <geom pos="0 0.0315 -0.0041" mesh="robotiq-2f-coupler"/>
+                <geom class="robotiq_col" pos="0 0.0315 -0.0041" type="mesh" mesh="robotiq-2f-coupler"/>
+                <body name="robotiq_2f_85_right_follower" pos="0 0.0376 0.043">
+                    <inertial pos="0 0 0.055" quat="0.707107 0.707107 0 0" mass="0.0002" diaginertia="0.000380833 0.000380833 0.00036"/>
+                    <joint name="robotiq_2f_85_right_follower_joint" range="-2.96706 2.96706"/>
+                    <geom mesh="robotiq-2f-follower"/>
+                    <geom type="mesh" mesh="robotiq-2f-pad" rgba="1 1 1 1"/>
+                    <geom class="robotiq_pad_col" type="box" size=".01 .003 .0175" pos="0 -.021 .031"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .045" axisangle="0.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .036" axisangle="0.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .028" axisangle="0.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .019" axisangle="0.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .045" axisangle="-.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .036" axisangle="-.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .028" axisangle="-.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .019" axisangle="-.1 1 0 1.57"/>
+                </body>
+            </body>
+            <body name="robotiq_2f_85_right_spring_link" pos="0 0.012 0.0614">
+                <inertial pos="0 0 0.055" quat="0.707107 0.707107 0 0" mass="0.0001" diaginertia="0.000190833 0.000190833 0.00018"/>
+                <joint name="robotiq_2f_85_right_spring_link_joint" range="-2.96706 2.96706"/>
+                <geom mesh="robotiq-2f-spring_link"/>
+                <geom class="robotiq_col" type="box" size=".0125 .007 .014" pos="0 .032 .0365" euler="-.7 0 0"/>
+                <geom class="robotiq_col" type="box" size=".0180 .007 .022" pos="0 .012 0.013" euler="-.7 0 0"/>
+                <site type="sphere" size="0.01" pos="0 0.037 0.043" rgba="1 0 0 1" group="3"/>
+            </body>
+            <body name="robotiq_2f_85_left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                <inertial pos="0 0.01575 0.05295" quat="0.738425 0.674335 0 0" mass="0.0002" diaginertia="0.00043212 0.000431866 0.000360253"/>
+                <joint name="robotiq_2f_85_left_driver_joint" range="0 0.834"/>
+                <geom mesh="robotiq-2f-driver"/>
+                <geom pos="0 0.0315 -0.0041" mesh="robotiq-2f-coupler"/>
+                <geom class="robotiq_col" pos="0 0.0315 -0.0041" type="mesh" mesh="robotiq-2f-coupler"/>
+                <body name="robotiq_2f_85_left_follower" pos="0 0.0376 0.043">
+                    <inertial pos="0 0 0.055" quat="0.707107 0.707107 0 0" mass="0.0002" diaginertia="0.000380833 0.000380833 0.00036"/>
+                    <joint name="robotiq_2f_85_left_follower_joint" range="-2.96706 2.96706"/>
+                    <geom mesh="robotiq-2f-follower"/>
+                    <geom type="mesh" mesh="robotiq-2f-pad" rgba="1 1 1 1"/>
+                    <geom class="robotiq_pad_col" type="box" size=".01 .003 .0175" pos="0 -.021 .031"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .045" axisangle="0.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .036" axisangle="0.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .028" axisangle="0.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .019" axisangle="0.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .045" axisangle="-.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .036" axisangle="-.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .028" axisangle="-.1 1 0 1.57"/>
+                    <geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .019" axisangle="-.1 1 0 1.57"/>
+                </body>
+            </body>
+            <body name="robotiq_2f_85_left_spring_link" pos="0 -0.012 0.0614" quat="0 0 0 1">
+                    <inertial pos="0 0 0.055" quat="0.707107 0.707107 0 0" mass="0.0001" diaginertia="0.000190833 0.000190833 0.00018"/>
+                    <joint name="robotiq_2f_85_left_spring_link_joint" range="-2.96706 2.96706"/>
+                    <geom mesh="robotiq-2f-spring_link"/>
+                    <geom class="robotiq_col" type="box" size=".0125 .007 .014" pos="0 .032 .0365" euler="-.7 0 0"/>
+                    <geom class="robotiq_col" type="box" size=".0180 .007 .022" pos="0 .012 0.013" euler="-.7 0 0"/>
+                    <site type="sphere" size="0.01" pos="0 0.037 0.043" rgba="1 0 0 1" group="3"/>
+                </body>
+        </body>
+   </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_finger.stl b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_finger.stl
new file mode 100644
index 0000000..4eb5a1f
Binary files /dev/null and b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_finger.stl differ
diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_finger_vis.obj b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_finger_vis.obj
new file mode 100644
index 0000000..d7c2af4
--- /dev/null
+++ b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_finger_vis.obj
@@ -0,0 +1,1884 @@
+# Blender v2.92.0 OBJ File: ''
+# www.blender.org
+o Robotiq_Arg2F_140_Inner_Finger_Vis_Robotiq_Arg2F_140_Inner_Finger_Vis.001
+v 0.006800 0.000877 -0.019953
+v 0.006800 -0.005638 -0.002052
+v -0.007200 0.000877 -0.019953
+v -0.007200 -0.005638 -0.002052
+v 0.006800 -0.005988 -0.000381
+v -0.007200 -0.005988 -0.000381
+v 0.006800 -0.005853 0.001322
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_finger_vis.stl b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_finger_vis.stl
new file mode 100644
index 0000000..ad723f3
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_knuckle.stl b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_knuckle.stl
new file mode 100644
index 0000000..49e8169
Binary files /dev/null and b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_knuckle.stl differ
diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_knuckle_vis.obj b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_knuckle_vis.obj
new file mode 100644
index 0000000..ff6e9a3
--- /dev/null
+++ b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_knuckle_vis.obj
@@ -0,0 +1,2524 @@
+# Blender v2.92.0 OBJ File: ''
+# www.blender.org
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_knuckle_vis.stl b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_inner_knuckle_vis.stl
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_finger.stl b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_finger.stl
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index 0000000..046135f
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_finger_vis.obj b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_finger_vis.obj
new file mode 100644
index 0000000..bdd3c77
--- /dev/null
+++ b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_finger_vis.obj
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_finger_vis.stl b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_finger_vis.stl
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index 0000000..64301c5
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_knuckle.stl b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_knuckle.stl
new file mode 100644
index 0000000..2d53aa7
Binary files /dev/null and b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_knuckle.stl differ
diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_knuckle_vis.obj b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_knuckle_vis.obj
new file mode 100644
index 0000000..bb07a1d
--- /dev/null
+++ b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_knuckle_vis.obj
@@ -0,0 +1,4370 @@
+# Blender v2.92.0 OBJ File: ''
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_knuckle_vis.stl b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_140_outer_knuckle_vis.stl
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_base_link.stl b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_base_link.stl
new file mode 100644
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_base_link_vis.obj b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_base_link_vis.obj
new file mode 100644
index 0000000..5e2e54c
--- /dev/null
+++ b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_base_link_vis.obj
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_base_link_vis.stl b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_base_link_vis.stl
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_coupling.stl b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_coupling.stl
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_coupling_vis.obj b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_coupling_vis.obj
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index 0000000..8032403
--- /dev/null
+++ b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_coupling_vis.obj
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diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_coupling_vis.stl b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_coupling_vis.stl
new file mode 100644
index 0000000..02c600f
Binary files /dev/null and b/roboimi/assets/models/grippers/robtiq_gripper_140/meshes/robotiq_arg2f_coupling_vis.stl differ
diff --git a/roboimi/assets/models/grippers/robtiq_gripper_140/robotiq_gripper_140.xml b/roboimi/assets/models/grippers/robtiq_gripper_140/robotiq_gripper_140.xml
new file mode 100644
index 0000000..854fe34
--- /dev/null
+++ b/roboimi/assets/models/grippers/robtiq_gripper_140/robotiq_gripper_140.xml
@@ -0,0 +1,128 @@
+<mujoco model="robotiq_gripper_140_model">
+    <asset>
+        <mesh name="robotiq_arg2f_base_link" file="meshes/robotiq_arg2f_base_link.stl" />
+        <mesh name="robotiq_arg2f_140_outer_knuckle" file="meshes/robotiq_arg2f_140_outer_knuckle.stl" />
+        <mesh name="robotiq_arg2f_140_outer_finger" file="meshes/robotiq_arg2f_140_outer_finger.stl" />
+        <mesh name="robotiq_arg2f_140_inner_finger" file="meshes/robotiq_arg2f_140_inner_finger.stl" />
+        <mesh name="robotiq_arg2f_140_inner_knuckle" file="meshes/robotiq_arg2f_140_inner_knuckle.stl" />
+        <mesh name="robotiq_arg2f_base_link_vis" file="meshes/robotiq_arg2f_base_link_vis.stl" />
+        <mesh name="robotiq_arg2f_140_outer_knuckle_vis" file="meshes/robotiq_arg2f_140_outer_knuckle_vis.stl" />
+        <mesh name="robotiq_arg2f_140_outer_finger_vis" file="meshes/robotiq_arg2f_140_outer_finger_vis.stl" />
+        <mesh name="robotiq_arg2f_140_inner_finger_vis" file="meshes/robotiq_arg2f_140_inner_finger_vis.stl" />
+        <mesh name="robotiq_arg2f_140_inner_knuckle_vis" file="meshes/robotiq_arg2f_140_inner_knuckle_vis.stl" />
+    </asset>
+
+    <tendon>
+		<!--finger2 tendons-->
+        <fixed name="finger2_12_cpl" >
+			<joint joint="finger_joint"  coef="1"/>
+			<joint joint="left_inner_finger_joint"  coef="1.5"/>
+		</fixed>
+		<fixed name="finger2_23_cpl" >
+			<joint joint="left_inner_finger_joint"  coef="1"/>
+			<joint joint="left_inner_knuckle_joint"  coef="3.5"/>
+		</fixed>
+
+		<!--Finger1 tendons-->
+        <fixed name="finger1_12_cpl" >
+			<joint joint="right_outer_knuckle_joint"  coef="1"/>
+			<joint joint="right_inner_finger_joint"  coef="-1.5"/>
+		</fixed>
+		<fixed name="finger1_23_cpl" >
+			<joint joint="right_inner_finger_joint"  coef="1"/>
+			<joint joint="right_inner_knuckle_joint"  coef="3.5"/>
+		</fixed>
+	</tendon>
+
+    <equality>
+		<!-- GRIPPER Couplings -->
+        <tendon name="finger2_12_cpl" 	tendon1="finger2_12_cpl"/>
+		<tendon name="finger2_23_cpl" 	tendon1="finger2_23_cpl"/>
+
+        <tendon name="finger1_12_cpl" 	tendon1="finger1_12_cpl"/>
+		<tendon name="finger1_23_cpl" 	tendon1="finger1_23_cpl"/>
+        
+	</equality>
+    <!-- <equality>
+        <joint joint1="finger_joint" joint2="right_outer_knuckle_joint"/>
+    </equality> -->
+
+    <actuator>
+        <position name='finger_1' ctrllimited="true" kp="20" joint='finger_joint' ctrlrange='0 1' />
+        <position name='finger_2' ctrllimited="true" kp="20" joint='right_outer_knuckle_joint' ctrlrange='0 1' />
+
+        <!-- <position name="0_robotiq_2f_85" joint="0_robotiq_2f_85_right_driver_joint" ctrlrange="0 1" ctrllimited="true" /> -->
+        <!-- <motor name="finger_1" ctrllimited="true" ctrlrange="-100.0 100.0" joint="0_j7" /> -->
+
+    </actuator>
+
+    <worldbody>
+        <body name="right_gripper" pos="0 0 -0.0625" quat="0 -0.707105 0.707108 0 ">
+            <geom pos="0 0 -0.061525" quat="0 0.707388 -0.706825 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="hand_visual" mesh="robotiq_arg2f_base_link_vis" />
+            <geom pos="0 0 -0.061525" quat="0 0.707388 -0.706825 0" type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_base_link" name="hand_collision"/>
+
+            <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />
+
+            <!-- This site was added for visualization. -->
+            <body name="eef" pos="0 0 -0.27" quat="0 1 0 0">
+                <site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
+                <site name="ee_x" pos="0.1 0 0" size="0.005 .1"  quat="0.707105  0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
+                <site name="ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/>
+                <site name="ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1"/>
+                <!-- This site was added for visualization. -->
+                <!-- <site name="grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/> -->
+            </body>
+
+            <body name="left_outer_knuckle" pos="0.030601 2.43684e-05 -0.11643" quat="-0.64507 0.290316 -0.290085 0.644556">
+                <inertial pos="0.000163875 0.0458404 0.0117804" quat="0.881368 0.472423 -0.0024451 -0.000996122" mass="0.0311462" diaginertia="2.96023e-05 2.79814e-05 4.39017e-06" />
+                <joint name="finger_joint" pos="0 0 0" axis="-1 0 0" limited="true" range="0 0.7" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" name="left_outer_knuckle_visual" mesh="robotiq_arg2f_140_outer_knuckle_vis" />
+                <geom type="mesh" group="0" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_140_outer_knuckle" name="left_outer_knuckle_collision"/>
+                <geom pos="0 0.01822 0.0260018" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="left_outer_finger_visual" mesh="robotiq_arg2f_140_outer_finger_vis" />
+                <geom pos="0 0.01822 0.0260018" type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_outer_finger" name="left_outer_finger_collision"/>
+                <body name="left_inner_finger" pos="0 0.0999754 -0.00221853" quat="0.935013 -0.354613 0 0">
+                    <inertial pos="0.000119314 0.0339244 -0.021841" quat="0.545437 0.430197 -0.442938 0.566776" mass="0.0261503" diaginertia="1.62408e-05 1.59131e-05 2.38936e-06" />
+                    <joint name="left_inner_finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="left_inner_finger_visual" mesh="robotiq_arg2f_140_inner_finger_vis" />
+                    <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger" name="left_inner_finger_collision"/>
+                    <geom size="0.0135 0.0325 0.00375" pos="0 0.0457554 -0.0272203" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" name="left_fingertip_visual" />
+                    <geom size="0.015 0.035 0.00375" pos="0 0.0457554 -0.0272203" type="box" group="0" rgba="0.9 0.9 0.9 1" name="left_fingertip_collision" solref="0.01 0.25"/>
+                    <geom size="0.014 0.033 0.001" pos="0 0.045 -0.031" type="box" group="0" name="left_fingerpad_collision" />
+                </body>
+            </body>
+            <body name="left_inner_knuckle" pos="0.0127 1.01133e-05 -0.122945" quat="-0.64507 0.290316 -0.290085 0.644556">
+                <inertial pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221" mass="0.0271177" diaginertia="2.83809e-05 2.61936e-05 2.81319e-06" />
+                <joint name="left_inner_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="left_inner_knuckle_visual" mesh="robotiq_arg2f_140_inner_knuckle_vis" />
+                <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_knuckle" name="left_inner_knuckle_collision"/>
+            </body>
+            <body name="right_outer_knuckle" pos="-0.030601 -2.43684e-05 -0.11643" quat="0.644556 -0.290085 -0.290316 0.64507">
+                <inertial pos="0.000163875 0.0458404 0.0117804" quat="0.881368 0.472423 -0.0024451 -0.000996122" mass="0.0311462" diaginertia="2.96023e-05 2.79814e-05 4.39017e-06" />
+                <joint name="right_outer_knuckle_joint" pos="0 0 0" axis="-1 0 0" limited="true" range="-0.725 0.725" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" name="right_outer_knuckle_visual" mesh="robotiq_arg2f_140_outer_knuckle_vis" />
+                <geom type="mesh" group="0" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_140_outer_knuckle" name="right_outer_knuckle_collision"/>
+                <geom pos="0 0.01822 0.0260018" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="right_outer_finger_visual" mesh="robotiq_arg2f_140_outer_finger_vis" />
+                <geom pos="0 0.01822 0.0260018" type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_outer_finger" name="right_outer_finger_collision"/>
+                <body name="right_inner_finger" pos="0 0.0999754 -0.00221853" quat="0.935013 -0.354613 0 0">
+                    <inertial pos="0.000119314 0.0339244 -0.021841" quat="0.545437 0.430197 -0.442938 0.566776" mass="0.0261503" diaginertia="1.62408e-05 1.59131e-05 2.38936e-06" />
+                    <joint name="right_inner_finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="right_inner_finger_visual" mesh="robotiq_arg2f_140_inner_finger_vis" />
+                    <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger" name="right_inner_finger_collision"/>
+                    <geom size="0.0135 0.0325 0.00375" pos="0 0.0457554 -0.0272203" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" name="right_fingertip_visual" />
+                    <geom size="0.015 0.035 0.00375" pos="0 0.0457554 -0.0272203" type="box" group="0" rgba="0.9 0.9 0.9 1" name="right_fingertip_collision" solref="0.01 0.25"/>
+                    <geom size="0.014 0.033 0.001" pos="0 0.045 -0.031" type="box" group="0" name="right_fingerpad_collision" />
+                </body>
+            </body>
+            <body name="right_inner_knuckle" pos="-0.0127 -1.01133e-05 -0.122945" quat="-0.644556 0.290085 0.290316 -0.64507">
+                <inertial pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221" mass="0.0271177" diaginertia="2.83809e-05 2.61936e-05 2.81319e-06" />
+                <joint name="right_inner_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="right_inner_knuckle_visual" mesh="robotiq_arg2f_140_inner_knuckle_vis" />
+                <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_knuckle" name="right_inner_knuckle_collision"/>
+            </body>
+        </body>
+    </worldbody>
+    <sensor>
+        <force name="force_ee" site="ft_frame"/>
+        <torque name="torque_ee" site="ft_frame"/>
+    </sensor>
+</mujoco>
diff --git a/roboimi/assets/models/manipulators/ArmIMI/ArmIMI.xml b/roboimi/assets/models/manipulators/ArmIMI/ArmIMI.xml
new file mode 100644
index 0000000..f559a16
--- /dev/null
+++ b/roboimi/assets/models/manipulators/ArmIMI/ArmIMI.xml
@@ -0,0 +1,122 @@
+<!-- Author: Z.Li, H. Zhou -->
+<!-- Date 2023-06-20 -->
+
+<mujoco model="arm_imi_urdf">
+  <compiler angle="radian" meshdir="/home/leeezd/tmp/arm_imi/meshes/" autolimits="true"/>
+  <default/>
+  <asset>
+     <mesh name="base_link_body" file="meshes/base_link_body.STL"/>
+    <mesh name="link1" file="meshes/imi_link1.STL"/>
+    <mesh name="link2" file="meshes/imi_link2.STL"/>
+    <mesh name="link3" file="meshes/imi_link3.STL"/>
+    <mesh name="link4" file="meshes/imi_link4.STL"/>
+    <mesh name="link5" file="meshes/imi_link5.STL"/>
+    <mesh name="link6" file="meshes/imi_link6.STL"/>
+    <mesh name="link7" file="meshes/imi_link7.STL"/>
+  </asset>
+  <worldbody>
+    <body name="robot_body" pos="0.0 0 0.99">
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="base_link_body"/>
+      <body name="left_link1" pos="-0.321 0 0.0" quat="0.707095 0.00 -0.707095 -0.00" gravcomp="0"  >
+        <inertial pos="-3.785e-07 3.1699e-08 -0.025784" quat="1 0 0 -7.43287e-06" mass="1.2375" diaginertia="0.0029871 0.0028791 0.0017382"/>
+        <joint name="left_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1415 3.1415"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="link1"/>
+        <geom type="mesh" rgba="1 0.0 1 1" mesh="link1"/>
+        <body name="left_link2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+          <inertial pos="3.78497e-07 0.025784 -3.16989e-08" quat="0.707107 0.707107 5.25436e-06 -5.25436e-06" mass="1.23747" diaginertia="0.00298709 0.00287905 0.00173824"/>
+          <joint name="left_j2" pos="0 0 0" axis="0 0 -1" limited="true" range="-1.57 1.57"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="link2"/>
+          <geom type="mesh" rgba="1 1 1 1" mesh="link2"/>
+          <body name="left_link3" pos="0 0.13 0" quat="-2.59734e-06 -2.59735e-06 0.707108 0.707105" gravcomp="0">
+            <inertial pos="0.2 0 0" quat="0 0.707107 0 0.707107" mass="2.8712" diaginertia="0.057439 0.056005 0.0031559"/>
+            <joint name="left_j3" pos="0 0 0" axis="0 0 1"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="link3"/>
+            <geom type="mesh" rgba="1 1 1 1" mesh="link3"/>
+            <body name="left_link4" pos="0.4 0 0" gravcomp="0">
+              <inertial pos="0.1177 4.5948e-07 -2.5419e-08" quat="5.83433e-06 0.707107 5.83433e-06 0.707107" mass="0.94127" diaginertia="0.019139 0.018987 0.00053195"/>
+              <joint name="left_j4" pos="0 0 0" axis="0 0 -1" limited="true" range="-2.1415 2.1415"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="link4"/>
+              <geom type="mesh" rgba="1 1 1 1" mesh="link4"/>
+              <body name="left_link5" pos="0.4 0 0" gravcomp="0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.046406" diaginertia="3.4126e-05 2.3636e-05 1.9116e-05"/>
+                <joint name="left_j5" pos="0 0 0" axis="0 0 1" limited="true" range="-0.25 0.25"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="link5"/>
+                <geom type="mesh" rgba="1 1 1 1" mesh="link5"/>
+                <body name="left_link6" pos="0 0 0" quat="0.5 0.500002 0.499998 -0.5" gravcomp="0">
+                  <inertial pos="0 0.0326 0" mass="0.12225" diaginertia="0.00012918 9.9446e-05 6.3838e-05"/>
+                  <joint name="left_j6" pos="0 0 0" axis="0 0 -1" limited="true" range="-1.85 1.85"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="link6"/>
+                  <geom type="mesh" rgba="1 1 1 1" mesh="link6"/>
+                  <body name="left_link7" pos="0 0.06 0" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105" gravcomp="0">
+                    <inertial pos="-0.00065795 -6.8623e-07 0.035542" quat="0.493193 0.492405 -0.507516 0.506681" mass="0.081104" diaginertia="1.46283e-05 1.17757e-05 1.1517e-05"/>
+                    <joint name="left_j7" pos="0 0 0" axis="0 0 1"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="link7"/>
+                    <geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="link7"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_link1" pos="0.321 0 0.0" quat="0.000 0.707095 0.00 0.707095" gravcomp="0"  >
+        <inertial pos="-3.785e-07 3.1699e-08 -0.025784" quat="1 0 0 -7.43287e-06" mass="1.2375" diaginertia="0.0029871 0.0028791 0.0017382"/>
+        <joint name="right_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1415 3.1415"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="link1"/>
+        <geom type="mesh" rgba="1 1 1 1" mesh="link1"/>
+        <body name="right_link2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
+          <inertial pos="3.78497e-07 0.025784 -3.16989e-08" quat="0.707107 0.707107 5.25436e-06 -5.25436e-06" mass="1.23747" diaginertia="0.00298709 0.00287905 0.00173824"/>
+          <joint name="right_j2" pos="0 0 0" axis="0 0 -1" limited="true" range="-1.57 1.57"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="link2"/>
+          <geom type="mesh" rgba="1 1 1 1" mesh="link2"/>
+          <body name="right_link3" pos="0 0.13 0" quat="-2.59734e-06 -2.59735e-06 0.707108 0.707105" gravcomp="0">
+            <inertial pos="0.2 0 0" quat="0 0.707107 0 0.707107" mass="2.8712" diaginertia="0.057439 0.056005 0.0031559"/>
+            <joint name="right_j3" pos="0 0 0" axis="0 0 1"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="link3"/>
+            <geom type="mesh" rgba="1 1 1 1" mesh="link3"/>
+            <body name="right_link4" pos="0.4 0 0" gravcomp="0">
+              <inertial pos="0.1177 4.5948e-07 -2.5419e-08" quat="5.83433e-06 0.707107 5.83433e-06 0.707107" mass="0.94127" diaginertia="0.019139 0.018987 0.00053195"/>
+              <joint name="right_j4" pos="0 0 0" axis="0 0 -1" limited="true" range="-2.1415 2.1415"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="link4"/>
+              <geom type="mesh" rgba="1 1 1 1" mesh="link4"/>
+              <body name="right_link5" pos="0.4 0 0" gravcomp="0">
+                <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.046406" diaginertia="3.4126e-05 2.3636e-05 1.9116e-05"/>
+                <joint name="right_j5" pos="0 0 0" axis="0 0 1" limited="true" range="-0.25 0.25"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="link5"/>
+                <geom type="mesh" rgba="1 1 1 1" mesh="link5"/>
+                <body name="right_link6" pos="0 0 0" quat="0.5 0.500002 0.499998 -0.5" gravcomp="0">
+                  <inertial pos="0 0.0326 0" mass="0.12225" diaginertia="0.00012918 9.9446e-05 6.3838e-05"/>
+                  <joint name="right_j6" pos="0 0 0" axis="0 0 -1" limited="true" range="-1.85 1.85"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="link6"/>
+                  <geom type="mesh" rgba="1 1 1 1" mesh="link6"/>
+                  <body name="right_link7" pos="0 0.06 0" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105" gravcomp="0">
+                    <inertial pos="-0.00065795 -6.8623e-07 0.035542" quat="0.493193 0.492405 -0.507516 0.506681" mass="0.081104" diaginertia="1.46283e-05 1.17757e-05 1.1517e-05"/>
+                    <joint name="right_j7" pos="0 0 0" axis="0 0 1"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="link7"/>
+                    <geom type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="link7"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+      <motor name="left_m1" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="left_j1"/>
+      <motor name="left_m2" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="left_j2"/>
+      <motor name="left_m3" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="left_j3"/>
+      <motor name="left_m4" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="left_j4"/>
+      <motor name="left_m5" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="left_j5"/>
+      <motor name="left_m6" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="left_j6"/>
+      <motor name="left_m7" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="left_j7"/>
+      <motor name="right_m1" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="right_j1"/>
+      <motor name="right_m2" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="right_j2"/>
+      <motor name="right_m3" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="right_j3"/>
+      <motor name="right_m4" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="right_j4"/>
+      <motor name="right_m5" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="right_j5"/>
+      <motor name="right_m6" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="right_j6"/>
+      <motor name="right_m7" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="right_j7"/>
+  </actuator>
+</mujoco>
diff --git a/roboimi/assets/models/manipulators/ArmIMI/arm_imi.urdf b/roboimi/assets/models/manipulators/ArmIMI/arm_imi.urdf
new file mode 100644
index 0000000..76b4a31
--- /dev/null
+++ b/roboimi/assets/models/manipulators/ArmIMI/arm_imi.urdf
@@ -0,0 +1,256 @@
+<?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="arm_imi_urdf">
+<!-- <mujoco>
+        <compiler 
+        meshdir="/home/leeezd/tmp/arm_imi/meshes/"
+        balanceinertia="true" 
+        discardvisual="false" />
+</mujoco> -->
+ <link name="world"/>
+ <!-- <link name="base_link"/> -->
+  <link name="link1">
+    <inertial>
+      <origin xyz="-3.785E-07 3.1699E-08 -0.025784" rpy="0 0 0" />
+      <mass value="1.2375" />
+      <inertia ixx="0.0029871" ixy="-1.6055E-09" ixz="6.8612E-11" 
+               iyy="0.0028791" iyz="5.9894E-20" izz="0.0017382" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://ArmIMI/meshes/imi_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://ArmIMI/meshes/imi_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="j1" type="revolute">
+    <origin xyz="-0.32 0 0" rpy="1.5708 -1.5594 -1.5708" />
+    <parent link="world" />
+    <child link="link1" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0" effort="0" velocity="0" />
+  </joint>
+  <link name="link2">
+    <inertial>
+      <origin xyz="3.78497176489745E-07 0.0257839686660657 -3.16989431370374E-08" rpy="0 0 0"/>
+      <mass value="1.23746667999" />
+      <inertia ixx="0.00298708534950312" 
+               ixy="6.86114997554548E-11" 
+               ixz="-1.6055251317845E-09"
+               iyy="0.00173823512172372" 
+               iyz="-2.47024332336976E-19" 
+               izz="0.00287905340924803"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://ArmIMI/meshes/imi_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://ArmIMI/meshes/imi_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j2" type="revolute">
+    <origin xyz="0 0 0" rpy="1.5708 0 0" />
+    <parent link="link1" />
+    <child link="link2" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="0" effort="0" velocity="0" />
+  </joint>
+  <link name="link3">
+    <inertial>
+      <origin xyz="0.2 -1.1102E-16 0" rpy="0 0 0" />
+      <mass value="2.8712" />
+      <inertia ixx="0.0031559" 
+               ixy="-1.8431E-18" 
+               ixz="-8.7459E-21" 
+               iyy="0.056005" 
+               iyz="-1.4088E-19" 
+               izz="0.057439"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://ArmIMI/meshes/imi_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://ArmIMI/meshes/imi_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j3"
+    type="revolute">
+    <origin      xyz="0 0.13 0"      rpy="1.5708 0 3.1416" />
+    <parent      link="link2" />
+    <child      link="link3" />
+    <axis      xyz="0 0 1" />
+    <limit      lower="0"      upper="0"      effort="0"      velocity="0" />
+  </joint>
+  <link    name="link4">
+    <inertial>
+      <origin xyz="0.1177 4.5948E-07 -2.5419E-08" rpy="0 0 0" />
+      <mass value="0.94127" />
+      <inertia ixx="0.00053195" ixy="1.8566E-09" ixz="3.9482E-10" iyy="0.018987" iyz="2.5083E-09" izz="0.019139"/>
+    </inertial>
+    <visual>
+      <origin         xyz="0 0 0"        rpy="0 0 0" />
+      <geometry>
+        <mesh          filename="package://ArmIMI/meshes/imi_link4.STL" />
+      </geometry>
+      <material        name="">
+        <color          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh          filename="package://ArmIMI/meshes/imi_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lj4" type="revolute">
+    <origin
+      xyz="0.4 0 0"
+      rpy="0 0 0" />
+    <parent link="link3" />
+    <child link="link4" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="0" effort="0" velocity="0" />
+  </joint>
+  <link name="link5">
+    <inertial>
+      <origin xyz="-2.2204E-16 -1.1102E-16 0"
+        rpy="0 0 0" />
+      <mass value="0.046406" />
+      <inertia        ixx="3.4126E-05"        ixy="4.0036E-20"        ixz="9.1584E-22"        iyy="1.9116E-05"        iyz="2.1364E-21"        izz="2.3636E-05" />
+    </inertial>
+    <visual>
+      <origin        xyz="0 0 0"        rpy="0 0 0" />
+      <geometry>
+        <mesh          filename="package://ArmIMI/meshes/imi_link5.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://ArmIMI/meshes/imi_link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j5" type="revolute">
+    <origin xyz="0.4 0 0" rpy="0 0 0" />
+    <parent link="link4" />
+    <child link="link5" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link6">
+    <inertial>
+      <origin xyz="-4.4409E-16 0.0326 0" rpy="0 0 0" />
+      <mass value="0.12225" />
+      <inertia
+        ixx="0.00012918"
+        ixy="5.8774E-19"
+        ixz="-6.0487E-21"
+        iyy="9.9446E-05"
+        iyz="-3.3881E-20"
+        izz="6.3838E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://ArmIMI/meshes/imi_link6.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://ArmIMI/meshes/imi_link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j6" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5609 1.5708 -3.1317" />
+    <parent link="link5" />
+    <child link="link6" />
+    <axis xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link7">
+    <inertial>
+      <origin xyz="-0.00065795 -6.8623E-07 0.035542" rpy="0 0 0" />
+      <mass value="0.081104" />
+      <inertia
+        ixx="1.1778E-05"
+        ixy="-4.1778E-10"
+        ixz="-8.1542E-08"
+        iyy="1.1517E-05"
+        iyz="-8.521E-11"
+        izz="1.4626E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://ArmIMI/meshes/imi_link7.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="package://ArmIMI/meshes/imi_link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j7" type="revolute">
+    <origin xyz="0 0.06 0" rpy="1.5708 0 -3.1416" />
+    <parent link="link6" />
+    <child link="link7" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0" effort="0" velocity="0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/ArmIMI/meshes/base_link_body.STL b/roboimi/assets/models/manipulators/ArmIMI/meshes/base_link_body.STL
new file mode 100644
index 0000000..c23ef75
Binary files /dev/null and b/roboimi/assets/models/manipulators/ArmIMI/meshes/base_link_body.STL differ
diff --git a/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link1.STL b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link1.STL
new file mode 100644
index 0000000..ffffe75
Binary files /dev/null and b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link1.STL differ
diff --git a/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link2.STL b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link2.STL
new file mode 100644
index 0000000..622ecd4
Binary files /dev/null and b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link2.STL differ
diff --git a/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link3.STL b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link3.STL
new file mode 100644
index 0000000..9d8f602
Binary files /dev/null and b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link3.STL differ
diff --git a/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link4.STL b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link4.STL
new file mode 100644
index 0000000..77dd624
Binary files /dev/null and b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link4.STL differ
diff --git a/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link5.STL b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link5.STL
new file mode 100644
index 0000000..cd4ac7d
Binary files /dev/null and b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link5.STL differ
diff --git a/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link6.STL b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link6.STL
new file mode 100644
index 0000000..8f34c7d
Binary files /dev/null and b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link6.STL differ
diff --git a/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link7.STL b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link7.STL
new file mode 100644
index 0000000..149670b
Binary files /dev/null and b/roboimi/assets/models/manipulators/ArmIMI/meshes/imi_link7.STL differ
diff --git a/roboimi/assets/models/manipulators/Bimanual/BiDiana.urdf b/roboimi/assets/models/manipulators/Bimanual/BiDiana.urdf
new file mode 100644
index 0000000..926ba41
--- /dev/null
+++ b/roboimi/assets/models/manipulators/Bimanual/BiDiana.urdf
@@ -0,0 +1,620 @@
+<?xml version="1.0"?>
+<!-- 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="Bimanual_kdl">
+   <link name="base_link">
+    <visual>
+      <origin xyz="0.0 0.0 0.44" rpy="0 0 0" />
+      <geometry>
+        <cylinder length="0.88" radius="0.085"/> 
+      </geometry>
+      <material name="color_cylinder">
+        <color rgba="1.0 0.8 0.09 1"/> 
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 0.0 0.44" rpy="0 0 0" />
+      <geometry>
+        <cylinder length="0.88" radius="0.085"/> 
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.0 0.0 0.44" rpy="0 0 0" />
+      <mass value="100.0"/>
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/> 
+    </inertial>
+  </link>
+
+  <link name="robot_stand">
+    <visual>
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/dual_robot_stand4.stl"/>
+      </geometry>
+      <material name="stand">
+        <color rgba="1 0.8 0.2 1"/> 
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/dual_robot_stand4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="robot_stand_joint" type="revolute">
+    <origin xyz="0 0 0.880001 " rpy="0 0 0 "/>
+    <parent link="base_link" />
+    <child link="robot_stand" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+
+
+
+  <link name="left_base_link">
+    <inertial>
+      <origin xyz="0.00010213 -0.0014093 0.086074" rpy="0 0 0" />
+      <mass value="3.1064" />
+      <inertia 
+        ixx="0.014417"
+        ixy="5.8713E-06"
+        ixz="2.8276E-06"
+        iyy="0.013941"
+        iyz="-0.0002214"
+        izz="0.0089653" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_stand_joint" type="fixed">
+    <origin xyz="-0.15 0 0.46 " rpy="0.0 0.785398 3.14"/>
+    <parent link="robot_stand" />
+    <child link="left_base_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="left_link1">
+    <inertial>
+      <origin xyz="4.57640929707459E-06 -0.0439746120959298 0.0236145135234007" rpy="0 0 0" />
+      <mass value="2.72698490401415" />
+      <inertia
+        ixx="0.0113371331079453"
+        ixy="-5.01180706615877E-07"
+        ixz="-3.66885437018535E-07"
+        iyy="0.0110327536309882"
+        iyz="-0.00220675575486915"
+        izz="0.00811200466883726" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_j1" type="revolute">
+    <origin xyz="8.7058E-05 -0.00063474 0.2985" rpy="3.1416 0 0" />
+    <parent link="left_base_link" />
+    <child link="left_link1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="left_link2">
+    <inertial>
+      <origin xyz="8.26088421748694E-06 -0.0407280306293744 -0.0363117407161708" rpy="0 0 0" />
+      <mass value="3.18168266310627" />
+      <inertia
+        ixx="0.018072107435624"
+        ixy="-8.36079570379431E-08"
+        ixz="1.07670750003258E-07"
+        iyy="0.00961237211101437"
+        iyz="0.00435586439328804"
+        izz="0.016888058079289" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_j2" type="revolute">
+    <origin xyz="0 0 -0.00092116" rpy="1.5708 0 0" />
+    <parent link="left_link1" />
+    <child link="left_link2" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="left_link3">
+    <inertial>
+      <origin xyz="0.0148078870964089 -0.0159924912448304 0.127197681416813" rpy="0 0 0" />
+      <mass value="3.93616399327803" />
+      <inertia
+        ixx="0.0529699107504458"
+        ixy="0.00295925943864098"
+        ixz="0.0100824736258477"
+        iyy="0.0547048459134381"
+        iyz="-0.00795482322146361"
+        izz="0.013338555535485" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_j3" type="revolute">
+    <origin xyz="0 -0.45818 0.0005" rpy="-1.5708 0 0" />
+    <parent link="left_link2" />
+    <child link="left_link3" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="left_link4">
+    <inertial>
+      <origin xyz="-0.0145884364859367 -0.0117112984562222 -0.0406158066673303" rpy="0 0 0" />
+      <mass value="1.58468985635004" />
+      <inertia
+        ixx="0.0038731409034452"
+        ixy="-0.000832775020978768"
+        ixz="0.000679010334754415"
+        iyy="0.00422597504724798"
+        iyz="0.00067347297662315"
+        izz="0.00439242812060777" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_j4" type="revolute">
+    <origin xyz="0.064454 0.0005 -0.00070508" rpy="1.5708 0 0" />
+    <parent link="left_link3" />
+    <child link="left_link4" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="left_link5">
+    <inertial>
+      <origin xyz="-0.00209922282949576 0.0288296598531898 0.222844782709322" rpy="0 0 0" />
+      <mass value="1.92687822080767" />
+      <inertia
+        ixx="0.0293223924818884"
+        ixy="0.000126715279757269"
+        ixz="-0.000259318121034694"
+        iyy="0.0270589496231595"
+        iyz="0.00711831662518815"
+        izz="0.00414045111192326" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link5.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_j5" type="revolute">
+    <origin xyz="-0.052254 -0.45668 0.0005" rpy="-1.5708 0 0" />
+    <parent link="left_link4" />
+    <child link="left_link5" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="left_link6">
+    <inertial>
+      <origin xyz="0.038358 -0.00071885 -0.0021112" rpy="0 0 0" />
+      <mass value="1.7304" />
+      <inertia
+        ixx="0.0034648"
+        ixy="6.9318E-05"
+        ixz="-0.00014008"
+        iyy="0.0049229"
+        iyz="2.7274E-06"
+        izz="0.0052571" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link6.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_j6" type="revolute">
+    <origin xyz="0 -0.005 -1.1713E-05" rpy="1.5708 0 -3.1416" />
+    <parent link="left_link5" />
+    <child link="left_link6" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="left_link7">
+    <inertial>
+      <origin xyz="0.00068467 1.5999E-05 0.020834" rpy="0 0 0" />
+      <mass value="0.16696" />
+      <inertia
+        ixx="8.7537E-05"
+        ixy="1.9588E-09"
+        ixz="2.6332E-07"
+        iyy="8.8902E-05"
+        iyz="7.5347E-09"
+        izz="0.00014391" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link7.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_j7" type="revolute">
+    <origin xyz="0.076728 -0.1059 0" rpy="-1.5708 0 0" />
+    <parent link="left_link6" />
+    <child link="left_link7" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint> 
+
+
+<!-- ************************************************************************fen ge xian********************************************************************** -->
+
+
+  <link name="right_base_link">
+    <inertial>
+      <origin xyz="0.00010213 -0.0014093 0.086074" rpy="0 0 0" />
+      <mass value="3.1064" />
+      <inertia 
+        ixx="0.014417"
+        ixy="5.8713E-06"
+        ixz="2.8276E-06"
+        iyy="0.013941"
+        iyz="-0.0002214"
+        izz="0.0089653" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_stand_joint" type="fixed">
+    <origin xyz="0.15 0 0.46 " rpy="0.0 0.785398 0.0"/>
+    <parent link="robot_stand" />
+    <child link="right_base_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="right_link1">
+    <inertial>
+      <origin xyz="4.57640929707459E-06 -0.0439746120959298 0.0236145135234007" rpy="0 0 0" />
+      <mass value="2.72698490401415" />
+      <inertia
+        ixx="0.0113371331079453"
+        ixy="-5.01180706615877E-07"
+        ixz="-3.66885437018535E-07"
+        iyy="0.0110327536309882"
+        iyz="-0.00220675575486915"
+        izz="0.00811200466883726" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_j1" type="revolute">
+    <origin xyz="8.7058E-05 -0.00063474 0.2985" rpy="3.1416 0 0" />
+    <parent link="right_base_link" />
+    <child link="right_link1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="right_link2">
+    <inertial>
+      <origin xyz="8.26088421748694E-06 -0.0407280306293744 -0.0363117407161708" rpy="0 0 0" />
+      <mass value="3.18168266310627" />
+      <inertia
+        ixx="0.018072107435624"
+        ixy="-8.36079570379431E-08"
+        ixz="1.07670750003258E-07"
+        iyy="0.00961237211101437"
+        iyz="0.00435586439328804"
+        izz="0.016888058079289" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_j2" type="revolute">
+    <origin xyz="0 0 -0.00092116" rpy="1.5708 0 0" />
+    <parent link="right_link1" />
+    <child link="right_link2" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="right_link3">
+    <inertial>
+      <origin xyz="0.0148078870964089 -0.0159924912448304 0.127197681416813" rpy="0 0 0" />
+      <mass value="3.93616399327803" />
+      <inertia
+        ixx="0.0529699107504458"
+        ixy="0.00295925943864098"
+        ixz="0.0100824736258477"
+        iyy="0.0547048459134381"
+        iyz="-0.00795482322146361"
+        izz="0.013338555535485" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_j3" type="revolute">
+    <origin xyz="0 -0.45818 0.0005" rpy="-1.5708 0 0" />
+    <parent link="right_link2" />
+    <child link="right_link3" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="right_link4">
+    <inertial>
+      <origin xyz="-0.0145884364859367 -0.0117112984562222 -0.0406158066673303" rpy="0 0 0" />
+      <mass value="1.58468985635004" />
+      <inertia
+        ixx="0.0038731409034452"
+        ixy="-0.000832775020978768"
+        ixz="0.000679010334754415"
+        iyy="0.00422597504724798"
+        iyz="0.00067347297662315"
+        izz="0.00439242812060777" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_j4" type="revolute">
+    <origin xyz="0.064454 0.0005 -0.00070508" rpy="1.5708 0 0" />
+    <parent link="right_link3" />
+    <child link="right_link4" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="right_link5">
+    <inertial>
+      <origin xyz="-0.00209922282949576 0.0288296598531898 0.222844782709322" rpy="0 0 0" />
+      <mass value="1.92687822080767" />
+      <inertia
+        ixx="0.0293223924818884"
+        ixy="0.000126715279757269"
+        ixz="-0.000259318121034694"
+        iyy="0.0270589496231595"
+        iyz="0.00711831662518815"
+        izz="0.00414045111192326" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link5.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_j5" type="revolute">
+    <origin xyz="-0.052254 -0.45668 0.0005" rpy="-1.5708 0 0" />
+    <parent link="right_link4" />
+    <child link="right_link5" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="right_link6">
+    <inertial>
+      <origin xyz="0.038358 -0.00071885 -0.0021112" rpy="0 0 0" />
+      <mass value="1.7304" />
+      <inertia
+        ixx="0.0034648"
+        ixy="6.9318E-05"
+        ixz="-0.00014008"
+        iyy="0.0049229"
+        iyz="2.7274E-06"
+        izz="0.0052571" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link6.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_j6" type="revolute">
+    <origin xyz="0 -0.005 -1.1713E-05" rpy="1.5708 0 -3.1416" />
+    <parent link="right_link5" />
+    <child link="right_link6" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="right_link7">
+    <inertial>
+      <origin xyz="0.00068467 1.5999E-05 0.020834" rpy="0 0 0" />
+      <mass value="0.16696" />
+      <inertia
+        ixx="8.7537E-05"
+        ixy="1.9588E-09"
+        ixz="2.6332E-07"
+        iyy="8.8902E-05"
+        iyz="7.5347E-09"
+        izz="0.00014391" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link7.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://Bimanual/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_j7" type="revolute">
+    <origin xyz="0.076728 -0.1059 0" rpy="-1.5708 0 0" />
+    <parent link="right_link6" />
+    <child link="right_link7" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint> 
+</robot>
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/Bimanual/Bimanual.xml b/roboimi/assets/models/manipulators/Bimanual/Bimanual.xml
new file mode 100644
index 0000000..40e0df0
--- /dev/null
+++ b/roboimi/assets/models/manipulators/Bimanual/Bimanual.xml
@@ -0,0 +1,141 @@
+<mujoco>
+    <asset>
+        <mesh name="robot_stand"  file="meshes/dual_robot_stand.stl" />
+        <mesh name="dual_robot_stand_ring" file="meshes/dual_robot_stand_ring.stl" />
+        <mesh name="robot_stand2"  file="meshes/dual_robot_stand4.stl" />
+        <!-- arm meshes -->
+        <mesh name="base_link" file="meshes/base_link.STL"/>
+        <mesh name="link1" file="meshes/link1.STL"/>
+        <mesh name="link2" file="meshes/link2.STL"/>
+        <mesh name="link3" file="meshes/link3.STL"/>
+        <mesh name="link4" file="meshes/link4.STL"/>
+        <mesh name="link5" file="meshes/link5.STL"/>
+        <mesh name="link6" file="meshes/link6.STL"/>
+        <mesh name="link7" file="meshes/link7.STL"/>
+        <mesh name="mount_cam" file="meshes/cam.STL" />
+        <material name="silver" specular="1" shininess="0.5" reflectance="1" emission="0.25" rgba="0.82 0.82 0.82 1"/>
+        <material name="grey" specular="1" shininess="0.5" reflectance="1" emission="0.1" rgba="0.5 0.5 0.5 1"/>
+        <material name="blue" specular="1" shininess="0.5" reflectance="1" emission="0" rgba="0.678 0.847 0.902 1"/>
+        <material name="black" specular="1" shininess="0.5" reflectance="1" emission="0" rgba="0.2 0.2 0.2 1"/>
+    </asset>
+
+    <worldbody>
+        <body name="my_cylinder">
+            <geom size="0.085 0.28" pos="0 0 0.28" type="cylinder" rgba="0.3 0.3 0.3 1" />
+            <inertial pos="0.0 0.0 0.0" mass="0.5" diaginertia="0.184 0.1 0.1"/>
+            <body name="dual_robot_stand" pos="0.0 0.0 0.56" euler="0 0 0">
+                <inertial pos="0 0 0" mass="2.0" diaginertia="0.15 0.15 0.15"/>
+                <joint name="base_stand_joint" axis="0 0 1" pos="0 0 0" limited="true" range="-3.0 3.0"/>
+                <geom name="robot_stand" type="mesh" mesh="robot_stand2" pos="0 0 0"  conaffinity="0" contype="0"/>
+                <body name="mount_cam" pos="0.0 0.0 0.5425" euler="1.570796 0.0 0.0">
+                    <inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="mount_cam" />
+                    <camera name="mount_cam" mode="fixed" pos="0.0175 0.00 0.00" quat="0 0 1 0" fovy="45"/>
+                </body>
+                <!-- right arm -->
+
+                <body name="right_base_link" pos="0.15 0 0.46" euler="0.0 0.785398 0.0">
+                    <geom type="mesh" rgba="1 1 1 1" mesh="base_link" pos="0 0 0"/>
+                    <body name="right_link1" pos="8.7058e-05 -0.00063474 0.2985" quat="-3.67321e-06 1 0 0">
+                        <inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616"/>
+                        <joint name="right_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                        <geom type="mesh"  rgba="1 1 1 1" mesh="link1"/>
+                        <body name="right_link2" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
+                            <inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505"/>
+                            <joint name="right_j2" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                            <geom type="mesh"  rgba="1 1 1 1" mesh="link2"/>
+                            <body name="right_link3" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
+                                <inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482"/>
+                                <joint name="right_j3" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                                <geom type="mesh"  rgba="1 1 1 1" mesh="link3"/>
+                                <body name="right_link4" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
+                                    <inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104"/>
+                                    <joint name="right_j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.8"/>
+                                    <geom type="mesh"  rgba="1 1 1 1" mesh="link4"/>
+                                    <body name="right_link5" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
+                                        <inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656"/>
+                                        <joint name="right_j5" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                                        <geom type="mesh"  rgba="1 1 1 1" mesh="link5"/>
+                                        <body name="right_link6" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                                            <inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065"/>
+                                            <joint name="right_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.1"/>
+                                            <geom type="mesh"  rgba="1 1 1 1" mesh="link6"/>
+                                            <body name="right_link7" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
+                                                <inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
+                                                <joint name="right_j7" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                                <geom type="mesh"  rgba="1 1 1 1" mesh="link7"/>
+                                            </body>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+                <!-- left arm -->
+                <body name="left_base_link" pos="-0.15 0 0.46" euler="0.0 -0.785398 3.14">
+                    <geom type="mesh" rgba="1 1 1 1" mesh="base_link" pos="0 0 0"/>
+                    <body name="left_link1" pos="8.7058e-05 -0.00063474 0.2985" quat="-3.67321e-06 1 0 0">
+                        <inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616"/>
+                        <joint name="left_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                        <geom type="mesh"  rgba="1 1 1 1" mesh="link1"/>
+                        <body name="left_link2" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
+                            <inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505"/>
+                            <joint name="left_j2" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                            <geom type="mesh"  rgba="1 1 1 1" mesh="link2"/>
+                            <body name="left_link3" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
+                                <inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482"/>
+                                <joint name="left_j3" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                                <geom type="mesh"  rgba="1 1 1 1" mesh="link3"/>
+                                <body name="left_link4" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
+                                    <inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104"/>
+                                    <joint name="left_j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.8"/>
+                                    <geom type="mesh"  rgba="1 1 1 1" mesh="link4"/>
+                                    <body name="left_link5" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
+                                        <inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656"/>
+                                        <joint name="left_j5" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
+                                        <geom type="mesh"  rgba="1 1 1 1" mesh="link5"/>
+                                        <body name="left_link6" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                                            <inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065"/>
+                                            <joint name="left_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.1"/>
+                                            <geom type="mesh"  rgba="1 1 1 1" mesh="link6"/>
+                                            <body name="left_link7" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
+                                                <inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
+                                                <joint name="left_j7" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                                <geom type="mesh"  rgba="1 1 1 1" mesh="link7"/>
+                                            </body>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+
+
+
+    <actuator>
+        <motor name="base_stand_joint_motor" joint="base_stand_joint" ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <!-- right arm  -->
+        <motor name="right_m1" joint="right_j1" ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="right_m2" joint="right_j2" ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="right_m3" joint="right_j3"  ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="right_m4" joint="right_j4"  ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="right_m5" joint="right_j5"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="right_m6" joint="right_j6"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="right_m7" joint="right_j7"  ctrllimited="true" ctrlrange="-80.0 80.0"/>
+
+        <!-- left arm  -->
+        <motor name="left_m1" joint="left_j1"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="left_m2" joint="left_j2"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="left_m3" joint="left_j3"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="left_m4" joint="left_j4"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="left_m5" joint="left_j5"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="left_m6" joint="left_j6"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+        <motor name="left_m7" joint="left_j7"   ctrllimited="true" ctrlrange="-80.0 80.0"/>
+    </actuator>
+
+</mujoco>
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/base_link.STL b/roboimi/assets/models/manipulators/Bimanual/meshes/base_link.STL
new file mode 100644
index 0000000..a41eec7
Binary files /dev/null and b/roboimi/assets/models/manipulators/Bimanual/meshes/base_link.STL differ
diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/cam.STL b/roboimi/assets/models/manipulators/Bimanual/meshes/cam.STL
new file mode 100644
index 0000000..c77b1db
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diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/dual_robot_stand.stl b/roboimi/assets/models/manipulators/Bimanual/meshes/dual_robot_stand.stl
new file mode 100644
index 0000000..5ed5a80
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diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/dual_robot_stand2.stl b/roboimi/assets/models/manipulators/Bimanual/meshes/dual_robot_stand2.stl
new file mode 100644
index 0000000..b23800e
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diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/dual_robot_stand3.stl b/roboimi/assets/models/manipulators/Bimanual/meshes/dual_robot_stand3.stl
new file mode 100644
index 0000000..afecc1a
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diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/dual_robot_stand4.stl b/roboimi/assets/models/manipulators/Bimanual/meshes/dual_robot_stand4.stl
new file mode 100644
index 0000000..839da20
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diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/dual_robot_stand_ring.stl b/roboimi/assets/models/manipulators/Bimanual/meshes/dual_robot_stand_ring.stl
new file mode 100644
index 0000000..fe8ca5d
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diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/link1.STL b/roboimi/assets/models/manipulators/Bimanual/meshes/link1.STL
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index 0000000..8d033f9
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diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/link2.STL b/roboimi/assets/models/manipulators/Bimanual/meshes/link2.STL
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index 0000000..3356ef6
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diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/link3.STL b/roboimi/assets/models/manipulators/Bimanual/meshes/link3.STL
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index 0000000..abcc707
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diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/link4.STL b/roboimi/assets/models/manipulators/Bimanual/meshes/link4.STL
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index 0000000..4881493
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diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/link5.STL b/roboimi/assets/models/manipulators/Bimanual/meshes/link5.STL
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index 0000000..998b473
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diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/link6.STL b/roboimi/assets/models/manipulators/Bimanual/meshes/link6.STL
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index 0000000..f10258c
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diff --git a/roboimi/assets/models/manipulators/Bimanual/meshes/link7.STL b/roboimi/assets/models/manipulators/Bimanual/meshes/link7.STL
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index 0000000..77311c3
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diff --git a/roboimi/assets/models/manipulators/DianaMed.zip b/roboimi/assets/models/manipulators/DianaMed.zip
new file mode 100644
index 0000000..c8fb638
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diff --git a/roboimi/assets/models/manipulators/DianaMed/BiDianaMed_rethink.xml b/roboimi/assets/models/manipulators/DianaMed/BiDianaMed_rethink.xml
new file mode 100644
index 0000000..88464ac
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/BiDianaMed_rethink.xml
@@ -0,0 +1,435 @@
+<mujoco model="DianaMed">
+    <compiler angle="radian"/> 
+    
+    <asset>
+        <mesh name="base_link" file="meshes/base_link.STL"/>
+        <mesh name="link1" file="meshes/link1.STL"/>
+        <mesh name="link2" file="meshes/link2.STL"/>
+        <mesh name="link3" file="meshes/link3.STL"/>
+        <mesh name="link4" file="meshes/link4.STL"/>
+        <mesh name="link5" file="meshes/link5.STL"/>
+        <mesh name="link6" file="meshes/link6.STL"/>
+        <mesh name="link7" file="meshes/link7.STL"/>
+        <mesh name="realsense_cam" file="meshes/cam.STL" />
+    </asset>
+    <!-- gripper -->
+    <asset>
+        <mesh name="electric_gripper_base" file="meshes/electric_gripper_base.stl" />
+        <mesh name="standard_narrow" file="meshes/standard_narrow.stl" />
+        <mesh name="half_round_tip" file= "meshes/half_round_tip.stl" />
+        <mesh name="connector_plate" file="meshes/connector_plate.stl" />
+    </asset>
+    <worldbody>
+        <body name="cylindrical_base_left">
+            <geom pos="-0.8 1.0 0.22" contype="1" conaffinity="1" group="1" euler = "0 0 0" type="cylinder" rgba="0.8 0.8 0.9 1" size="0.107 0.22" friction="0.9 0.9 0.9"/>
+        </body>
+        <body name="left_base_link" pos="-0.8 1.0 0.44" quat="1 0 0 0">
+            <geom type="mesh" contype="1" conaffinity="1" group="1" pos="0 0 0" rgba="0.4 0.4 0.4 1" mesh="base_link"/>
+            <body name="left_link1" pos="8.7058e-05 -0.00063474 0.2985" quat="-3.67321e-06 1 0 0">
+                <inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616"/>
+                <joint name="l_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.56 2.56" damping="0.1"/>
+                <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link1"/>
+                <body name="left_link2" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
+                    <inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505"/>
+                    <joint name="l_j2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.57 1.57" damping="0.1"/>
+                    <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link2"/>
+                    <body name="left_link3" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
+                        <inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482"/>
+                        <joint name="l_j3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.56 2.56" damping="0.1"/>
+                        <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link3"/>
+                        <body name="left_link4" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
+                            <inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104"/>
+                            <joint name="l_j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.1"/>
+                            <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link4"/>
+                            <body name="left_link5" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
+                                <inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656"/>
+                                <joint name="l_j5" pos="0 0 0" axis="0 0 1" limited="true" range="-3.05 3.05" damping="0.1"/>
+                                <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link5"/>
+                                <body name="left_link6" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                                    <inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065"/>
+                                    <joint name="l_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                    <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link6"/>
+                                    <body name="left_link7" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
+                                        <joint name="l_j7" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                        <inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
+                                        <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link7"/>
+                                        <!-- <geom type="mesh" rgba="1 1 1 1" mesh="link7"/> -->
+                                        <body name="gripper_base_left" pos="0 0 0" quat="0 1 0 0">
+                                            <inertial pos="0 0 0" quat="-0.5 0.5 0.5 0.5" mass="0.0001" diaginertia="3e-08 2e-08 2e-08" />
+                                            <geom type="mesh" contype="1" conaffinity="1" group="1" mesh="connector_plate" name="connector_plate_left" pos="0 0 0.0018" rgba="0.09 0.09 0.09 1"/>
+                                            <geom type="mesh" contype="1" conaffinity="1" group="1" mesh="electric_gripper_base" name="electric_gripper_base_left" pos="0 0 0.0194" rgba="0.09 0.09 0.09 1"/>
+                                            <geom size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" group="0" name="gripper_base_col_left" pos="0.004 0.0 0.04"/>
+                                            <!-- This site was added for visualization. -->
+                                            <body name="eef_left" pos="0 0 0.109" quat="0.707105 0 0 -0.707105">
+                                                <!-- <site name="grip_site_left" pos="0 0 0" size="0.01 0.01 0.01" rgba="0 1 0 0.5" type="sphere" group="1"/> -->
+                                                <!-- This site was added for visualization. -->
+                                                <!-- <site name="grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/> -->
+                                                <body name="ee_cam_left" pos="0.00 0.046 -0.075" euler="0.0 0.0 -0.0">
+                                                        <inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0" />
+                                                        <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="realsense_cam" />
+                                                        <camera name="rs_cam_left" mode="fixed" pos="0.0 0.0 -0.25" euler="0.0 9.4 0.0 " fovy="15" resolution="1920 1200"/>
+                                                </body>
+                                            </body>
+                                            <body name="l_finger_left" pos="0 0.01 0.0444">
+                                                <inertial pos="0 0 0" quat="0 0 0 -1" mass="0.0001" diaginertia="0.001 0.001 0.001" />
+                                                <joint name="l_finger_joint_left" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.0115 0.020833" damping="100" armature="1.0" frictionloss="1.0"/>
+                                                <geom name="l_finger_left" quat="0 0 0 -1" type="mesh" contype="1" conaffinity="1" group="1" mesh="standard_narrow" rgba="0.09 0.09 0.09 1"/>
+                                                <geom size="0.005 0.00675 0.0375" pos="0 0.01725 0.04" quat="0 0 0 -1" type="box" group="0" conaffinity="1" contype="1" name="l_finger_g0_left" friction="0 0 0"/>
+                                                <geom size="0.005 0.025 0.0085" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" type="box" group="0" conaffinity="1" contype="1" name="l_finger_g1_left" friction="0 0 0"/>
+                                                <body name="l_finger_tip_left" pos="0 0.01725 0.075">
+                                                    <inertial pos="0 0 0" quat="0 0 0 1" mass="0.0001" diaginertia="0.001 0.001 0.001" />
+                                                    <geom name="l_fingertip_g0_vis_left" quat="0 0 0 1" type="mesh" contype="1" conaffinity="1" group="1" mesh="half_round_tip" rgba="0.09 0.09 0.09 1"/>
+                                                    <geom size="0.004 0.004 0.0185" pos="0 -0.0045 -0.015" quat="0 0 0 -1" type="box" group="0"  conaffinity="1" contype="1" name="l_fingertip_g0_left" friction="0.95 0.3 0.1"/>
+                                                    <geom size="0.0035 0.004 0.0165" pos="0 -0.0047 -0.017" type="box"  conaffinity="1" contype="1" name="l_fingerpad_g0_left" friction="0.95 0.3 0.1"/>
+                                                </body>
+                                            </body>
+                                            <body name="r_finger_left" pos="0 -0.01 0.0444">
+                                                <inertial pos="0 0 0" mass="0.0001" diaginertia="0.001 0.001 0.001" />
+                                                <joint name="r_finger_joint_left" pos="0 0 0" axis="0 -1 0" type="slide" limited="true" range="-0.020833 0.0115" damping="100" armature="1.0" frictionloss="1.0"/>
+                                                <geom name="r_finger_left" type="mesh" contype="1" conaffinity="1" group="1" mesh="standard_narrow" rgba="0.09 0.09 0.09 1"/>
+                                                <geom size="0.005 0.00675 0.0375" pos="0 -0.01725 0.04" type="box" group="0" conaffinity="1" contype="1" name="r_finger_g0_left" friction="0 0 0"/>
+                                                <geom size="0.005 0.025 0.0085" pos="0.005 0.003 0.0083" type="box" group="0" conaffinity="1" contype="1" name="r_finger_g1_left" friction="0 0 0"/>
+                                                <body name="r_finger_tip_left" pos="0 -0.01725 0.075">
+                                                    <inertial pos="0 0 0" mass="0.0001" diaginertia="0.001 0.001 0.001" />
+                                                    <geom name="r_fingertip_g0_vis_left" type="mesh" contype="1" conaffinity="1" group="1" mesh="half_round_tip" rgba="0.09 0.09 0.09 1"/>
+                                                    <geom size="0.004 0.004 0.0185" pos="0 0.0045 -0.015" type="box" group="0" conaffinity="1" contype="1" name="r_fingertip_g0_left" friction="0.95 0.3 0.1"/>
+                                                    <geom size="0.0035 0.004 0.0165" pos="0 0.0047 -0.017" type="box"  conaffinity="1" contype="1" name="r_fingerpad_g0_left" friction="0.95 0.3 0.1"/>
+                                                    
+                                                </body>
+                                            </body>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+        <body name="cylindrical_base_right">
+            <geom pos="0.8 1.0 0.22" contype="1" conaffinity="1" group="1" euler = "0 0 0" type="cylinder" rgba="0.8 0.8 0.9 1" size="0.107 0.22" friction="0.9 0.9 0.9"/>
+        </body>
+        <body name="right_base_link" pos="0.8 1.0 0.44" quat="0 0 0 -1" >
+            <geom type="mesh" contype="1" conaffinity="1" group="1" pos="0 0 0"  rgba="0.4 0.4 0.4 1" mesh="base_link" />
+            <body name="right_link1" pos="8.7058e-05 -0.00063474 0.2985" quat="0 1 0 0">
+                <inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616"/>
+                <joint name="r_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.56 2.56" damping="0.1"/>
+                <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link1"/>
+                <body name="right_link2" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
+                    <inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505"/>
+                    <joint name="r_j2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.57 1.57" damping="0.1"/>
+                    <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link2"/>
+                    <body name="right_link3" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
+                        <inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482"/>
+                        <joint name="r_j3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.56 2.56" damping="0.1"/>
+                        <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link3"/>
+                        <body name="right_link4" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
+                            <inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104"/>
+                            <joint name="r_j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.1"/>
+                            <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link4"/>
+                            <body name="right_link5" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
+                                <inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656"/>
+                                <joint name="r_j5" pos="0 0 0" axis="0 0 1" limited="true" range="-3.05 3.05" damping="0.1"/>
+                                <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link5"/>
+                                <body name="right_link6" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                                    <inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065"/>
+                                    <joint name="r_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                    <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link6"/>
+                                    <body name="right_link7" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
+                                        <joint name="r_j7" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                        <inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
+                                        <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.4 0.4 0.4 1" mesh="link7"/>
+                                        <!-- <geom type="mesh" rgba="1 1 1 1" mesh="link7"/> -->
+                                        <body name="gripper_base_right" pos="0 0 0" quat="0 1 0 0">
+                                            <inertial pos="0 0 0" quat="-0.5 0.5 0.5 0.5" mass="0.0001" diaginertia="3e-08 2e-08 2e-08" />
+                                            <geom type="mesh" contype="1" conaffinity="1" group="1" mesh="connector_plate" name="connector_plate_right" pos="0 0 0.0018" rgba="0.09 0.09 0.09 1"/>
+                                            <geom type="mesh" contype="1" conaffinity="1" group="1" mesh="electric_gripper_base" name="electric_gripper_base_right" pos="0 0 0.0194" rgba="0.09 0.09 0.09 1"/>
+                                            <geom size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" group="0" name="gripper_base_col_right" pos="0.004 0.0 0.04"/>
+                                            <!-- This site was added for visualization. -->
+                                            <body name="eef_right" pos="0 0 0.109" quat="0.707105 0 0 -0.707105">
+                                                <!-- <site name="grip_site_right" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/> -->
+                                                <!-- This site was added for visualization. -->
+                                                <!-- <site name="grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/> -->
+                                                <body name="ee_cam_right" pos="0.00 0.046 -0.075" euler="0.0 0.0 -0.0">
+                                                        <inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0" />
+                                                        <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="realsense_cam" />
+                                                        <camera name="rs_cam_right" mode="fixed" pos="0.0 0.0 -0.31" euler="0.0 9.4 0.0 " fovy="15" resolution="1920 1200"/>
+                                                </body>
+                                            </body>
+                                            <body name="l_finger_right" pos="0 0.01 0.0444">
+                                                <inertial pos="0 0 0" quat="0 0 0 -1" mass="0.0001" diaginertia="0.001 0.001 0.001" />
+                                                <joint name="l_finger_joint_right" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.0115 0.020833" damping="100" armature="1.0" frictionloss="1.0"/>
+                                                <geom name="l_finger_right" quat="0 0 0 -1" type="mesh" contype="1" conaffinity="1" group="1" mesh="standard_narrow" rgba="0.09 0.09 0.09 1"/>
+                                                <geom size="0.005 0.00675 0.0375" pos="0 0.01725 0.04" quat="0 0 0 -1" type="box" group="0" conaffinity="1" contype="1" name="l_finger_g0_right" friction="0 0 0"/>
+                                                <geom size="0.005 0.025 0.0085" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" type="box" group="0" conaffinity="1" contype="1" name="l_finger_g1_right" friction="0 0 0"/>
+                                                <body name="l_finger_tip_right" pos="0 0.01725 0.075">
+                                                    <inertial pos="0 0 0" quat="0 0 0 1" mass="0.0001" diaginertia="0.001 0.001 0.001" />
+                                                    <geom name="l_fingertip_g0_vis_right" quat="0 0 0 1" type="mesh" contype="1" conaffinity="1" group="1" mesh="half_round_tip" rgba="0.09 0.09 0.09 1"/>
+                                                    <geom size="0.004 0.004 0.0185" pos="0 -0.0045 -0.015" quat="0 0 0 -1" type="box" group="0"  conaffinity="1" contype="1" name="l_fingertip_g0_right" friction="0.95 0.3 0.1"/>
+                                                    <geom size="0.0035 0.004 0.0165" pos="0 -0.0047 -0.017" type="box"  conaffinity="1" contype="1" name="l_fingerpad_g0_right" friction="0.95 0.3 0.1"/>
+                                                </body>
+                                            </body>
+                                            <body name="r_finger_right" pos="0 -0.01 0.0444">
+                                                <inertial pos="0 0 0" mass="0.0001" diaginertia="0.001 0.001 0.001" />
+                                                <joint name="r_finger_joint_right" pos="0 0 0" axis="0 -1 0" type="slide" limited="true" range="-0.020833 0.0115" damping="100" armature="1.0" frictionloss="1.0"/>
+                                                <geom name="r_finger_right" type="mesh" contype="1" conaffinity="1" group="1" mesh="standard_narrow" rgba="0.09 0.09 0.09 1"/>
+                                                <geom size="0.005 0.00675 0.0375" pos="0 -0.01725 0.04" type="box" group="0" conaffinity="1" contype="1" name="r_finger_g0_right" friction="0 0 0"/>
+                                                <geom size="0.005 0.025 0.0085" pos="0.005 0.003 0.0083" type="box" group="0" conaffinity="1" contype="1" name="r_finger_g1_right" friction="0 0 0"/>
+                                                <body name="r_finger_tip_right" pos="0 -0.01725 0.075">
+                                                    <inertial pos="0 0 0" mass="0.0001" diaginertia="0.001 0.001 0.001" />
+                                                    <geom name="r_fingertip_g0_vis_right" type="mesh" contype="1" conaffinity="1" group="1" mesh="half_round_tip" rgba="0.09 0.09 0.09 1"/>
+                                                    <geom size="0.004 0.004 0.0185" pos="0 0.0045 -0.015" type="box" group="0" conaffinity="1" contype="1" name="r_fingertip_g0_right" friction="0.95 0.3 0.1"/>
+                                                    <geom size="0.0035 0.004 0.0165" pos="0 0.0047 -0.017" type="box"  conaffinity="1" contype="1" name="r_fingerpad_g0_right" friction="0.95 0.3 0.1"/>
+                                                    
+                                                </body>
+                                            </body>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+
+    <actuator>
+        <motor name="a1_l" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="l_j1"/>
+        <motor name="a2_l" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="l_j2"/>
+        <motor name="a3_l" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="l_j3"/>
+        <motor name="a4_l" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="l_j4"/>
+        <motor name="a5_l" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="l_j5"/>
+        <motor name="a6_l" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="l_j6"/>
+        <motor name="a7_l" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="l_j7"/>
+
+        <motor name="a1_r" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="r_j1"/>
+        <motor name="a2_r" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="r_j2"/>
+        <motor name="a3_r" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="r_j3"/>
+        <motor name="a4_r" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="r_j4"/>
+        <motor name="a5_r" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="r_j5"/>
+        <motor name="a6_r" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="r_j6"/>
+        <motor name="a7_r" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="r_j7"/>
+
+        <motor name="gripper_left" ctrllimited="true" ctrlrange="-100.0 100.0" joint="l_finger_joint_left" />
+        <motor name="gripper_right" ctrllimited="true" ctrlrange="-100.0 100.0" joint="l_finger_joint_right" />
+    </actuator>
+
+    <equality>
+        <joint joint1="r_finger_joint_left" joint2="l_finger_joint_left"/>
+        <joint joint1="r_finger_joint_right" joint2="l_finger_joint_right"/>
+    </equality>
+    
+    <contact>
+    <exclude body1="left_base_link"             body2="left_link1"/>
+    <exclude body1="left_link1"           body2="left_link2"/>
+    <exclude body1="left_link2"           body2="left_link3"/>
+    <exclude body1="left_link3"           body2="left_link4"/>
+    <exclude body1="left_link4"           body2="left_link5"/>
+    <exclude body1="left_link5"           body2="left_link6"/>
+    <exclude body1="left_link6"           body2="left_link7"/>
+    <exclude body1="left_link7"           body2="gripper_base_left"/>
+    <exclude body1="gripper_base_left"    body2="eef_left"/>
+    <exclude body1="eef_left"             body2="ee_cam_left"/>
+    <exclude body1="ee_cam_left"          body2="l_finger_left"/>
+    <exclude body1="l_finger_left"        body2="l_finger_tip_left"/>
+    <exclude body1="l_finger_tip_left"    body2="r_finger_left"/>
+    <exclude body1="r_finger_left"        body2="r_finger_tip_left"/>
+
+    <exclude body1="left_link1"           body2="left_link3"/>
+    <exclude body1="left_link1"           body2="left_link4"/>
+    <exclude body1="left_link1"           body2="left_link5"/>
+    <exclude body1="left_link1"           body2="left_link6"/>
+    <exclude body1="left_link1"           body2="left_link7"/>
+    <exclude body1="left_link1"           body2="gripper_base_left"/>
+    <exclude body1="left_link1"           body2="eef_left"/>
+    <exclude body1="left_link1"           body2="ee_cam_left"/>
+    <exclude body1="left_link1"           body2="l_finger_left"/>
+    <exclude body1="left_link1"           body2="l_finger_tip_left"/>
+    <exclude body1="left_link1"           body2="r_finger_left"/>
+    <exclude body1="left_link1"           body2="r_finger_tip_left"/>
+
+    <exclude body1="left_link2"           body2="left_link4"/>
+    <exclude body1="left_link2"           body2="left_link5"/>
+    <exclude body1="left_link2"           body2="left_link6"/>
+    <exclude body1="left_link2"           body2="left_link7"/>
+    <exclude body1="left_link2"           body2="gripper_base_left"/>
+    <exclude body1="left_link2"           body2="eef_left"/>
+    <exclude body1="left_link2"           body2="ee_cam_left"/>
+    <exclude body1="left_link2"           body2="l_finger_left"/>
+    <exclude body1="left_link2"           body2="l_finger_tip_left"/>
+    <exclude body1="left_link2"           body2="r_finger_left"/>
+    <exclude body1="left_link2"           body2="r_finger_tip_left"/>
+
+    <exclude body1="left_link3"           body2="left_link5"/>
+    <exclude body1="left_link3"           body2="left_link6"/>
+    <exclude body1="left_link3"           body2="left_link7"/>
+    <exclude body1="left_link3"           body2="gripper_base_left"/>
+    <exclude body1="left_link3"           body2="eef_left"/>
+    <exclude body1="left_link3"           body2="ee_cam_left"/>
+    <exclude body1="left_link3"           body2="l_finger_left"/>
+    <exclude body1="left_link3"           body2="l_finger_tip_left"/>
+    <exclude body1="left_link3"           body2="r_finger_left"/>
+    <exclude body1="left_link3"           body2="r_finger_tip_left"/>
+
+    <exclude body1="left_link4"           body2="left_link6"/>
+    <exclude body1="left_link4"           body2="left_link7"/>
+    <exclude body1="left_link4"           body2="gripper_base_left"/>
+    <exclude body1="left_link4"           body2="eef_left"/>
+    <exclude body1="left_link4"           body2="ee_cam_left"/>
+    <exclude body1="left_link4"           body2="l_finger_left"/>
+    <exclude body1="left_link4"           body2="l_finger_tip_left"/>
+    <exclude body1="left_link4"           body2="r_finger_left"/>
+    <exclude body1="left_link4"           body2="r_finger_tip_left"/>
+
+    <exclude body1="left_link5"           body2="left_link7"/>
+    <exclude body1="left_link5"           body2="gripper_base_left"/>
+    <exclude body1="left_link5"           body2="eef_left"/>
+    <exclude body1="left_link5"           body2="ee_cam_left"/>
+    <exclude body1="left_link5"           body2="l_finger_left"/>
+    <exclude body1="left_link5"           body2="l_finger_tip_left"/>
+    <exclude body1="left_link5"           body2="r_finger_left"/>
+    <exclude body1="left_link5"           body2="r_finger_tip_left"/>
+
+    <exclude body1="left_link6"           body2="gripper_base_left"/>
+    <exclude body1="left_link6"           body2="eef_left"/>
+    <exclude body1="left_link6"           body2="ee_cam_left"/>
+    <exclude body1="left_link6"           body2="l_finger_left"/>
+    <exclude body1="left_link6"           body2="l_finger_tip_left"/>
+    <exclude body1="left_link6"           body2="r_finger_left"/>
+    <exclude body1="left_link6"           body2="r_finger_tip_left"/>
+
+    <exclude body1="left_link7"           body2="eef_left"/>
+    <exclude body1="left_link7"           body2="ee_cam_left"/>
+    <exclude body1="left_link7"           body2="l_finger_left"/>
+    <exclude body1="left_link7"           body2="l_finger_tip_left"/>
+    <exclude body1="left_link7"           body2="r_finger_left"/>
+    <exclude body1="left_link7"           body2="r_finger_tip_left"/>
+
+    <exclude body1="gripper_base_left"    body2="ee_cam_left"/>
+    <exclude body1="gripper_base_left"    body2="l_finger_left"/>
+    <exclude body1="gripper_base_left"    body2="l_finger_tip_left"/>
+    <exclude body1="gripper_base_left"    body2="r_finger_left"/>
+    <exclude body1="gripper_base_left"    body2="r_finger_tip_left"/>
+
+    <exclude body1="eef_left"             body2="l_finger_left"/>
+    <exclude body1="eef_left"             body2="l_finger_tip_left"/>
+    <exclude body1="eef_left"             body2="r_finger_left"/>
+    <exclude body1="eef_left"             body2="r_finger_tip_left"/>
+
+    <exclude body1="ee_cam_left"          body2="l_finger_tip_left"/>
+    <exclude body1="ee_cam_left"          body2="r_finger_left"/>
+    <exclude body1="ee_cam_left"          body2="r_finger_tip_left"/>
+
+    <exclude body1="l_finger_left"        body2="r_finger_left"/>
+    <exclude body1="l_finger_left"        body2="r_finger_tip_left"/>
+
+    <exclude body1="l_finger_tip_left"    body2="r_finger_tip_left"/>
+
+    <exclude body1="right_base_link"       body2="right_link1"/>
+    <exclude body1="right_link1"           body2="right_link2"/>
+    <exclude body1="right_link2"           body2="right_link3"/>
+    <exclude body1="right_link3"           body2="right_link4"/>
+    <exclude body1="right_link4"           body2="right_link5"/>
+    <exclude body1="right_link5"           body2="right_link6"/>
+    <exclude body1="right_link6"           body2="right_link7"/>
+    <exclude body1="right_link7"           body2="gripper_base_right"/>
+    <exclude body1="gripper_base_right"    body2="eef_right"/>
+    <exclude body1="eef_right"             body2="ee_cam_right"/>
+    <exclude body1="ee_cam_right"          body2="l_finger_right"/>
+    <exclude body1="l_finger_right"        body2="l_finger_tip_right"/>
+    <exclude body1="l_finger_tip_right"    body2="r_finger_right"/>
+    <exclude body1="r_finger_right"        body2="r_finger_tip_right"/>
+
+    <exclude body1="right_link1"           body2="right_link3"/>
+    <exclude body1="right_link1"           body2="right_link4"/>
+    <exclude body1="right_link1"           body2="right_link5"/>
+    <exclude body1="right_link1"           body2="right_link6"/>
+    <exclude body1="right_link1"           body2="right_link7"/>
+    <exclude body1="right_link1"           body2="gripper_base_right"/>
+    <exclude body1="right_link1"           body2="eef_right"/>
+    <exclude body1="right_link1"           body2="ee_cam_right"/>
+    <exclude body1="right_link1"           body2="l_finger_right"/>
+    <exclude body1="right_link1"           body2="l_finger_tip_right"/>
+    <exclude body1="right_link1"           body2="r_finger_right"/>
+    <exclude body1="right_link1"           body2="r_finger_tip_right"/>
+
+    <exclude body1="right_link2"           body2="right_link4"/>
+    <exclude body1="right_link2"           body2="right_link5"/>
+    <exclude body1="right_link2"           body2="right_link6"/>
+    <exclude body1="right_link2"           body2="right_link7"/>
+    <exclude body1="right_link2"           body2="gripper_base_right"/>
+    <exclude body1="right_link2"           body2="eef_right"/>
+    <exclude body1="right_link2"           body2="ee_cam_right"/>
+    <exclude body1="right_link2"           body2="l_finger_right"/>
+    <exclude body1="right_link2"           body2="l_finger_tip_right"/>
+    <exclude body1="right_link2"           body2="r_finger_right"/>
+    <exclude body1="right_link2"           body2="r_finger_tip_right"/>
+
+    <exclude body1="right_link3"           body2="right_link5"/>
+    <exclude body1="right_link3"           body2="right_link6"/>
+    <exclude body1="right_link3"           body2="right_link7"/>
+    <exclude body1="right_link3"           body2="gripper_base_right"/>
+    <exclude body1="right_link3"           body2="eef_right"/>
+    <exclude body1="right_link3"           body2="ee_cam_right"/>
+    <exclude body1="right_link3"           body2="l_finger_right"/>
+    <exclude body1="right_link3"           body2="l_finger_tip_right"/>
+    <exclude body1="right_link3"           body2="r_finger_right"/>
+    <exclude body1="right_link3"           body2="r_finger_tip_right"/>
+
+    <exclude body1="right_link4"           body2="right_link6"/>
+    <exclude body1="right_link4"           body2="right_link7"/>
+    <exclude body1="right_link4"           body2="gripper_base_right"/>
+    <exclude body1="right_link4"           body2="eef_right"/>
+    <exclude body1="right_link4"           body2="ee_cam_right"/>
+    <exclude body1="right_link4"           body2="l_finger_right"/>
+    <exclude body1="right_link4"           body2="l_finger_tip_right"/>
+    <exclude body1="right_link4"           body2="r_finger_right"/>
+    <exclude body1="right_link4"           body2="r_finger_tip_right"/>
+
+    <exclude body1="right_link5"           body2="right_link7"/>
+    <exclude body1="right_link5"           body2="gripper_base_right"/>
+    <exclude body1="right_link5"           body2="eef_right"/>
+    <exclude body1="right_link5"           body2="ee_cam_right"/>
+    <exclude body1="right_link5"           body2="l_finger_right"/>
+    <exclude body1="right_link5"           body2="l_finger_tip_right"/>
+    <exclude body1="right_link5"           body2="r_finger_right"/>
+    <exclude body1="right_link5"           body2="r_finger_tip_right"/>
+
+    <exclude body1="right_link6"           body2="gripper_base_right"/>
+    <exclude body1="right_link6"           body2="eef_right"/>
+    <exclude body1="right_link6"           body2="ee_cam_right"/>
+    <exclude body1="right_link6"           body2="l_finger_right"/>
+    <exclude body1="right_link6"           body2="l_finger_tip_right"/>
+    <exclude body1="right_link6"           body2="r_finger_right"/>
+    <exclude body1="right_link6"           body2="r_finger_tip_right"/>
+
+    <exclude body1="right_link7"           body2="eef_right"/>
+    <exclude body1="right_link7"           body2="ee_cam_right"/>
+    <exclude body1="right_link7"           body2="l_finger_right"/>
+    <exclude body1="right_link7"           body2="l_finger_tip_right"/>
+    <exclude body1="right_link7"           body2="r_finger_right"/>
+    <exclude body1="right_link7"           body2="r_finger_tip_right"/>
+
+    <exclude body1="gripper_base_right"    body2="ee_cam_right"/>
+    <exclude body1="gripper_base_right"    body2="l_finger_right"/>
+    <exclude body1="gripper_base_right"    body2="l_finger_tip_right"/>
+    <exclude body1="gripper_base_right"    body2="r_finger_right"/>
+    <exclude body1="gripper_base_right"    body2="r_finger_tip_right"/>
+
+    <exclude body1="eef_right"             body2="l_finger_right"/>
+    <exclude body1="eef_right"             body2="l_finger_tip_right"/>
+    <exclude body1="eef_right"             body2="r_finger_right"/>
+    <exclude body1="eef_right"             body2="r_finger_tip_right"/>
+
+    <exclude body1="ee_cam_right"          body2="l_finger_tip_right"/>
+    <exclude body1="ee_cam_right"          body2="r_finger_right"/>
+    <exclude body1="ee_cam_right"          body2="r_finger_tip_right"/>
+
+    <exclude body1="l_finger_right"        body2="r_finger_right"/>
+    <exclude body1="l_finger_right"        body2="r_finger_tip_right"/>
+
+    <exclude body1="l_finger_tip_right"    body2="r_finger_tip_right"/>
+
+  </contact>
+</mujoco>
diff --git a/roboimi/assets/models/manipulators/DianaMed/BiDianaMed_vs.xml b/roboimi/assets/models/manipulators/DianaMed/BiDianaMed_vs.xml
new file mode 100644
index 0000000..a16f40f
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/BiDianaMed_vs.xml
@@ -0,0 +1,172 @@
+<mujoco model="BiDianaMed">
+    <compiler angle="radian" meshdir=""/>
+    <size memory="100M"/>
+    <visual>
+            <headlight ambient="0.5 0.5 0.5"/>
+    </visual>
+    <option timestep="0.0005" integrator="implicitfast" gravity="0 0 -9.81">
+        <flag  contact="enable" energy="enable" gravity="enable"/>
+    </option>
+    <asset>
+        <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
+        <texture file="./textures/wood-tiles.png" type="2d" name="texplane" />
+        <material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true" />
+        <mesh name="base_link" file="meshes/base_link.STL"/>
+        <mesh name="link1" file="meshes/link1.STL"/>
+        <mesh name="link2" file="meshes/link2.STL"/>
+        <mesh name="link3" file="meshes/link3.STL"/>
+        <mesh name="link4" file="meshes/link4.STL"/>
+        <mesh name="link5" file="meshes/link5.STL"/>
+        <mesh name="link6" file="meshes/link6.STL"/>
+        <mesh name="link7" file="meshes/link7.STL"/>
+        <mesh name="0_cambase" file="meshes/cambase.STL" />
+        <mesh name="0_cam" file="meshes/cam.STL" />
+        <texture name="aruco" type="2d" file="textures/aruco.png" />
+        <material name="aruco" texture="aruco" texrepeat="1 1" texuniform="false" />
+    </asset>
+    <worldbody>
+        <geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane" />
+        <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 8.0" specular="0.3 0.3 0.3" castshadow="false" />
+        <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 8.0" specular="0.3 0.3 0.3" castshadow="false" />
+    
+        <!-- <camera mode="fixed" name="frontview" pos="1.6 0 1.45" quat="0.56 0.43 0.43 0.56" /> -->
+    
+        <!-- <camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071" /> -->
+    
+        <!-- <camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653" /> -->
+    
+        <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
+        <!-- <body name="object" pos="1.1 0 0.6">
+            <inertial pos="0.0 0.0 0.0" mass="10" diaginertia="0.184 0.1 0.1" />
+            <geom type="box" size="0.05 0.2 0.2" friction="0.0000 0.000 0.0000" rgba="1 0 0 0.5" />
+        </body> -->
+        <body name="base_link" pos="-0.95 0 0">
+            <geom type="mesh" contype="0" conaffinity="0" group="1" pos="0 0 0" rgba="1 1 1 1" mesh="base_link"/>
+            <body name="link1" pos="8.7058e-05 -0.00063474 0.2985" quat="-3.67321e-06 1 0 0">
+                <inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616"/>
+                <joint name="0_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.56 2.56" damping="0.1"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link1"/>
+                <body name="link2" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
+                    <inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505"/>
+                    <joint name="0_j2" pos="0 0 0" axis="0 0 -1" limited="true" range="-1.57 1.57" damping="0.1"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link2"/>
+                    <body name="link3" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
+                        <inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482"/>
+                        <joint name="0_j3" pos="0 0 0" axis="0 0 -1" limited="true" range="-2.56 2.56" damping="0.1"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link3"/>
+                        <body name="link4" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
+                            <inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104"/>
+                            <joint name="0_j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link4"/>
+                            <body name="link5" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
+                                <inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656"/>
+                                <joint name="0_j5" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.05 3.05" damping="0.1"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link5"/>
+                                <body name="link6" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                                    <inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065"/>
+                                    <joint name="0_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link6"/>
+                                    <body name="link7" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
+                                        <joint name="0_j7" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                        <inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
+                                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link7"/>
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="link7"/>
+                                        <body name="0_end_effector">
+                                            <inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0" />
+                                            <geom type="mesh" rgba="1 1 1 1" mesh="0_cambase" />
+                                            <!-- <body name="0_cam" pos="0.065054 0.00068038 -0.013835" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06"> -->
+                                            <body name="0_cam" pos="0.065054 0.00068038 -0.013835" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
+                                                <inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0" />
+                                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="0_cam" />
+                                                <!-- <camera name="0_cam" mode="fixed" pos="0.0175 0.00 0.0088" quat="0 0 1 0" fovy="45" /> -->
+                                                <camera name="0_cam" mode="fixed" pos="0.0 0.00 0.0088" quat="-0 0 1 0" fovy="55" />
+                                                <!-- <camera name="0_cam" mode="fixed" pos="0.0175 0.00 0.0038" quat="1 0 0 0" fovy="45" /> -->
+                                            </body>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+        <body name="base_link_aruco" pos="0.75 0 0" euler="0 0 -3.1415" >
+            <geom type="mesh" contype="0" conaffinity="0" group="1" pos="0 0 0" rgba="1 1 1 1" mesh="base_link"/>
+            <body name="link1_aruco" pos="8.7058e-05 -0.00063474 0.2985" quat="-3.67321e-06 1 0 0">
+                <inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616"/>
+                <joint name="0_aruco_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.56 2.56" damping="0.1"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link1"/>
+                <body name="link2_aruco" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
+                    <inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505"/>
+                    <joint name="0_aruco_j2" pos="0 0 0" axis="0 0 -1" limited="true" range="-1.57 1.57" damping="0.1"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link2"/>
+                    <body name="link3_aruco" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
+                        <inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482"/>
+                        <joint name="0_aruco_j3" pos="0 0 0" axis="0 0 -1" limited="true" range="-2.56 2.56" damping="0.1"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link3"/>
+                        <body name="link4_aruco" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
+                            <inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104"/>
+                            <joint name="0_aruco_j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link4"/>
+                            <body name="link5_aruco" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
+                                <inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656"/>
+                                <joint name="0_aruco_j5" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.05 3.05" damping="0.1"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link5"/>
+                                <body name="link6_aruco" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                                    <inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065"/>
+                                    <joint name="0_aruco_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link6"/>
+                                    <body name="link7_aruco" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
+                                        <joint name="0_aruco_j7" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                        <inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
+                                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link7"/>
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="link7"/>
+                                        <body name="aruco">
+                                            <!-- <geom name="aruco_box" pos="0.0 0 0.0" mass="0.0001" euler="3.1415 0 -1.57" size="0.05 0.05 0.001" type="box" material="aruco" /> -->
+                                            <geom name="aruco_box" pos="0.0 0 0.0" mass="0.0001" euler="3.1415 0 0" size="0.05 0.05 0.001" type="box" material="aruco" />
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+        <!-- <body name="aruco">
+            <geom name="aruco_box" pos="0.919 0 0.87" mass="0.0001" euler="0 -1.57 0" size="0.05 0.05 0.001" type="box" material="aruco" /> -->
+            <!-- <joint name="aruco_x" type="slide" axis="1 0 0" />
+            <joint name="aruco_y" type="slide" axis="0 1 0" />
+            <joint name="aruco_z" type="slide" axis="0 0 1" /> -->
+            <!-- <joint name="aruco_ball" type="ball" pos="0 0 0 " limited="true" />   -->
+            <!-- <joint name="aruco_rx" type="hinge" pos="0.919 0 1.27" axis="1 0 0" />  
+            <joint name="aruco_ry" type="hinge" pos="0.919 0 1.27" axis="0 1 0"/>  
+            <joint name="aruco_rz" type="hinge" pos="0.919 0 1.27" axis="0 0 1"/>   -->
+            <!-- range="-0.5 0.5" -->
+        <!-- </body> -->
+    </worldbody>
+    <actuator>
+        <motor name="0_m1" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_j1"/>
+        <motor name="0_m2" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_j2"/>
+        <motor name="0_m3" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_j3"/>
+        <motor name="0_m4" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_j4"/>
+        <motor name="0_m5" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_j5"/>
+        <motor name="0_m6" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_j6"/>
+        <motor name="0_m7" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_j7"/>
+
+        <motor name="0_aruco_m1" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_aruco_j1"/>
+        <motor name="0_aruco_m2" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_aruco_j2"/>
+        <motor name="0_aruco_m3" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_aruco_j3"/>
+        <motor name="0_aruco_m4" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_aruco_j4"/>
+        <motor name="0_aruco_m5" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_aruco_j5"/>
+        <motor name="0_aruco_m6" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_aruco_j6"/>
+        <motor name="0_aruco_m7" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="0_aruco_j7"/>
+
+        <!-- <motor name="aruco_rx_act" ctrllimited="true" ctrlrange="-0.001 0.001"  joint="aruco_rx"/>
+        <motor name="aruco_ry_act" ctrllimited="true" ctrlrange="-0.001 0.001"  joint="aruco_ry"/>
+        <motor name="aruco_rz_act" ctrllimited="true" ctrlrange="-0.001 0.001"  joint="aruco_rz"/> -->
+
+
+    </actuator>
+</mujoco>
diff --git a/roboimi/assets/models/manipulators/DianaMed/DianaMed.urdf b/roboimi/assets/models/manipulators/DianaMed/DianaMed.urdf
new file mode 100644
index 0000000..e70a54c
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/DianaMed.urdf
@@ -0,0 +1,322 @@
+<?xml version="1.0"?>
+<!-- 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="DianaMed_kdl">
+  <!-- <mujoco>
+    <compiler meshdir="../DianaMed/meshes/"
+    balanceinertia="true" 
+    discardvisual="false"/>
+  </mujoco>  -->
+  <link name="base_link">
+    <inertial>
+      <origin xyz="0.00010213 -0.0014093 0.086074" rpy="0 0 0" />
+      <mass value="3.1064" />
+      <inertia 
+        ixx="0.014417"
+        ixy="5.8713E-06"
+        ixz="2.8276E-06"
+        iyy="0.013941"
+        iyz="-0.0002214"
+        izz="0.0089653" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="link1">
+    <inertial>
+      <origin xyz="4.57640929707459E-06 -0.0439746120959298 0.0236145135234007" rpy="0 0 0" />
+      <mass value="2.72698490401415" />
+      <inertia
+        ixx="0.0113371331079453"
+        ixy="-5.01180706615877E-07"
+        ixz="-3.66885437018535E-07"
+        iyy="0.0110327536309882"
+        iyz="-0.00220675575486915"
+        izz="0.00811200466883726" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j1" type="revolute">
+    <origin xyz="8.7058E-05 -0.00063474 0.2985" rpy="3.1416 0 0" />
+    <parent link="base_link" />
+    <child link="link1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.56" upper="2.56" effort="0" velocity="0" />
+  </joint>
+  <link name="link2">
+    <inertial>
+      <origin xyz="8.26088421748694E-06 -0.0407280306293744 -0.0363117407161708" rpy="0 0 0" />
+      <mass value="3.18168266310627" />
+      <inertia
+        ixx="0.018072107435624"
+        ixy="-8.36079570379431E-08"
+        ixz="1.07670750003258E-07"
+        iyy="0.00961237211101437"
+        iyz="0.00435586439328804"
+        izz="0.016888058079289" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j2" type="revolute">
+    <origin xyz="0 0 -0.00092116" rpy="1.5708 0 0" />
+    <parent link="link1" />
+    <child link="link2" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.57" upper="1.57" effort="0" velocity="0" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.0148078870964089 -0.0159924912448304 0.127197681416813"
+        rpy="0 0 0" />
+      <mass
+        value="3.93616399327803" />
+      <inertia
+        ixx="0.0529699107504458"
+        ixy="0.00295925943864098"
+        ixz="0.0100824736258477"
+        iyy="0.0547048459134381"
+        iyz="-0.00795482322146361"
+        izz="0.013338555535485" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link3.STL" />
+        <!-- <mesh filename="package://link3.STL" />  -->
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j3" type="revolute">
+    <origin xyz="0 -0.45818 0.0005" rpy="-1.5708 0 0" />
+    <parent link="link2" />
+    <child link="link3" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-2.56"
+      upper="2.56"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link4">
+    <inertial>
+      <origin xyz="-0.0145884364859367 -0.0117112984562222 -0.0406158066673303" rpy="0 0 0" />
+      <mass value="1.58468985635004" />
+      <inertia
+        ixx="0.0038731409034452"
+        ixy="-0.000832775020978768"
+        ixz="0.000679010334754415"
+        iyy="0.00422597504724798"
+        iyz="0.00067347297662315"
+        izz="0.00439242812060777" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j4" type="revolute">
+    <origin xyz="0.064454 0.0005 -0.00070508" rpy="1.5708 0 0" />
+    <parent link="link3" />
+    <child link="link4" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="0.0"
+      upper="3.05"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link5">
+    <inertial>
+      <origin xyz="-0.00209922282949576 0.0288296598531898 0.222844782709322" rpy="0 0 0" />
+      <mass value="1.92687822080767" />
+      <inertia
+        ixx="0.0293223924818884"
+        ixy="0.000126715279757269"
+        ixz="-0.000259318121034694"
+        iyy="0.0270589496231595"
+        iyz="0.00711831662518815"
+        izz="0.00414045111192326" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link5.STL" />
+        <!-- <mesh filename="package://link5.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link5.STL" />
+        <!-- <mesh filename="package://link5.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j5" type="revolute">
+    <origin xyz="-0.052254 -0.45668 0.0005" rpy="-1.5708 0 0" />
+    <parent link="link4" />
+    <child link="link5" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.05"
+      upper="3.05"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link6">
+    <inertial>
+      <origin xyz="0.038358 -0.00071885 -0.0021112" rpy="0 0 0" />
+      <mass value="1.7304" />
+      <inertia
+        ixx="0.0034648"
+        ixy="6.9318E-05"
+        ixz="-0.00014008"
+        iyy="0.0049229"
+        iyz="2.7274E-06"
+        izz="0.0052571" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link6.STL" />
+        <!-- <mesh filename="package://link6.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link6.STL" />
+        <!-- <mesh filename="package://link6.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j6" type="revolute">
+    <origin xyz="0 -0.005 -1.1713E-05" rpy="1.5708 0 -3.1416" />
+    <parent link="link5" />
+    <child link="link6" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.05"
+      upper="0.523"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link7">
+    <inertial>
+      <origin xyz="0.00068467 1.5999E-05 0.020834" rpy="0 0 0" />
+      <mass value="0.16696" />
+      <inertia
+        ixx="8.7537E-05"
+        ixy="1.9588E-09"
+        ixz="2.6332E-07"
+        iyy="8.8902E-05"
+        iyz="7.5347E-09"
+        izz="0.00014391" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link7.STL" />
+        <!-- <mesh filename="package://link7.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link7.STL" />
+        <!-- <mesh filename="package://link7.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j7" type="revolute">
+    <origin xyz="0.076728 -0.1059 0" rpy="-1.5708 0 0" />
+    <parent link="link6" />
+    <child link="link7" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.05"
+      upper="3.05"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>
diff --git a/roboimi/assets/models/manipulators/DianaMed/DianaMed.xml b/roboimi/assets/models/manipulators/DianaMed/DianaMed.xml
new file mode 100644
index 0000000..6c7a19d
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/DianaMed.xml
@@ -0,0 +1,72 @@
+<mujoco model="DianaMed">
+    <compiler angle="radian"/>
+    <size memory="100M"/>
+    <visual>
+            <headlight ambient="0.5 0.5 0.5"/>
+    </visual>
+    <!-- <option timestep="0.0005" integrator="implicitfast" gravity="0 0 -9.81" collision="dynamic"> -->
+    <option timestep="0.0005" integrator="implicitfast" gravity="0 0 -9.81">
+        <!-- <flag sensornoise="disable" contact="enable" energy="enable" gravity="enable"/> -->
+        <flag contact="enable" energy="enable" gravity="enable"/> <!--for mujoco version 3.2.2 -->
+    </option>
+    <asset>
+        <mesh name="base_link" file="meshes/base_link.STL"/>
+        <mesh name="link1" file="meshes/link1.STL"/>
+        <mesh name="link2" file="meshes/link2.STL"/>
+        <mesh name="link3" file="meshes/link3.STL"/>
+        <mesh name="link4" file="meshes/link4.STL"/>
+        <mesh name="link5" file="meshes/link5.STL"/>
+        <mesh name="link6" file="meshes/link6.STL"/>
+        <mesh name="link7" file="meshes/link7.STL"/>
+    </asset>
+    <worldbody>
+        <body name="base_link">
+            <geom type="mesh" contype="0" conaffinity="0" group="1" pos="0 0 0" rgba="1 1 1 1" mesh="base_link"/>
+            <body name="link1" pos="8.7058e-05 -0.00063474 0.2985" quat="-3.67321e-06 1 0 0">
+                <inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616"/>
+                <joint name="j1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.56 2.56" damping="0.1"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link1"/>
+                <body name="link2" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
+                    <inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505"/>
+                    <joint name="j2" pos="0 0 0" axis="0 0 -1" limited="true" range="-1.57 1.57" damping="0.1"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link2"/>
+                    <body name="link3" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
+                        <inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482"/>
+                        <joint name="j3" pos="0 0 0" axis="0 0 -1" limited="true" range="-2.56 2.56" damping="0.1"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link3"/>
+                        <body name="link4" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
+                            <inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104"/>
+                            <joint name="j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link4"/>
+                            <body name="link5" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
+                                <inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656"/>
+                                <joint name="j5" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.05 3.05" damping="0.1"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link5"/>
+                                <body name="link6" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                                    <inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065"/>
+                                    <joint name="j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link6"/>
+                                    <body name="link7" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
+                                        <joint name="j7" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" damping="0.01"/>
+                                        <inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
+                                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link7"/>
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="link7"/>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <actuator>
+        <motor name="a1" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="j1"/>
+        <motor name="a2" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="j2"/>
+        <motor name="a3" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="j3"/>
+        <motor name="a4" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="j4"/>
+        <motor name="a5" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="j5"/>
+        <motor name="a6" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="j6"/>
+        <motor name="a7" ctrllimited="true" ctrlrange="-100.0 100.0"  joint="j7"/>
+    </actuator>
+</mujoco>
diff --git a/roboimi/assets/models/manipulators/DianaMed/DianaMed_aruco.urdf b/roboimi/assets/models/manipulators/DianaMed/DianaMed_aruco.urdf
new file mode 100644
index 0000000..c9f555b
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/DianaMed_aruco.urdf
@@ -0,0 +1,322 @@
+<?xml version="1.0"?>
+<!-- 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="DianaMed_kdl">
+  <mujoco>
+    <compiler meshdir="../DianaMed/meshes/"
+    balanceinertia="true" 
+    discardvisual="false"/>
+  </mujoco> 
+  <link name="base_link">
+    <inertial>
+      <origin xyz="0.00010213 -0.0014093 0.086074" rpy="0 0 0" />
+      <mass value="3.1064" />
+      <inertia 
+        ixx="0.014417"
+        ixy="5.8713E-06"
+        ixz="2.8276E-06"
+        iyy="0.013941"
+        iyz="-0.0002214"
+        izz="0.0089653" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="link1">
+    <inertial>
+      <origin xyz="4.57640929707459E-06 -0.0439746120959298 0.0236145135234007" rpy="0 0 0" />
+      <mass value="2.72698490401415" />
+      <inertia
+        ixx="0.0113371331079453"
+        ixy="-5.01180706615877E-07"
+        ixz="-3.66885437018535E-07"
+        iyy="0.0110327536309882"
+        iyz="-0.00220675575486915"
+        izz="0.00811200466883726" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j1" type="revolute">
+    <origin xyz="8.7058E-05 -0.00063474 0.2985" rpy="3.1416 0 0" />
+    <parent link="base_link" />
+    <child link="link1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="link2">
+    <inertial>
+      <origin xyz="8.26088421748694E-06 -0.0407280306293744 -0.0363117407161708" rpy="0 0 0" />
+      <mass value="3.18168266310627" />
+      <inertia
+        ixx="0.018072107435624"
+        ixy="-8.36079570379431E-08"
+        ixz="1.07670750003258E-07"
+        iyy="0.00961237211101437"
+        iyz="0.00435586439328804"
+        izz="0.016888058079289" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j2" type="revolute">
+    <origin xyz="0 0 -0.00092116" rpy="1.5708 0 0" />
+    <parent link="link1" />
+    <child link="link2" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.0148078870964089 -0.0159924912448304 0.127197681416813"
+        rpy="0 0 0" />
+      <mass
+        value="3.93616399327803" />
+      <inertia
+        ixx="0.0529699107504458"
+        ixy="0.00295925943864098"
+        ixz="0.0100824736258477"
+        iyy="0.0547048459134381"
+        iyz="-0.00795482322146361"
+        izz="0.013338555535485" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link3.STL" />
+        <!-- <mesh filename="package://link3.STL" />  -->
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j3" type="revolute">
+    <origin xyz="0 -0.45818 0.0005" rpy="-1.5708 0 0" />
+    <parent link="link2" />
+    <child link="link3" />
+    <axis xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link4">
+    <inertial>
+      <origin xyz="-0.0145884364859367 -0.0117112984562222 -0.0406158066673303" rpy="0 0 0" />
+      <mass value="1.58468985635004" />
+      <inertia
+        ixx="0.0038731409034452"
+        ixy="-0.000832775020978768"
+        ixz="0.000679010334754415"
+        iyy="0.00422597504724798"
+        iyz="0.00067347297662315"
+        izz="0.00439242812060777" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j4" type="revolute">
+    <origin xyz="0.064454 0.0005 -0.00070508" rpy="1.5708 0 0" />
+    <parent link="link3" />
+    <child link="link4" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link5">
+    <inertial>
+      <origin xyz="-0.00209922282949576 0.0288296598531898 0.222844782709322" rpy="0 0 0" />
+      <mass value="1.92687822080767" />
+      <inertia
+        ixx="0.0293223924818884"
+        ixy="0.000126715279757269"
+        ixz="-0.000259318121034694"
+        iyy="0.0270589496231595"
+        iyz="0.00711831662518815"
+        izz="0.00414045111192326" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link5.STL" />
+        <!-- <mesh filename="package://link5.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link5.STL" />
+        <!-- <mesh filename="package://link5.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j5" type="revolute">
+    <origin xyz="-0.052254 -0.45668 0.0005" rpy="-1.5708 0 0" />
+    <parent link="link4" />
+    <child link="link5" />
+    <axis xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link6">
+    <inertial>
+      <origin xyz="0.038358 -0.00071885 -0.0021112" rpy="0 0 0" />
+      <mass value="1.7304" />
+      <inertia
+        ixx="0.0034648"
+        ixy="6.9318E-05"
+        ixz="-0.00014008"
+        iyy="0.0049229"
+        iyz="2.7274E-06"
+        izz="0.0052571" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link6.STL" />
+        <!-- <mesh filename="package://link6.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link6.STL" />
+        <!-- <mesh filename="package://link6.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j6" type="revolute">
+    <origin xyz="0 -0.005 -1.1713E-05" rpy="1.5708 0 -3.1416" />
+    <parent link="link5" />
+    <child link="link6" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link7">
+    <inertial>
+      <origin xyz="0.00068467 1.5999E-05 0.020834" rpy="0 0 0" />
+      <mass value="0.16696" />
+      <inertia
+        ixx="8.7537E-05"
+        ixy="1.9588E-09"
+        ixz="2.6332E-07"
+        iyy="8.8902E-05"
+        iyz="7.5347E-09"
+        izz="0.00014391" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link7.STL" />
+        <!-- <mesh filename="package://link7.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link7.STL" />
+        <!-- <mesh filename="package://link7.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j7" type="revolute">
+    <origin xyz="0.076728 -0.1059 0" rpy="-1.5708 0 0" />
+    <parent link="link6" />
+    <child link="link7" />
+    <axis xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>
diff --git a/roboimi/assets/models/manipulators/DianaMed/DianaMed_telep.xml b/roboimi/assets/models/manipulators/DianaMed/DianaMed_telep.xml
new file mode 100644
index 0000000..827dc65
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/DianaMed_telep.xml
@@ -0,0 +1,5 @@
+<mujoco model="diana_telep">
+    <!-- <compiler meshdir=".."/>    -->
+    <include file="./empty_world.xml" />
+    <include file="./DianaMed.xml"/>
+</mujoco>
diff --git a/roboimi/assets/models/manipulators/DianaMed/DianaMed_vs.urdf b/roboimi/assets/models/manipulators/DianaMed/DianaMed_vs.urdf
new file mode 100644
index 0000000..d4c89c5
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/DianaMed_vs.urdf
@@ -0,0 +1,655 @@
+<?xml version="1.0"?>
+<!-- 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="DianaMed_kdl">
+  <mujoco>
+    <compiler meshdir="../DianaMed/meshes/"
+    balanceinertia="true" 
+    discardvisual="false"/>
+  </mujoco> 
+  <link name="world">
+      <inertial>
+          <origin xyz="0.00 -0.000 -0.01" rpy="0 0 0" />
+          <mass value="100"/>
+          <inertia ixx="10"  ixy="0"  ixz="0" iyy="10" iyz="0" izz="10" />
+      </inertial>
+      <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+             <box size="5 5 0.0049" />
+          </geometry>
+          <material name="Cyan">
+             <color rgba="0.1 0.5 0.9 1.0"/>
+          </material>
+      </visual>
+      <collision>
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <geometry>
+            <box size="5 5 0.0049" />
+          </geometry>
+      </collision>
+  </link>
+  <link name="base_link">
+    <inertial>
+      <origin xyz="0.00 -0.000 0.00" rpy="0 0 0" />
+      <mass value="3.1064" />
+      <inertia 
+        ixx="0.014417"
+        ixy="5.8713E-06"
+        ixz="2.8276E-06"
+        iyy="0.013941"
+        iyz="-0.0002214"
+        izz="0.0089653" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j0" type="fixed">
+    <origin xyz="-0.8 0 0" rpy="0 0 0" />
+    <parent link="world" />
+    <child link="base_link" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="link1">
+    <inertial>
+      <origin xyz="4.57640929707459E-06 -0.0439746120959298 0.0236145135234007" rpy="0 0 0" />
+      <mass value="2.72698490401415" />
+      <inertia
+        ixx="0.0113371331079453"
+        ixy="-5.01180706615877E-07"
+        ixz="-3.66885437018535E-07"
+        iyy="0.0110327536309882"
+        iyz="-0.00220675575486915"
+        izz="0.00811200466883726" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j1" type="revolute">
+    <origin xyz="0.0 -0.00063474 0.2985" rpy="3.1416 0 0" />
+    <parent link="base_link" />
+    <child link="link1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="link2">
+    <inertial>
+      <origin xyz="8.26088421748694E-06 -0.0407280306293744 -0.0363117407161708" rpy="0 0 0" />
+      <mass value="3.18168266310627" />
+      <inertia
+        ixx="0.018072107435624"
+        ixy="-8.36079570379431E-08"
+        ixz="1.07670750003258E-07"
+        iyy="0.00961237211101437"
+        iyz="0.00435586439328804"
+        izz="0.016888058079289" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j2" type="revolute">
+    <origin xyz="0 0 -0.00092116" rpy="1.5708 0 0" />
+    <parent link="link1" />
+    <child link="link2" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.0148078870964089 -0.0159924912448304 0.127197681416813"
+        rpy="0 0 0" />
+      <mass
+        value="3.93616399327803" />
+      <inertia
+        ixx="0.0529699107504458"
+        ixy="0.00295925943864098"
+        ixz="0.0100824736258477"
+        iyy="0.0547048459134381"
+        iyz="-0.00795482322146361"
+        izz="0.013338555535485" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link3.STL" />
+        <!-- <mesh filename="package://link3.STL" />  -->
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j3" type="revolute">
+    <origin xyz="0 -0.45818 0.0005" rpy="-1.5708 0 0" />
+    <parent link="link2" />
+    <child link="link3" />
+    <axis xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link4">
+    <inertial>
+      <origin xyz="-0.0145884364859367 -0.0117112984562222 -0.0406158066673303" rpy="0 0 0" />
+      <mass value="1.58468985635004" />
+      <inertia
+        ixx="0.0038731409034452"
+        ixy="-0.000832775020978768"
+        ixz="0.000679010334754415"
+        iyy="0.00422597504724798"
+        iyz="0.00067347297662315"
+        izz="0.00439242812060777" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j4" type="revolute">
+    <origin xyz="0.064454 0.0005 -0.00070508" rpy="1.5708 0 0" />
+    <parent link="link3" />
+    <child link="link4" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="link5">
+    <inertial>
+      <origin xyz="-0.00209922282949576 0.0288296598531898 0.222844782709322" rpy="0 0 0" />
+      <mass value="1.92687822080767" />
+      <inertia
+        ixx="0.0293223924818884"
+        ixy="0.000126715279757269"
+        ixz="-0.000259318121034694"
+        iyy="0.0270589496231595"
+        iyz="0.00711831662518815"
+        izz="0.00414045111192326" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link5.STL" />
+        <!-- <mesh filename="package://link5.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link5.STL" />
+        <!-- <mesh filename="package://link5.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j5" type="revolute">
+    <origin xyz="-0.052254 -0.45668 0.0005" rpy="-1.5708 0 0" />
+    <parent link="link4" />
+    <child link="link5" />
+    <axis xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link6">
+    <inertial>
+      <origin xyz="0.038358 -0.00071885 -0.0021112" rpy="0 0 0" />
+      <mass value="1.7304" />
+      <inertia
+        ixx="0.0034648"
+        ixy="6.9318E-05"
+        ixz="-0.00014008"
+        iyy="0.0049229"
+        iyz="2.7274E-06"
+        izz="0.0052571" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link6.STL" />
+        <!-- <mesh filename="package://link6.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link6.STL" />
+        <!-- <mesh filename="package://link6.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j6" type="revolute">
+    <origin xyz="0 -0.005 -1.1713E-05" rpy="1.5708 0 -3.1416" />
+    <parent link="link5" />
+    <child link="link6" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link7">
+    <inertial>
+      <origin xyz="0.00068467 1.5999E-05 0.020834" rpy="0 0 0" />
+      <mass value="0.16696" />
+      <inertia
+        ixx="8.7537E-05"
+        ixy="1.9588E-09"
+        ixz="2.6332E-07"
+        iyy="8.8902E-05"
+        iyz="7.5347E-09"
+        izz="0.00014391" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link7.STL" />
+        <!-- <mesh filename="package://link7.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link7.STL" />
+        <!-- <mesh filename="package://link7.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j7" type="revolute">
+    <origin xyz="0.076728 -0.1059 0" rpy="-1.5708 0 0" />
+    <parent link="link6" />
+    <child link="link7" />
+    <axis xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+
+
+  <!-- aruco arm -->
+  <link name="base_link_aruco">
+    <inertial>
+      <origin xyz="0.00 -0.000 0.00" rpy="0 0 0" />
+      <mass value="3.1064" />
+      <inertia 
+        ixx="0.014417"
+        ixy="5.8713E-06"
+        ixz="2.8276E-06"
+        iyy="0.013941"
+        iyz="-0.0002214"
+        izz="0.0089653" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j0_aruco" type="fixed">
+    <origin xyz=".95 0 0" rpy="0 0 -3.1415" />
+    <parent link="world" />
+    <child link="base_link_aruco" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="link1_aruco">
+    <inertial>
+      <origin xyz="4.57640929707459E-06 -0.0439746120959298 0.0236145135234007" rpy="0 0 0" />
+      <mass value="2.72698490401415" />
+      <inertia
+        ixx="0.0113371331079453"
+        ixy="-5.01180706615877E-07"
+        ixz="-3.66885437018535E-07"
+        iyy="0.0110327536309882"
+        iyz="-0.00220675575486915"
+        izz="0.00811200466883726" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j1_aruco" type="revolute">
+    <origin xyz="0.0 -0.00063474 0.2985" rpy="3.1416 0 0" />
+    <parent link="base_link_aruco" />
+    <child link="link1_aruco" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="link2_aruco">
+    <inertial>
+      <origin xyz="8.26088421748694E-06 -0.0407280306293744 -0.0363117407161708" rpy="0 0 0" />
+      <mass value="3.18168266310627" />
+      <inertia
+        ixx="0.018072107435624"
+        ixy="-8.36079570379431E-08"
+        ixz="1.07670750003258E-07"
+        iyy="0.00961237211101437"
+        iyz="0.00435586439328804"
+        izz="0.016888058079289" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j2_aruco" type="revolute">
+    <origin xyz="0 0 -0.00092116" rpy="1.5708 0 0" />
+    <parent link="link1_aruco" />
+    <child link="link2_aruco" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link
+    name="link3_aruco">
+    <inertial>
+      <origin
+        xyz="0.0148078870964089 -0.0159924912448304 0.127197681416813"
+        rpy="0 0 0" />
+      <mass
+        value="3.93616399327803" />
+      <inertia
+        ixx="0.0529699107504458"
+        ixy="0.00295925943864098"
+        ixz="0.0100824736258477"
+        iyy="0.0547048459134381"
+        iyz="-0.00795482322146361"
+        izz="0.013338555535485" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link3.STL" />
+        <!-- <mesh filename="package://link3.STL" />  -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j3_aruco" type="revolute">
+    <origin xyz="0 -0.45818 0.0005" rpy="-1.5708 0 0" />
+    <parent link="link2_aruco" />
+    <child link="link3_aruco" />
+    <axis xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link4_aruco">
+    <inertial>
+      <origin xyz="-0.0145884364859367 -0.0117112984562222 -0.0406158066673303" rpy="0 0 0" />
+      <mass value="1.58468985635004" />
+      <inertia
+        ixx="0.0038731409034452"
+        ixy="-0.000832775020978768"
+        ixz="0.000679010334754415"
+        iyy="0.00422597504724798"
+        iyz="0.00067347297662315"
+        izz="0.00439242812060777" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j4_aruco" type="revolute">
+    <origin xyz="0.064454 0.0005 -0.00070508" rpy="1.5708 0 0" />
+    <parent link="link3_aruco" />
+    <child link="link4_aruco" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="link5_aruco">
+    <inertial>
+      <origin xyz="-0.00209922282949576 0.0288296598531898 0.222844782709322" rpy="0 0 0" />
+      <mass value="1.92687822080767" />
+      <inertia
+        ixx="0.0293223924818884"
+        ixy="0.000126715279757269"
+        ixz="-0.000259318121034694"
+        iyy="0.0270589496231595"
+        iyz="0.00711831662518815"
+        izz="0.00414045111192326" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link5.STL" />
+        <!-- <mesh filename="package://link5.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link5.STL" />
+        <!-- <mesh filename="package://link5.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j5_aruco" type="revolute">
+    <origin xyz="-0.052254 -0.45668 0.0005" rpy="-1.5708 0 0" />
+    <parent link="link4_aruco" />
+    <child link="link5_aruco" />
+    <axis xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link6_aruco">
+    <inertial>
+      <origin xyz="0.038358 -0.00071885 -0.0021112" rpy="0 0 0" />
+      <mass value="1.7304" />
+      <inertia
+        ixx="0.0034648"
+        ixy="6.9318E-05"
+        ixz="-0.00014008"
+        iyy="0.0049229"
+        iyz="2.7274E-06"
+        izz="0.0052571" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link6.STL" />
+        <!-- <mesh filename="package://link6.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link6.STL" />
+        <!-- <mesh filename="package://link6.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j6_aruco" type="revolute">
+    <origin xyz="0 -0.005 -1.1713E-05" rpy="1.5708 0 -3.1416" />
+    <parent link="link5_aruco" />
+    <child link="link6_aruco" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="link7_aruco">
+    <inertial>
+      <origin xyz="0.00068467 1.5999E-05 0.020834" rpy="0 0 0" />
+      <mass value="0.16696" />
+      <inertia
+        ixx="8.7537E-05"
+        ixy="1.9588E-09"
+        ixz="2.6332E-07"
+        iyy="8.8902E-05"
+        iyz="7.5347E-09"
+        izz="0.00014391" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link7.STL" />
+        <!-- <mesh filename="package://link7.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link7.STL" />
+        <!-- <mesh filename="package://link7.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="j7_aruco" type="revolute">
+    <origin xyz="0.076728 -0.1059 0" rpy="-1.5708 0 0" />
+    <parent link="link6_aruco" />
+    <child link="link7_aruco" />
+    <axis xyz="0 0 -1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>
diff --git a/roboimi/assets/models/manipulators/DianaMed/DualDianaMed.urdf b/roboimi/assets/models/manipulators/DianaMed/DualDianaMed.urdf
new file mode 100644
index 0000000..9935c3a
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/DualDianaMed.urdf
@@ -0,0 +1,711 @@
+<?xml version="1.0"?>
+<!-- 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="BiDianaMed_kdl">
+  <mujoco>
+    <compiler meshdir="../DianaMed/meshes/"
+    balanceinertia="true" 
+    discardvisual="false"/>
+  </mujoco> 
+  <link name="world">
+      <inertial>
+          <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+          <mass value="100"/>
+          <inertia ixx="10"  ixy="0"  ixz="0" iyy="10" iyz="0" izz="10" />
+      </inertial>
+      <visual>
+          <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+          <geometry>
+             <box size="5 5 0.00001" />
+          </geometry>
+          <material name="Cyan">
+             <color rgba="0.9 0.5 0.9 1.0"/>
+          </material>
+      </visual>
+      <collision>
+          <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+          <geometry>
+            <box size=".5 .5 0.00001" />
+          </geometry>
+      </collision>
+  </link>
+  <link name="left_base">
+      <inertial>
+          <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+          <mass value="100"/>
+          <inertia ixx="10"  ixy="0"  ixz="0" iyy="10" iyz="0" izz="10" />
+      </inertial>
+      <visual>
+          <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+          <geometry>
+             <box size=".5 .5 0.00001" />
+          </geometry>
+          <material name="Cyan">
+             <color rgba="0.1 0.5 0.9 1.0"/>
+          </material>
+      </visual>
+      <collision>
+          <origin xyz="-0.0 0.0 0.0" rpy="0 0 0"/>
+          <geometry>
+            <box size=".5 .5 0.00001" />
+          </geometry>
+      </collision>
+  </link>
+  <link name="right_base">
+      <inertial>
+          <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+          <mass value="100"/>
+          <inertia ixx="10"  ixy="0"  ixz="0" iyy="10" iyz="0" izz="10" />
+      </inertial>
+      <visual>
+          <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+          <geometry>
+             <box size=".5 .5 0.00001" />
+          </geometry>
+          <material name="Cyan">
+             <color rgba="0.1 0.5 0.9 1.0"/>
+          </material>
+      </visual>
+      <collision>
+          <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+          <geometry>
+            <box size=".5 .5 0.00001" />
+          </geometry>
+      </collision>
+  </link>
+  <joint name="left_world_j" type="fixed">
+    <origin xyz="-0.8 1.0 0.44" rpy="0 0 0" />
+    <parent link="world" />
+    <child link="left_base" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <joint name="right_world_j" type="fixed">
+    <origin xyz="0.8 1.0 0.44" rpy="0 0 -3.1415" />
+    <parent link="world"/>
+    <child link="right_base"/>
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="left_base_link">
+    <inertial>
+      <origin xyz="0.00 0.00 0.00" rpy="0 0 0" />
+      <mass value="3.1064" />
+      <inertia 
+        ixx="0.014417"
+        ixy="5.8713E-06"
+        ixz="2.8276E-06"
+        iyy="0.013941"
+        iyz="-0.0002214"
+        izz="0.0089653" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_j0" type="fixed">
+    <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+    <parent link="left_base" />
+    <child link="left_base_link" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="left_link1">
+    <inertial>
+      <origin xyz="4.57640929707459E-06 -0.0439746120959298 0.0236145135234007" rpy="0 0 0" />
+      <mass value="2.72698490401415" />
+      <inertia
+        ixx="0.0113371331079453"
+        ixy="-5.01180706615877E-07"
+        ixz="-3.66885437018535E-07"
+        iyy="0.0110327536309882"
+        iyz="-0.00220675575486915"
+        izz="0.00811200466883726" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_j1" type="revolute">
+    <origin xyz="0.0 -0.00063474 0.2985" rpy="3.1416 0 0" />
+    <parent link="left_base_link" />
+    <child link="left_link1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="left_link2">
+    <inertial>
+      <origin xyz="8.26088421748694E-06 -0.0407280306293744 -0.0363117407161708" rpy="0 0 0" />
+      <mass value="3.18168266310627" />
+      <inertia
+        ixx="0.018072107435624"
+        ixy="-8.36079570379431E-08"
+        ixz="1.07670750003258E-07"
+        iyy="0.00961237211101437"
+        iyz="0.00435586439328804"
+        izz="0.016888058079289" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_j2" type="revolute">
+    <origin xyz="0 0 -0.00092116" rpy="1.5708 0 0" />
+    <parent link="left_link1" />
+    <child link="left_link2" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link
+    name="left_link3">
+    <inertial>
+      <origin
+        xyz="0.0148078870964089 -0.0159924912448304 0.127197681416813"
+        rpy="0 0 0" />
+      <mass
+        value="3.93616399327803" />
+      <inertia
+        ixx="0.0529699107504458"
+        ixy="0.00295925943864098"
+        ixz="0.0100824736258477"
+        iyy="0.0547048459134381"
+        iyz="-0.00795482322146361"
+        izz="0.013338555535485" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link3.STL" />
+        <!-- <mesh filename="package://link3.STL" />  -->
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_j3" type="revolute">
+    <origin xyz="0 -0.45818 0.0005" rpy="-1.5708 0 0" />
+    <parent link="left_link2" />
+    <child link="left_link3" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="left_link4">
+    <inertial>
+      <origin xyz="-0.0145884364859367 -0.0117112984562222 -0.0406158066673303" rpy="0 0 0" />
+      <mass value="1.58468985635004" />
+      <inertia
+        ixx="0.0038731409034452"
+        ixy="-0.000832775020978768"
+        ixz="0.000679010334754415"
+        iyy="0.00422597504724798"
+        iyz="0.00067347297662315"
+        izz="0.00439242812060777" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_j4" type="revolute">
+    <origin xyz="0.064454 0.0005 -0.00070508" rpy="1.5708 0 0" />
+    <parent link="left_link3" />
+    <child link="left_link4" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="left_link5">
+    <inertial>
+      <origin xyz="-0.00209922282949576 0.0288296598531898 0.222844782709322" rpy="0 0 0" />
+      <mass value="1.92687822080767" />
+      <inertia
+        ixx="0.0293223924818884"
+        ixy="0.000126715279757269"
+        ixz="-0.000259318121034694"
+        iyy="0.0270589496231595"
+        iyz="0.00711831662518815"
+        izz="0.00414045111192326" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link5.STL" />
+        <!-- <mesh filename="package://link5.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link5.STL" />
+        <!-- <mesh filename="package://link5.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_j5" type="revolute">
+    <origin xyz="-0.052254 -0.45668 0.0005" rpy="-1.5708 0 0" />
+    <parent link="left_link4" />
+    <child link="left_link5" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="left_link6">
+    <inertial>
+      <origin xyz="0.038358 -0.00071885 -0.0021112" rpy="0 0 0" />
+      <mass value="1.7304" />
+      <inertia
+        ixx="0.0034648"
+        ixy="6.9318E-05"
+        ixz="-0.00014008"
+        iyy="0.0049229"
+        iyz="2.7274E-06"
+        izz="0.0052571" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link6.STL" />
+        <!-- <mesh filename="package://link6.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link6.STL" />
+        <!-- <mesh filename="package://link6.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_j6" type="revolute">
+    <origin xyz="0 -0.005 -1.1713E-05" rpy="1.5708 0 -3.1416" />
+    <parent link="left_link5" />
+    <child link="left_link6" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="left_link7">
+    <inertial>
+      <origin xyz="0.00068467 1.5999E-05 0.020834" rpy="0 0 0" />
+      <mass value="0.16696" />
+      <inertia
+        ixx="8.7537E-05"
+        ixy="1.9588E-09"
+        ixz="2.6332E-07"
+        iyy="8.8902E-05"
+        iyz="7.5347E-09"
+        izz="0.00014391" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link7.STL" />
+        <!-- <mesh filename="package://link7.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link7.STL" />
+        <!-- <mesh filename="package://link7.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_j7" type="revolute">
+    <origin xyz="0.076728 -0.1059 0" rpy="-1.5708 0 0" />
+    <parent link="left_link6" />
+    <child link="left_link7" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+
+
+  <!-- right arm -->
+  <link name="right_base_link">
+    <inertial>
+      <origin xyz="0.00 -0.000 0.00" rpy="0 0 0" />
+      <mass value="3.1064" />
+      <inertia 
+        ixx="0.014417"
+        ixy="5.8713E-06"
+        ixz="2.8276E-06"
+        iyy="0.013941"
+        iyz="-0.0002214"
+        izz="0.0089653" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_j0" type="fixed">
+    <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+    <parent link="right_base" />
+    <child link="right_base_link" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="right_link1">
+    <inertial>
+      <origin xyz="4.57640929707459E-06 -0.0439746120959298 0.0236145135234007" rpy="0 0 0" />
+      <mass value="2.72698490401415" />
+      <inertia
+        ixx="0.0113371331079453"
+        ixy="-5.01180706615877E-07"
+        ixz="-3.66885437018535E-07"
+        iyy="0.0110327536309882"
+        iyz="-0.00220675575486915"
+        izz="0.00811200466883726" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_j1" type="revolute">
+    <origin xyz="0.0 -0.00063474 0.2985" rpy="3.1416 0 0" />
+    <parent link="right_base_link" />
+    <child link="right_link1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="right_link2">
+    <inertial>
+      <origin xyz="8.26088421748694E-06 -0.0407280306293744 -0.0363117407161708" rpy="0 0 0" />
+      <mass value="3.18168266310627" />
+      <inertia
+        ixx="0.018072107435624"
+        ixy="-8.36079570379431E-08"
+        ixz="1.07670750003258E-07"
+        iyy="0.00961237211101437"
+        iyz="0.00435586439328804"
+        izz="0.016888058079289" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_j2" type="revolute">
+    <origin xyz="0 0 -0.00092116" rpy="1.5708 0 0" />
+    <parent link="right_link1" />
+    <child link="right_link2" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link
+    name="right_link3">
+    <inertial>
+      <origin
+        xyz="0.0148078870964089 -0.0159924912448304 0.127197681416813"
+        rpy="0 0 0" />
+      <mass
+        value="3.93616399327803" />
+      <inertia
+        ixx="0.0529699107504458"
+        ixy="0.00295925943864098"
+        ixz="0.0100824736258477"
+        iyy="0.0547048459134381"
+        iyz="-0.00795482322146361"
+        izz="0.013338555535485" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link3.STL" />
+        <!-- <mesh filename="package://link3.STL" />  -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_j3" type="revolute">
+    <origin xyz="0 -0.45818 0.0005" rpy="-1.5708 0 0" />
+    <parent link="right_link2" />
+    <child link="right_link3" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="right_link4">
+    <inertial>
+      <origin xyz="-0.0145884364859367 -0.0117112984562222 -0.0406158066673303" rpy="0 0 0" />
+      <mass value="1.58468985635004" />
+      <inertia
+        ixx="0.0038731409034452"
+        ixy="-0.000832775020978768"
+        ixz="0.000679010334754415"
+        iyy="0.00422597504724798"
+        iyz="0.00067347297662315"
+        izz="0.00439242812060777" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_j4" type="revolute">
+    <origin xyz="0.064454 0.0005 -0.00070508" rpy="1.5708 0 0" />
+    <parent link="right_link3" />
+    <child link="right_link4" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
+  </joint>
+  <link name="right_link5">
+    <inertial>
+      <origin xyz="-0.00209922282949576 0.0288296598531898 0.222844782709322" rpy="0 0 0" />
+      <mass value="1.92687822080767" />
+      <inertia
+        ixx="0.0293223924818884"
+        ixy="0.000126715279757269"
+        ixz="-0.000259318121034694"
+        iyy="0.0270589496231595"
+        iyz="0.00711831662518815"
+        izz="0.00414045111192326" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link5.STL" />
+        <!-- <mesh filename="package://link5.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link5.STL" />
+        <!-- <mesh filename="package://link5.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_j5" type="revolute">
+    <origin xyz="-0.052254 -0.45668 0.0005" rpy="-1.5708 0 0" />
+    <parent link="right_link4" />
+    <child link="right_link5" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="right_link6">
+    <inertial>
+      <origin xyz="0.038358 -0.00071885 -0.0021112" rpy="0 0 0" />
+      <mass value="1.7304" />
+      <inertia
+        ixx="0.0034648"
+        ixy="6.9318E-05"
+        ixz="-0.00014008"
+        iyy="0.0049229"
+        iyz="2.7274E-06"
+        izz="0.0052571" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link6.STL" />
+        <!-- <mesh filename="package://link6.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link6.STL" />
+        <!-- <mesh filename="package://link6.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_j6" type="revolute">
+    <origin xyz="0 -0.005 -1.1713E-05" rpy="1.5708 0 -3.1416" />
+    <parent link="right_link5" />
+    <child link="right_link6" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link name="right_link7">
+    <inertial>
+      <origin xyz="0.00068467 1.5999E-05 0.020834" rpy="0 0 0" />
+      <mass value="0.16696" />
+      <inertia
+        ixx="8.7537E-05"
+        ixy="1.9588E-09"
+        ixz="2.6332E-07"
+        iyy="8.8902E-05"
+        iyz="7.5347E-09"
+        izz="0.00014391" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link7.STL" />
+        <!-- <mesh filename="package://link7.STL" /> -->
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://DianaMed/meshes/link7.STL" />
+        <!-- <mesh filename="package://link7.STL" /> -->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_j7" type="revolute">
+    <origin xyz="0.076728 -0.1059 0" rpy="-1.5708 0 0" />
+    <parent link="right_link6" />
+    <child link="right_link7" />
+    <axis xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>
diff --git a/roboimi/assets/models/manipulators/DianaMed/MUJOCO_LOG.TXT b/roboimi/assets/models/manipulators/DianaMed/MUJOCO_LOG.TXT
new file mode 100644
index 0000000..4e13cca
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/MUJOCO_LOG.TXT
@@ -0,0 +1,6 @@
+Thu Oct 17 19:42:24 2024
+WARNING: mju_openResource: unknown file './bi_diana_insertion.xml'
+
+Thu Oct 17 19:42:45 2024
+WARNING: mju_openResource: unknown file './bi_diana_insertion.xml'
+
diff --git a/roboimi/assets/models/manipulators/DianaMed/bi_diana_transfer_ee.xml b/roboimi/assets/models/manipulators/DianaMed/bi_diana_transfer_ee.xml
new file mode 100644
index 0000000..b9c3fcb
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/bi_diana_transfer_ee.xml
@@ -0,0 +1,7 @@
+<mujoco model="bi_diana_tranfer">
+    <!-- <compiler meshdir=".."/>    -->
+    <include file="./empty_world.xml" />
+    <include file="./table_square.xml" />
+    <include file="./box.xml"/>
+    <include file="./BiDianaMed_rethink.xml"/>
+</mujoco>
diff --git a/roboimi/assets/models/manipulators/DianaMed/box.xml b/roboimi/assets/models/manipulators/DianaMed/box.xml
new file mode 100644
index 0000000..f351cc3
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/box.xml
@@ -0,0 +1,9 @@
+<mujoco model="box">
+  <worldbody>
+      <body name="box" pos="0.2 1.0 0.47">
+            <joint name="red_box_joint" type="free" frictionloss="0.01" />
+            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
+            <geom contype="1" conaffinity="1"  condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
+        </body>
+  </worldbody>
+</mujoco>
diff --git a/roboimi/assets/models/manipulators/DianaMed/empty_world.xml b/roboimi/assets/models/manipulators/DianaMed/empty_world.xml
new file mode 100644
index 0000000..a8a1c12
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/empty_world.xml
@@ -0,0 +1,34 @@
+<mujoco model="empty_world">
+<!--    <compiler angle="radian"/>-->
+<!--    <option timestep="0.0005" integrator="RK4" gravity="0 0 -9.81" impratio="10" apirate="1000" tolerance="1e-6" >-->
+<!--        <flag sensornoise="disable" contact="enable" energy="enable" gravity="enable"/>-->
+<!--    </option>-->
+    <compiler angle="radian" autolimits="true"/>
+
+    <option timestep="0.0005" integrator="RK4" gravity="0 0 -9.81" impratio="20" apirate="1000" tolerance="1e-6">
+        <flag contact="enable" energy="enable" gravity="enable"/>
+    </option>
+    
+    <visual>
+        <map force="0.1" zfar="30"/>
+        <rgba haze="0.15 0.25 0.35 1"/>
+        <!-- <rgba frustum="1.0 1.0 0.0 0.2"/> -->
+        <quality shadowsize="4096"/>
+        <headlight ambient="0.01 0.01 0.01"/>
+        <global offwidth="800" offheight="800"/>
+        <scale frustum='3'/>
+    </visual>
+
+    <asset>
+        <texture name="groundplane" type="2d" 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" reflectance="0.2" shininess="0.0" specular="0.0" texrepeat="5 5" texture="groundplane" texuniform="true"/>
+    </asset>
+
+    <worldbody>
+        <!-- Floor -->
+        <geom name="floor" condim="3" contype="1" conaffinity="1" material="groundplane" pos="0 0 0" size="200 200 .125" type="plane" priority="1"/>
+        <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
+        <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
+    </worldbody>
+</mujoco>
+
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/DiningTableSquare.stl b/roboimi/assets/models/manipulators/DianaMed/meshes/DiningTableSquare.stl
new file mode 100644
index 0000000..5d64e3a
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/DiningTableSquare.stl differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/base_link.STL b/roboimi/assets/models/manipulators/DianaMed/meshes/base_link.STL
new file mode 100644
index 0000000..a41eec7
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/base_link.STL differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/cam.STL b/roboimi/assets/models/manipulators/DianaMed/meshes/cam.STL
new file mode 100644
index 0000000..c77b1db
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/cam.STL differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/cambase.STL b/roboimi/assets/models/manipulators/DianaMed/meshes/cambase.STL
new file mode 100644
index 0000000..f691457
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/cambase.STL differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/connector_plate.stl b/roboimi/assets/models/manipulators/DianaMed/meshes/connector_plate.stl
new file mode 100644
index 0000000..6cd44d9
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/connector_plate.stl differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/electric_gripper_base.stl b/roboimi/assets/models/manipulators/DianaMed/meshes/electric_gripper_base.stl
new file mode 100644
index 0000000..8336d33
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/electric_gripper_base.stl differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/half_round_tip.stl b/roboimi/assets/models/manipulators/DianaMed/meshes/half_round_tip.stl
new file mode 100644
index 0000000..ec3fb67
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/half_round_tip.stl differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/link1.STL b/roboimi/assets/models/manipulators/DianaMed/meshes/link1.STL
new file mode 100644
index 0000000..8d033f9
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/link1.STL differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/link2.STL b/roboimi/assets/models/manipulators/DianaMed/meshes/link2.STL
new file mode 100644
index 0000000..3356ef6
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/link2.STL differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/link3.STL b/roboimi/assets/models/manipulators/DianaMed/meshes/link3.STL
new file mode 100644
index 0000000..abcc707
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/link3.STL differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/link4.STL b/roboimi/assets/models/manipulators/DianaMed/meshes/link4.STL
new file mode 100644
index 0000000..4881493
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/link4.STL differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/link5.STL b/roboimi/assets/models/manipulators/DianaMed/meshes/link5.STL
new file mode 100644
index 0000000..998b473
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/link5.STL differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/link6.STL b/roboimi/assets/models/manipulators/DianaMed/meshes/link6.STL
new file mode 100644
index 0000000..f10258c
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/link6.STL differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/link7.STL b/roboimi/assets/models/manipulators/DianaMed/meshes/link7.STL
new file mode 100644
index 0000000..77311c3
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/link7.STL differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/standard_narrow.stl b/roboimi/assets/models/manipulators/DianaMed/meshes/standard_narrow.stl
new file mode 100644
index 0000000..dc1cda3
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/standard_narrow.stl differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/stick.STL b/roboimi/assets/models/manipulators/DianaMed/meshes/stick.STL
new file mode 100644
index 0000000..87c94ed
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/stick.STL differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/meshes/tabletop.stl b/roboimi/assets/models/manipulators/DianaMed/meshes/tabletop.stl
new file mode 100644
index 0000000..ab35cdf
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/meshes/tabletop.stl differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/peg_socket.xml b/roboimi/assets/models/manipulators/DianaMed/peg_socket.xml
new file mode 100644
index 0000000..cdfc17a
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/peg_socket.xml
@@ -0,0 +1,20 @@
+<mujoco model="peg_socket">
+  <worldbody>
+      <body name="peg" pos="0.2 1.0 0.64">
+            <joint name="red_peg_joint" type="free" frictionloss="0.01" />
+            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg" rgba="1 0 0 1" />
+        </body>
+
+        <body name="socket" pos="-0.2 1.0 0.66">
+            <joint name="blue_socket_joint" type="free" frictionloss="0.01" />
+            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
+<!--            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg_ref" rgba="1 0 0 1" />-->
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 -0.02" size="0.06 0.018 0.002" type="box" name="socket-1" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 0.02" size="0.06 0.018 0.002" type="box" name="socket-2" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0.02 0" size="0.06 0.002 0.018" type="box" name="socket-3" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 -0.02 0" size="0.06 0.002 0.018" type="box" name="socket-4" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.04 0.01 0.01" type="box" name="pin" rgba="1 0 0 1" />
+        </body>
+  </worldbody>
+</mujoco>
diff --git a/roboimi/assets/models/manipulators/DianaMed/scene.xml b/roboimi/assets/models/manipulators/DianaMed/scene.xml
new file mode 100644
index 0000000..ed9f5e8
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/scene.xml
@@ -0,0 +1,38 @@
+<mujocoinclude>
+<!--    <option timestep='0.0025' iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="elliptic"/>-->
+
+    <asset>
+        <mesh file="meshes/tabletop.stl" name="tabletop" scale="0.001 0.001 0.001"/>
+    </asset>
+
+    <visual>
+        <map fogstart="1.5" fogend="5" force="0.1" znear="0.1"/>
+        <quality shadowsize="4096" offsamples="4"/>
+        <headlight ambient="0.4 0.4 0.4"/>
+    </visual>
+
+    <worldbody>
+        <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1'
+               dir='1 1 -1'/>
+        <light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='1 -1 1' dir='-1 1 -1'/>
+        <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1'
+               dir='0 -1 -1'/>
+
+        <body name="table" pos="0 .6 0">
+            <geom group="1" mesh="tabletop" pos="0 0 0" type="mesh" conaffinity="1" contype="1" name="table" rgba="0.2 0.2 0.2 1" />
+        </body>
+        <body name="midair" pos="0 .6 0.2">
+            <site pos="0 0 0" size="0.01" type="sphere" name="midair" rgba="1 0 0 0"/>
+        </body>
+
+        <camera name="left_pillar" pos="-0.5 0.2 0.6" fovy="78" mode="targetbody" target="table"/>
+        <camera name="right_pillar" pos="0.5 0.2 0.6" fovy="78" mode="targetbody" target="table"/>
+        <camera name="top" pos="0 0.6 0.8" fovy="78" mode="targetbody" target="table"/>
+        <camera name="angle" pos="0 0 0.6" fovy="78" mode="targetbody" target="table"/>
+        <camera name="front_close" pos="0 0.2 0.4" fovy="78" mode="targetbody" target="vx300s_left/camera_focus"/>
+
+    </worldbody>
+
+
+
+</mujocoinclude>
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/DianaMed/table_square.xml b/roboimi/assets/models/manipulators/DianaMed/table_square.xml
new file mode 100644
index 0000000..4813a53
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/table_square.xml
@@ -0,0 +1,12 @@
+<mujoco model="table_square">
+  <worldbody>
+      <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-3 -3 3' dir='1 1 -1'/>
+      <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='3 -3 3'  dir='-1 1 -1'/>
+      <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 3 3'   dir='0 -1 -1'/>
+      <body name="table" pos="0.0 1.0 0.44">
+          <geom name="table" condim="4" contype="1" conaffinity="1"  type="box" rgba="0.4 0.4 0.4 1" size="0.62 0.62 0.01" density="1500" friction="0.9 0.9 0.9"/>
+      </body>
+      <camera name="top" pos="0.0 1.0 2.0" fovy="44" mode="targetbody" target="table"/>
+      <camera name="angle" pos="0.0 0.0 2.0" fovy="37" mode="targetbody" target="table"/>
+  </worldbody>
+</mujoco>
diff --git a/roboimi/assets/models/manipulators/DianaMed/test_xml.py b/roboimi/assets/models/manipulators/DianaMed/test_xml.py
new file mode 100644
index 0000000..e3528c4
--- /dev/null
+++ b/roboimi/assets/models/manipulators/DianaMed/test_xml.py
@@ -0,0 +1,16 @@
+import mujoco
+
+xml_path = "./bi_diana_transfer_ee.xml"
+
+robot_model = mujoco.MjModel.from_xml_path(filename=xml_path, assets=None)
+robot_data = mujoco.MjData(robot_model)
+mujoco.mj_forward(robot_model, robot_data)
+for i in range(robot_model.njnt):
+    joint_name = mujoco.mj_id2name(robot_model, mujoco.mjtObj.mjOBJ_JOINT, i)
+    print(f"编号: {i}, 名称: {joint_name}")
+# for i in range(robot_model.nbody):
+#     body_name = mujoco.mj_id2name(robot_model, mujoco.mjtObj.mjOBJ_BODY, i)
+#     print(f"编号: {i}, 名称: {body_name}")
+print(robot_data.body("eef_left").xpos)
+print(robot_data.body("eef_right").xpos)
+print(robot_data.body("link6_right").xpos)
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/DianaMed/textures/aruco.png b/roboimi/assets/models/manipulators/DianaMed/textures/aruco.png
new file mode 100644
index 0000000..2f33757
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/textures/aruco.png differ
diff --git a/roboimi/assets/models/manipulators/DianaMed/textures/wood-tiles.png b/roboimi/assets/models/manipulators/DianaMed/textures/wood-tiles.png
new file mode 100644
index 0000000..01f66ec
Binary files /dev/null and b/roboimi/assets/models/manipulators/DianaMed/textures/wood-tiles.png differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link0.stl b/roboimi/assets/models/manipulators/UR5/meshes/link0.stl
new file mode 100644
index 0000000..72d25c1
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link0.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link1.stl b/roboimi/assets/models/manipulators/UR5/meshes/link1.stl
new file mode 100644
index 0000000..044810d
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link1.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link1_cap.stl b/roboimi/assets/models/manipulators/UR5/meshes/link1_cap.stl
new file mode 100644
index 0000000..26d044a
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link1_cap.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link1_connector.stl b/roboimi/assets/models/manipulators/UR5/meshes/link1_connector.stl
new file mode 100644
index 0000000..7080999
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link1_connector.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link2.stl b/roboimi/assets/models/manipulators/UR5/meshes/link2.stl
new file mode 100644
index 0000000..a3e7a90
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link2.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link2_cap.stl b/roboimi/assets/models/manipulators/UR5/meshes/link2_cap.stl
new file mode 100644
index 0000000..0df2c59
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link2_cap.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link2_connector.stl b/roboimi/assets/models/manipulators/UR5/meshes/link2_connector.stl
new file mode 100644
index 0000000..565f2e9
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link2_connector.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link2_tube.stl b/roboimi/assets/models/manipulators/UR5/meshes/link2_tube.stl
new file mode 100644
index 0000000..c26fa7d
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link2_tube.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link3_cap.stl b/roboimi/assets/models/manipulators/UR5/meshes/link3_cap.stl
new file mode 100644
index 0000000..bd9144a
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link3_cap.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link3_tube.stl b/roboimi/assets/models/manipulators/UR5/meshes/link3_tube.stl
new file mode 100644
index 0000000..614d550
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link3_tube.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link3a.stl b/roboimi/assets/models/manipulators/UR5/meshes/link3a.stl
new file mode 100644
index 0000000..d37120f
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link3a.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link3a_connector.stl b/roboimi/assets/models/manipulators/UR5/meshes/link3a_connector.stl
new file mode 100644
index 0000000..2419fcd
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link3a_connector.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link3b.stl b/roboimi/assets/models/manipulators/UR5/meshes/link3b.stl
new file mode 100644
index 0000000..9eb5c94
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link3b.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link3b_connector.stl b/roboimi/assets/models/manipulators/UR5/meshes/link3b_connector.stl
new file mode 100644
index 0000000..e3adb75
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link3b_connector.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link3b_connector2.stl b/roboimi/assets/models/manipulators/UR5/meshes/link3b_connector2.stl
new file mode 100644
index 0000000..79e3324
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link3b_connector2.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link4.stl b/roboimi/assets/models/manipulators/UR5/meshes/link4.stl
new file mode 100644
index 0000000..250d0ed
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diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link4_cap.stl b/roboimi/assets/models/manipulators/UR5/meshes/link4_cap.stl
new file mode 100644
index 0000000..d7bb39f
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link4_cap.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link4_connector.stl b/roboimi/assets/models/manipulators/UR5/meshes/link4_connector.stl
new file mode 100644
index 0000000..73c7e9c
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diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link5.stl b/roboimi/assets/models/manipulators/UR5/meshes/link5.stl
new file mode 100644
index 0000000..3b40138
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diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link5_cap.stl b/roboimi/assets/models/manipulators/UR5/meshes/link5_cap.stl
new file mode 100644
index 0000000..57475e4
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link5_cap.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link5_connector.stl b/roboimi/assets/models/manipulators/UR5/meshes/link5_connector.stl
new file mode 100644
index 0000000..9de33ab
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link5_connector.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link6.stl b/roboimi/assets/models/manipulators/UR5/meshes/link6.stl
new file mode 100644
index 0000000..670bcaf
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link6.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/link6_connector.stl b/roboimi/assets/models/manipulators/UR5/meshes/link6_connector.stl
new file mode 100644
index 0000000..a593ec0
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/link6_connector.stl differ
diff --git a/roboimi/assets/models/manipulators/UR5/meshes/ur5.skp b/roboimi/assets/models/manipulators/UR5/meshes/ur5.skp
new file mode 100644
index 0000000..f02e8bc
Binary files /dev/null and b/roboimi/assets/models/manipulators/UR5/meshes/ur5.skp differ
diff --git a/roboimi/assets/models/manipulators/vx300s/bi_vx300s_insert_jnt.xml b/roboimi/assets/models/manipulators/vx300s/bi_vx300s_insert_jnt.xml
new file mode 100644
index 0000000..11657c9
--- /dev/null
+++ b/roboimi/assets/models/manipulators/vx300s/bi_vx300s_insert_jnt.xml
@@ -0,0 +1,50 @@
+<mujoco>
+    <include file="scene.xml"/>
+    <include file="vx300s_dependencies.xml"/>
+    <worldbody>
+        <include file="vx300s_left.xml" />
+        <include file="vx300s_right.xml" />
+
+        <body name="peg" pos="0.2 0.5 0.05">
+            <joint name="red_peg_joint" type="free" frictionloss="0.01" />
+            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg" rgba="1 0 0 1" />
+        </body>
+
+        <body name="socket" pos="-0.2 0.5 0.05">
+            <joint name="blue_socket_joint" type="free" frictionloss="0.01" />
+            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
+<!--            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg_ref" rgba="1 0 0 1" />-->
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 -0.02" size="0.06 0.018 0.002" type="box" name="socket-1" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 0.02" size="0.06 0.018 0.002" type="box" name="socket-2" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0.02 0" size="0.06 0.002 0.018" type="box" name="socket-3" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 -0.02 0" size="0.06 0.002 0.018" type="box" name="socket-4" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.04 0.01 0.01" type="box" name="pin" rgba="1 0 0 1" />
+        </body>
+
+    </worldbody>
+
+    <actuator>
+        <position name="vx300s_left/waist_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800"  user="1" forcelimited="true" forcerange="-150 150"/>
+        <position name="vx300s_left/shoulder_t" ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600"  user="1" forcelimited="true" forcerange="-300 300"/>
+        <position name="vx300s_left/elbow_t" ctrllimited="true" ctrlrange="-1.76278 1.6057"  joint="vx300s_left/elbow" kp="800"  user="1" forcelimited="true" forcerange="-100 100"/>
+        <position name="vx300s_left/forearm_roll_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10"  user="1" forcelimited="true" forcerange="-100 100"/>
+        <position name="vx300s_left/wrist_angle_t" ctrllimited="true" ctrlrange="-1.8675 2.23402"  joint="vx300s_left/wrist_angle" kp="50"  user="1"/>
+        <position name="vx300s_left/wrist_rotate_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20"  user="1"/>
+        <position name="vx300s_left/left_finger_t" ctrllimited="true" ctrlrange="-0.01 0.057"      joint="vx300s_left/left_finger" kp="400"  user="1"/>
+        <position name="vx300s_left/right_finger_t" ctrllimited="true" ctrlrange="-0.057 -0.01"    joint="vx300s_left/right_finger" kp="400"  user="1"/>
+
+        <position name="vx300s_right/waist_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800"  user="1" forcelimited="true" forcerange="-150 150"/>
+        <position name="vx300s_right/shoulder_t" ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600"  user="1" forcelimited="true" forcerange="-300 300"/>
+        <position name="vx300s_right/elbow_t" ctrllimited="true" ctrlrange="-1.76278 1.6057"  joint="vx300s_right/elbow" kp="800"  user="1" forcelimited="true" forcerange="-100 100"/>
+        <position name="vx300s_right/forearm_roll_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10"  user="1" forcelimited="true" forcerange="-100 100"/>
+        <position name="vx300s_right/wrist_angle_t" ctrllimited="true" ctrlrange="-1.8675 2.23402"  joint="vx300s_right/wrist_angle" kp="50"  user="1"/>
+        <position name="vx300s_right/wrist_rotate_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20"  user="1"/>
+        <position name="vx300s_right/left_finger_t" ctrllimited="true" ctrlrange="-0.01 0.057"      joint="vx300s_right/left_finger" kp="400"  user="1"/>
+        <position name="vx300s_right/right_finger_t" ctrllimited="true" ctrlrange="-0.057 -0.01"    joint="vx300s_right/right_finger" kp="400"  user="1"/>
+
+    </actuator>
+
+
+
+</mujoco>
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/vx300s/bi_vx300s_insertion_ee.xml b/roboimi/assets/models/manipulators/vx300s/bi_vx300s_insertion_ee.xml
new file mode 100644
index 0000000..ed1e476
--- /dev/null
+++ b/roboimi/assets/models/manipulators/vx300s/bi_vx300s_insertion_ee.xml
@@ -0,0 +1,65 @@
+<mujoco>
+    <include file="scene.xml"/>
+    <include file="vx300s_dependencies.xml"/>
+
+    <equality>
+        <weld body1="mocap_left"  body2="vx300s_left/gripper_link"  solref="0.01 1" solimp=".25 .25 0.001" />
+        <weld body1="mocap_right" body2="vx300s_right/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
+    </equality>
+
+
+    <worldbody>
+        <include file="vx300s_left.xml" />
+        <include file="vx300s_right.xml" />
+
+        <body mocap="true" name="mocap_left" pos="0.095 0.50 0.425">
+            <!-- green -->
+            <site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_left_site1" rgba="0 1 0 1"/>
+            <site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_left_site2" rgba="0 1 0 1"/>
+            <site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_left_site3" rgba="0 1 0 1"/>
+        </body>
+
+        <body mocap="true" name="mocap_right" pos="-0.095 0.50 0.425">
+            <!-- red -->
+            <site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_right_site1" rgba="1 0 0 1"/>
+            <site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_right_site2" rgba="1 0 0 1"/>
+            <site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_right_site3" rgba="1 0 0 1"/>
+        </body>
+       
+
+        <body name="peg" pos="0.2 0.5 0.05">
+            <joint name="red_peg_joint" type="free" frictionloss="0.01" />
+            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg" rgba="1 0 0 1" />
+        </body>
+
+        <body name="socket" pos="-0.2 0.5 0.05">
+            <joint name="blue_socket_joint" type="free" frictionloss="0.01" />
+            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
+<!--            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg_ref" rgba="1 0 0 1" />-->
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 -0.02" size="0.06 0.018 0.002" type="box" name="socket-1" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 0.02" size="0.06 0.018 0.002" type="box" name="socket-2" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0.02 0" size="0.06 0.002 0.018" type="box" name="socket-3" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 -0.02 0" size="0.06 0.002 0.018" type="box" name="socket-4" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.04 0.01 0.01" type="box" name="pin" rgba="1 0 0 1" />
+        </body>
+
+    </worldbody>
+
+    <actuator>
+        <position name="vx300s_left/left_finger_t"   ctrllimited="true" ctrlrange="-0.01 0.057"   joint="vx300s_left/left_finger"   kp="400"  user="1"/>
+        <position name="vx300s_left/right_finger_t"  ctrllimited="true" ctrlrange="-0.057 -0.01" joint="vx300s_left/right_finger"  kp="400"  user="1"/>
+
+        <position name="vx300s_right/left_finger_t"  ctrllimited="true" ctrlrange="-0.01 0.057"   joint="vx300s_right/left_finger"  kp="400"  user="1"/>
+        <position name="vx300s_right/right_finger_t" ctrllimited="true" ctrlrange="-0.057 -0.01" joint="vx300s_right/right_finger" kp="400"  user="1"/>
+
+    </actuator>
+
+    <!-- <keyframe>
+        <key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024  
+        
+        0.2 0.5 0.05 1 0 0 0  -0.2 0.5 0.05 1 0 0 0"/>
+    </keyframe> -->
+<!-- 0 -0.96 1.16 0 -0.3 0 0.024 -0.024   -->
+
+</mujoco>
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/vx300s/bi_vx300s_transfer_ee.xml b/roboimi/assets/models/manipulators/vx300s/bi_vx300s_transfer_ee.xml
new file mode 100644
index 0000000..19062ec
--- /dev/null
+++ b/roboimi/assets/models/manipulators/vx300s/bi_vx300s_transfer_ee.xml
@@ -0,0 +1,48 @@
+<mujoco>
+    <include file="scene.xml"/>
+    <include file="vx300s_dependencies.xml"/>
+
+    <equality>
+        <weld body1="mocap_left" body2="vx300s_left/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
+        <weld body1="mocap_right" body2="vx300s_right/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
+    </equality>
+
+
+    <worldbody>
+        <include file="vx300s_left.xml" />
+        <include file="vx300s_right.xml" />
+
+        <body mocap="true" name="mocap_left" pos="0.095 0.50 0.425">
+            <site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_left_site1" rgba="0 0 1 1"/>
+            <site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_left_site2" rgba="0 0 1 1"/>
+            <site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_left_site3" rgba="0 0 1 1"/>
+        </body>
+        <body mocap="true" name="mocap_right" pos="-0.095 0.50 0.425">
+            <site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_right_site1" rgba="1 0 0 1"/>
+            <site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_right_site2" rgba="1 0 0 1"/>
+            <site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_right_site3" rgba="1 0 0 1"/>
+        </body>
+
+        <body name="box" pos="0.2 0.5 0.05">
+            <joint name="red_box_joint" type="free" frictionloss="0.01" />
+            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
+        </body>
+
+    </worldbody>
+
+    <actuator>
+        <position name="left_l_finger_t" ctrllimited="true" ctrlrange="-0.01 0.057" joint="vx300s_left/left_finger" kp="400"  user="1"/>
+        <position name="left_r_finger_t" ctrllimited="true" ctrlrange="-0.057 -0.01" joint="vx300s_left/right_finger" kp="400"  user="1"/>
+
+        <position name="right_l_finger_t" ctrllimited="true" ctrlrange="0.01 0.057" joint="vx300s_right/left_finger" kp="400"  user="1"/>
+        <position name="right_r_finger_t" ctrllimited="true" ctrlrange="-0.057 -0.01" joint="vx300s_right/right_finger" kp="400"  user="1"/>
+
+    </actuator>
+
+    <!-- <keyframe>
+        <key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024  0 -0.96 1.16 0 -0.3 0 0.024 -0.024  0.2 0.5 0.05 1 0 0 0"/>
+    </keyframe> -->
+
+
+</mujoco>
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/vx300s/bi_vx300s_transfer_jnt.xml b/roboimi/assets/models/manipulators/vx300s/bi_vx300s_transfer_jnt.xml
new file mode 100644
index 0000000..7a390da
--- /dev/null
+++ b/roboimi/assets/models/manipulators/vx300s/bi_vx300s_transfer_jnt.xml
@@ -0,0 +1,59 @@
+<mujoco>
+    <include file="scene.xml"/>
+    <include file="vx300s_dependencies.xml"/>
+    <worldbody>
+        <include file="vx300s_left.xml" />
+        <include file="vx300s_right.xml" />
+
+        <body name="box" pos="0.2 0.5 0.05">
+            <joint name="red_box_joint" type="free" frictionloss="0.01" />
+            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
+        </body>
+
+    </worldbody>
+
+    <actuator>
+        <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800"  user="1" forcelimited="true" forcerange="-150 150"/>
+        <position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600"  user="1" forcelimited="true" forcerange="-300 300"/>
+        <position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_left/elbow" kp="800"  user="1" forcelimited="true" forcerange="-100 100"/>
+        <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10"  user="1" forcelimited="true" forcerange="-100 100"/>
+        <position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_left/wrist_angle" kp="50"  user="1"/>
+        <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20"  user="1"/>
+        <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200"  user="1"/>
+        <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200"  user="1"/>
+
+        <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800"  user="1" forcelimited="true" forcerange="-150 150"/>
+        <position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600"  user="1" forcelimited="true" forcerange="-300 300"/>
+        <position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_right/elbow" kp="800"  user="1" forcelimited="true" forcerange="-100 100"/>
+        <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10"  user="1" forcelimited="true" forcerange="-100 100"/>
+        <position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_right/wrist_angle" kp="50"  user="1"/>
+        <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20"  user="1"/>
+        <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200"  user="1"/>
+        <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200"  user="1"/>
+
+    </actuator>
+    <actuator>
+        <position name="vx300s_left/waist_t"        ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800"  user="1" forcelimited="true" forcerange="-150 150"/>
+        <position name="vx300s_left/shoulder_t"     ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600"  user="1" forcelimited="true" forcerange="-300 300"/>
+        <position name="vx300s_left/elbow_t"        ctrllimited="true" ctrlrange="-1.76278 1.6057"  joint="vx300s_left/elbow" kp="800"  user="1" forcelimited="true" forcerange="-100 100"/>
+        <position name="vx300s_left/forearm_roll_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10"  user="1" forcelimited="true" forcerange="-100 100"/>
+        <position name="vx300s_left/wrist_angle_t"  ctrllimited="true" ctrlrange="-1.8675 2.23402"  joint="vx300s_left/wrist_angle" kp="50"  user="1"/>
+        <position name="vx300s_left/wrist_rotate_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20"  user="1"/>
+        <position name="vx300s_left/left_finger_t"  ctrllimited="true" ctrlrange="0.021 0.057"      joint="vx300s_left/left_finger" kp="200"  user="1"/>
+        <position name="vx300s_left/right_finger_t" ctrllimited="true" ctrlrange="-0.057 -0.021"    joint="vx300s_left/right_finger" kp="200"  user="1"/>
+
+        <position name="vx300s_right/waist_t"        ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800"  user="1" forcelimited="true" forcerange="-150 150"/>
+        <position name="vx300s_right/shoulder_t"     ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600"  user="1" forcelimited="true" forcerange="-300 300"/>
+        <position name="vx300s_right/elbow_t"        ctrllimited="true" ctrlrange="-1.76278 1.6057"  joint="vx300s_right/elbow" kp="800"  user="1" forcelimited="true" forcerange="-100 100"/>
+        <position name="vx300s_right/forearm_roll_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10"  user="1" forcelimited="true" forcerange="-100 100"/>
+        <position name="vx300s_right/wrist_angle_t"  ctrllimited="true" ctrlrange="-1.8675 2.23402"  joint="vx300s_right/wrist_angle" kp="50"  user="1"/>
+        <position name="vx300s_right/wrist_rotate_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20"  user="1"/>
+        <position name="vx300s_right/left_finger_t"  ctrllimited="true" ctrlrange="0.021 0.057"      joint="vx300s_right/left_finger" kp="200"  user="1"/>
+        <position name="vx300s_right/right_finger_t" ctrllimited="true" ctrlrange="-0.057 -0.021"    joint="vx300s_right/right_finger" kp="200"  user="1"/>
+
+    </actuator>
+
+
+
+</mujoco>
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/tabletop.stl b/roboimi/assets/models/manipulators/vx300s/meshes/tabletop.stl
new file mode 100644
index 0000000..ab35cdf
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/tabletop.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_10_custom_finger_left.stl b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_10_custom_finger_left.stl
new file mode 100644
index 0000000..534c7af
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_10_custom_finger_left.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_10_custom_finger_right.stl b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_10_custom_finger_right.stl
new file mode 100644
index 0000000..d6a492c
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_10_custom_finger_right.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_10_gripper_finger.stl b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_10_gripper_finger.stl
new file mode 100644
index 0000000..d6df86b
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_10_gripper_finger.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_11_ar_tag.stl b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_11_ar_tag.stl
new file mode 100644
index 0000000..193014b
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_11_ar_tag.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_1_base.stl b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_1_base.stl
new file mode 100644
index 0000000..5a7efda
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_1_base.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_2_shoulder.stl b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_2_shoulder.stl
new file mode 100644
index 0000000..dc22aa7
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_2_shoulder.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_3_upper_arm.stl b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_3_upper_arm.stl
new file mode 100644
index 0000000..111c586
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_3_upper_arm.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_4_upper_forearm.stl b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_4_upper_forearm.stl
new file mode 100644
index 0000000..8170d21
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_4_upper_forearm.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_5_lower_forearm.stl b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_5_lower_forearm.stl
new file mode 100644
index 0000000..39581f8
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_5_lower_forearm.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_6_wrist.stl b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_6_wrist.stl
new file mode 100644
index 0000000..ab8423e
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_6_wrist.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_7_gripper.stl b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_7_gripper.stl
new file mode 100644
index 0000000..043db9c
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_7_gripper.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_8_gripper_prop.stl b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_8_gripper_prop.stl
new file mode 100644
index 0000000..36099b4
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_8_gripper_prop.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_9_gripper_bar.stl b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_9_gripper_bar.stl
new file mode 100644
index 0000000..eba3caa
Binary files /dev/null and b/roboimi/assets/models/manipulators/vx300s/meshes/vx300s_9_gripper_bar.stl differ
diff --git a/roboimi/assets/models/manipulators/vx300s/scene.xml b/roboimi/assets/models/manipulators/vx300s/scene.xml
new file mode 100644
index 0000000..ed9f5e8
--- /dev/null
+++ b/roboimi/assets/models/manipulators/vx300s/scene.xml
@@ -0,0 +1,38 @@
+<mujocoinclude>
+<!--    <option timestep='0.0025' iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="elliptic"/>-->
+
+    <asset>
+        <mesh file="meshes/tabletop.stl" name="tabletop" scale="0.001 0.001 0.001"/>
+    </asset>
+
+    <visual>
+        <map fogstart="1.5" fogend="5" force="0.1" znear="0.1"/>
+        <quality shadowsize="4096" offsamples="4"/>
+        <headlight ambient="0.4 0.4 0.4"/>
+    </visual>
+
+    <worldbody>
+        <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1'
+               dir='1 1 -1'/>
+        <light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='1 -1 1' dir='-1 1 -1'/>
+        <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1'
+               dir='0 -1 -1'/>
+
+        <body name="table" pos="0 .6 0">
+            <geom group="1" mesh="tabletop" pos="0 0 0" type="mesh" conaffinity="1" contype="1" name="table" rgba="0.2 0.2 0.2 1" />
+        </body>
+        <body name="midair" pos="0 .6 0.2">
+            <site pos="0 0 0" size="0.01" type="sphere" name="midair" rgba="1 0 0 0"/>
+        </body>
+
+        <camera name="left_pillar" pos="-0.5 0.2 0.6" fovy="78" mode="targetbody" target="table"/>
+        <camera name="right_pillar" pos="0.5 0.2 0.6" fovy="78" mode="targetbody" target="table"/>
+        <camera name="top" pos="0 0.6 0.8" fovy="78" mode="targetbody" target="table"/>
+        <camera name="angle" pos="0 0 0.6" fovy="78" mode="targetbody" target="table"/>
+        <camera name="front_close" pos="0 0.2 0.4" fovy="78" mode="targetbody" target="vx300s_left/camera_focus"/>
+
+    </worldbody>
+
+
+
+</mujocoinclude>
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/vx300s/vx300s.xacro b/roboimi/assets/models/manipulators/vx300s/vx300s.xacro
new file mode 100644
index 0000000..a5480de
--- /dev/null
+++ b/roboimi/assets/models/manipulators/vx300s/vx300s.xacro
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro"
+  name="vx300s">
+
+  <xacro:arg name="prefix" default="a_bot" />
+
+  <!-- Robot -->
+  <xacro:include filename="$(find vx300s_description)/urdf/vx300s_macro.xacro" />
+
+  <!-- arm -->
+  <xacro:vx300s prefix="$(arg prefix)" hw_interface="hardware_interface/EffortJointInterface" />
+
+  <link name="world" />
+
+  <joint name="$(arg prefix)to_world" type="fixed">
+    <parent link="world" />
+    <child link="$(arg prefix)base_link" />
+    <origin xyz="0 0 0" />
+  </joint>
+
+</robot>
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/vx300s/vx300s_dependencies.xml b/roboimi/assets/models/manipulators/vx300s/vx300s_dependencies.xml
new file mode 100644
index 0000000..edb7c1d
--- /dev/null
+++ b/roboimi/assets/models/manipulators/vx300s/vx300s_dependencies.xml
@@ -0,0 +1,17 @@
+<mujocoinclude>
+    <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/>
+    <asset>
+        <mesh name="vx300s_1_base"                  file="meshes/vx300s_1_base.stl" scale="0.001 0.001 0.001" />
+        <mesh name="vx300s_2_shoulder"              file="meshes/vx300s_2_shoulder.stl" scale="0.001 0.001 0.001" />
+        <mesh name="vx300s_3_upper_arm"             file="meshes/vx300s_3_upper_arm.stl" scale="0.001 0.001 0.001" />
+        <mesh name="vx300s_4_upper_forearm"         file="meshes/vx300s_4_upper_forearm.stl" scale="0.001 0.001 0.001" />
+        <mesh name="vx300s_5_lower_forearm"         file="meshes/vx300s_5_lower_forearm.stl" scale="0.001 0.001 0.001" />
+        <mesh name="vx300s_6_wrist"                 file="meshes/vx300s_6_wrist.stl" scale="0.001 0.001 0.001" />
+        <mesh name="vx300s_7_gripper"               file="meshes/vx300s_7_gripper.stl" scale="0.001 0.001 0.001" />
+        <mesh name="vx300s_8_gripper_prop"          file="meshes/vx300s_8_gripper_prop.stl" scale="0.001 0.001 0.001" />
+        <mesh name="vx300s_9_gripper_bar"           file="meshes/vx300s_9_gripper_bar.stl" scale="0.001 0.001 0.001" />
+        <mesh name="vx300s_10_gripper_finger_left"  file="meshes/vx300s_10_custom_finger_left.stl" scale="0.001 0.001 0.001" />
+        <mesh name="vx300s_10_gripper_finger_right" file="meshes/vx300s_10_custom_finger_right.stl" scale="0.001 0.001 0.001" />
+    </asset>
+
+</mujocoinclude>
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/vx300s/vx300s_left.xml b/roboimi/assets/models/manipulators/vx300s/vx300s_left.xml
new file mode 100644
index 0000000..edd466c
--- /dev/null
+++ b/roboimi/assets/models/manipulators/vx300s/vx300s_left.xml
@@ -0,0 +1,61 @@
+
+<mujocoinclude>
+    <body name="vx300s_left" pos="-0.469 0.5 0">
+        <geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_1_base" name="vx300s_left/1_base" contype="0" conaffinity="0"/>
+        <body name="vx300s_left/shoulder_link" pos="0 0 0.079">
+            <inertial pos="0.000259233 -3.3552e-06 0.0116129" quat="-0.476119 0.476083 0.52279 0.522826" mass="0.798614" diaginertia="0.00120156 0.00113744 0.0009388" />
+            <joint name="vx300s_left/waist" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14158 3.14158" frictionloss="50" />
+            <geom pos="0 0 -0.003" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_2_shoulder" name="vx300s_left/2_shoulder" />
+            <body name="vx300s_left/upper_arm_link" pos="0 0 0.04805">
+                <inertial pos="0.0206949 4e-10 0.226459" quat="0 0.0728458 0 0.997343" mass="0.792592" diaginertia="0.00911338 0.008925 0.000759317" />
+                <joint name="vx300s_left/shoulder" pos="0 0 0" axis="0 1 0" limited="true" range="-1.85005 1.25664" frictionloss="60" />
+                <geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_3_upper_arm" name="vx300s_left/3_upper_arm"/>
+                <body name="vx300s_left/upper_forearm_link" pos="0.05955 0 0.3">
+                    <inertial pos="0.105723 0 0" quat="-0.000621631 0.704724 0.0105292 0.709403" mass="0.322228" diaginertia="0.00144107 0.00134228 0.000152047" />
+                    <joint name="vx300s_left/elbow" pos="0 0 0" axis="0 1 0" limited="true" range="-1.76278 1.6057" frictionloss="60" />
+                    <geom type="mesh" mesh="vx300s_4_upper_forearm" name="vx300s_left/4_upper_forearm" />
+                    <body name="vx300s_left/lower_forearm_link" pos="0.2 0 0">
+                        <inertial pos="0.0513477 0.00680462 0" quat="-0.702604 -0.0796724 -0.702604 0.0796724" mass="0.414823" diaginertia="0.0005911 0.000546493 0.000155707" />
+                        <joint name="vx300s_left/forearm_roll" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
+                        <geom quat="0 1 0 0" type="mesh" mesh="vx300s_5_lower_forearm" name="vx300s_left/5_lower_forearm"/>
+                        <body name="vx300s_left/wrist_link" pos="0.1 0 0">
+                            <inertial pos="0.046743 -7.6652e-06 0.010565" quat="-0.00100191 0.544586 0.0026583 0.8387" mass="0.115395" diaginertia="5.45707e-05 4.63101e-05 4.32692e-05" />
+                            <joint name="vx300s_left/wrist_angle" pos="0 0 0" axis="0 1 0" limited="true" range="-1.8675 2.23402" frictionloss="30" />
+                            <geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_6_wrist" name="vx300s_left/6_wrist" />
+                            <body name="vx300s_left/gripper_link" pos="0.069744 0 0">
+                                <body name="vx300s_left/camera_focus" pos="0.15 0 0.01">
+                                    <site pos="0 0 0" size="0.01" type="sphere" name="left_cam_focus" rgba="0 0 1 0"/>
+                                </body>
+                                <site pos="0.15 0 0" size="0.003 0.003 0.03" type="box" name="cali_left_site1" rgba="0 0 1 0"/>
+                                <site pos="0.15 0 0" size="0.003 0.03 0.003" type="box" name="cali_left_site2" rgba="0 0 1 0"/>
+                                <site pos="0.15 0 0" size="0.03 0.003 0.003" type="box" name="cali_left_site3" rgba="0 0 1 0"/>
+                                <camera name="left_wrist" pos="-0.1 0 0.16" fovy="20" mode="targetbody" target="vx300s_left/camera_focus"/>
+                                <inertial pos="0.0395662 -2.56311e-07 0.00400649" quat="0.62033 0.619916 -0.339682 0.339869" mass="0.251652" diaginertia="0.000689546 0.000650316 0.000468142" />
+                                <joint name="vx300s_left/wrist_rotate" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
+                                <geom pos="-0.02 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_7_gripper" name="vx300s_left/7_gripper" />
+                                <geom pos="-0.020175 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_9_gripper_bar" name="vx300s_left/9_gripper_bar" />
+                                <body name="vx300s_left/gripper_prop_link" pos="0.0485 0 0">
+                                    <inertial pos="0.002378 2.85e-08 0" quat="0 0 0.897698 0.440611" mass="0.008009" diaginertia="4.2979e-06 2.8868e-06 1.5314e-06" />
+<!--                                    <joint name="vx300s_left/gripper" pos="0 0 0" axis="1 0 0" frictionloss="30" />-->
+                                    <geom pos="-0.0685 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_8_gripper_prop" name="vx300s_left/8_gripper_prop" />
+                                </body>
+                                <body name="vx300s_left/left_finger_link" pos="0.0687 0.015 0">
+                                    <inertial pos="0.017344 -0.0060692 0" quat="0.449364 0.449364 -0.54596 -0.54596" mass="0.034796" diaginertia="2.48003e-05 1.417e-05 1.20797e-05" />
+                                    <!-- <joint name="vx300s_left/left_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.021 0.057" frictionloss="30" /> -->
+                                    <joint name="vx300s_left/left_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.01 0.057" frictionloss="30" />
+                                    <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 -0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_left" name="vx300s_left/10_left_gripper_finger"/>
+                                </body>
+                                <!-- <body name="vx300s_left/right_finger_link" pos="-0.0687 0 0"> -->
+                                <body name="vx300s_left/right_finger_link" pos="0.0687 -0.015 0">
+                                    <inertial pos="0.017344 0.0060692 0" quat="0.44937 -0.44937 0.545955 -0.545955" mass="0.034796" diaginertia="2.48002e-05 1.417e-05 1.20798e-05" />
+                                    <joint name="vx300s_left/right_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.057 -0.01" frictionloss="30" />
+                                    <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_right" name="vx300s_left/10_right_gripper_finger"/>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujocoinclude>
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/vx300s/vx300s_macro.xacro b/roboimi/assets/models/manipulators/vx300s/vx300s_macro.xacro
new file mode 100644
index 0000000..d79106f
--- /dev/null
+++ b/roboimi/assets/models/manipulators/vx300s/vx300s_macro.xacro
@@ -0,0 +1,404 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find vx300s_description)/urdf/vx300s_transmission.xacro" />
+  <xacro:include filename="$(find vx300s_description)/urdf/vx300s_gazebo.xacro" />
+  <material name="interbotix_black">
+    <texture filename="package://interbotix_xsarm_descriptions/meshes/interbotix_black.png" />
+  </material>
+
+  <xacro:macro name="vx300s" params="prefix hw_interface">
+
+    <xacro:vx300s_transmission prefix="${prefix}" hw_interface="${hw_interface}" />
+    <xacro:vx300s_gazebo prefix="${prefix}" />
+
+    <xacro:property name="pi_offset" value="0.00001" />
+
+    <link name="${prefix}base_link">
+      <visual>
+        <origin rpy="0 0 ${pi/2}" xyz="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_1_base.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="interbotix_black" />
+      </visual>
+      <collision>
+        <origin rpy="0 0 ${pi/2}" xyz="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_1_base.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="0 0 ${pi/2}" xyz="-0.0534774000 -0.0005625750 0.0205961000" />
+        <mass value="0.969034" />
+        <inertia ixx="0.0060240000" iyy="0.0017000000" izz="0.0071620000" ixy="0.0000471300"
+          ixz="0.0000038510" iyz="-0.0000841500" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}waist" type="revolute">
+      <axis xyz="0 0 1" />
+      <limit effort="10" lower="${-pi + pi_offset}" upper="${pi - pi_offset}" velocity="${pi}" />
+      <origin rpy="0 0 0" xyz="0 0 0.079" />
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}shoulder_link" />
+      <dynamics friction="0.1" />
+    </joint>
+
+    <link name="${prefix}shoulder_link">
+      <visual>
+        <origin rpy="0 0 ${pi/2}" xyz="0 0 -0.003" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_2_shoulder.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="interbotix_black" />
+      </visual>
+      <collision>
+        <origin rpy="0 0 ${pi/2}" xyz="0 0 -0.003" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_2_shoulder.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="0 0 ${pi/2}" xyz="0.0002592330 -0.0000033552 0.0116129000" />
+        <mass value="0.798614" />
+        <inertia ixx="0.0009388000" iyy="0.0011380000" izz="0.0012010000" ixy="-0.0000000010"
+          ixz="-0.0000000191" iyz="0.0000059568" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}shoulder" type="revolute">
+      <axis xyz="0 1 0" />
+      <limit effort="20" lower="${radians(-106)}" upper="${radians(72)}" velocity="${pi}" />
+      <origin rpy="0 0 0" xyz="0 0 0.04805" />
+      <parent link="${prefix}shoulder_link" />
+      <child link="${prefix}upper_arm_link" />
+      <dynamics friction="0.1" />
+    </joint>
+
+    <link name="${prefix}upper_arm_link">
+      <visual>
+        <origin rpy="0 0 ${pi/2}" xyz="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_3_upper_arm.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="interbotix_black" />
+      </visual>
+      <collision>
+        <origin rpy="0 0 ${pi/2}" xyz="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_3_upper_arm.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="0 0 ${pi/2}" xyz="0.0206949000 0.0000000004 0.2264590000" />
+        <mass value="0.792592" />
+        <inertia ixx="0.0089250000" iyy="0.0089370000" izz="0.0009357000" ixy="0.0000000000"
+          ixz="0.0000000000" iyz="0.0012010000" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}elbow" type="revolute">
+      <axis xyz="0 1 0" />
+      <limit effort="15" lower="${radians(-101)}" upper="${radians(92)}" velocity="${pi}" />
+      <origin rpy="0 0 0" xyz="0.05955 0 0.3" />
+      <parent link="${prefix}upper_arm_link" />
+      <child link="${prefix}upper_forearm_link" />
+      <dynamics friction="0.1" />
+    </joint>
+
+    <link name="${prefix}upper_forearm_link">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_4_upper_forearm.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="interbotix_black" />
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_4_upper_forearm.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.105723 0 0" />
+        <mass value="0.322228" />
+        <inertia ixx="0.0001524000" iyy="0.0013420000" izz="0.0014410000" ixy="-0.0000188300"
+          ixz="-0.0000084064" iyz="0.0000012564" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}forearm_roll" type="revolute">
+      <axis xyz="1 0 0" />
+      <limit effort="2" lower="${-pi + pi_offset}" upper="${pi - pi_offset}" velocity="${pi}" />
+      <origin rpy="0 0 0" xyz="0.2 0 0" />
+      <parent link="${prefix}upper_forearm_link" />
+      <child link="${prefix}lower_forearm_link" />
+      <dynamics friction="0.1" />
+    </joint>
+
+    <link name="${prefix}lower_forearm_link">
+      <visual>
+        <origin rpy="${pi} 0 0" xyz="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_5_lower_forearm.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="interbotix_black" />
+      </visual>
+      <collision>
+        <origin rpy="${pi} 0 0" xyz="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_5_lower_forearm.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="${pi} 0 0" xyz="0.0513477000 0.0068046200 0" />
+        <mass value="0.414823" />
+        <inertia ixx="0.0001753000" iyy="0.0005269000" izz="0.0005911000" ixy="-0.0000852800"
+          ixz="0" iyz="0" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}wrist_angle" type="revolute">
+      <axis xyz="0 1 0" />
+      <limit effort="5" lower="${radians(-107)}" upper="${radians(128)}" velocity="${pi}" />
+      <origin rpy="0 0 0" xyz="0.1 0 0" />
+      <parent link="${prefix}lower_forearm_link" />
+      <child link="${prefix}wrist_link" />
+      <dynamics friction="0.1" />
+    </joint>
+
+    <link name="${prefix}wrist_link">
+      <visual>
+        <origin rpy="0 0 ${pi/2}" xyz="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_6_wrist.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="interbotix_black" />
+      </visual>
+      <collision>
+        <origin rpy="0 0 ${pi/2}" xyz="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_6_wrist.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="0 0 ${pi/2}" xyz="0.0467430000 -0.0000076652 0.0105650000" />
+        <mass value="0.115395" />
+        <inertia ixx="0.0000463100" iyy="0.0000451400" izz="0.0000527000" ixy="0.0000000195"
+          ixz="0.0000000023" iyz="0.0000042002" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}wrist_rotate" type="revolute">
+      <axis xyz="1 0 0" />
+      <limit effort="1" lower="${-pi/2 + pi_offset}" upper="${pi/2 - pi_offset}" velocity="${pi}" />
+      <origin rpy="0 0 0" xyz="0.069744 0 0" />
+      <parent link="${prefix}wrist_link" />
+      <child link="${prefix}gripper_link" />
+      <dynamics friction="0.1" />
+    </joint>
+
+    <link name="${prefix}gripper_link">
+      <visual>
+        <origin rpy="0 0 ${pi/2}" xyz="-0.02 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_7_gripper.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="interbotix_black" />
+      </visual>
+      <collision>
+        <origin rpy="0 0 ${pi/2}" xyz="-0.02 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_7_gripper.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="0 0 ${pi/2}" xyz="0.0230010000 0.0000000000 0.0115230000" />
+        <mass value="0.097666" />
+        <inertia ixx="0.0000326800" iyy="0.0000243600" izz="0.0000211900" ixy="0.0000000000"
+          ixz="0.0000000000" iyz="0.0000002785" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}ee_arm" type="fixed">
+      <axis xyz="1 0 0" />
+      <origin rpy="0 0 0" xyz="0.042825 0 0" />
+      <parent link="${prefix}gripper_link" />
+      <child link="${prefix}ee_arm_link" />
+    </joint>
+
+    <!-- no visual -->
+    <link name="${prefix}ee_arm_link">
+      <inertial>
+        <mass value="0.001" />
+        <inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0" ixz="0" iyz="0" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}gripper_bar" type="fixed">
+      <axis xyz="1 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <parent link="${prefix}ee_arm_link" />
+      <child link="${prefix}gripper_bar_link" />
+    </joint>
+
+    <link name="${prefix}gripper_bar_link">
+      <visual>
+        <origin rpy="0 0 ${pi/2}" xyz="-0.063 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_9_gripper_bar.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="interbotix_black" />
+      </visual>
+      <collision>
+        <origin rpy="0 0 ${pi/2}" xyz="-0.063 0 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_9_gripper_bar.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="0 0 ${pi/2}" xyz="0.0067940000 -0.0000004272 -0.0007760000" />
+        <mass value="0.150986" />
+        <inertia ixx="0.0000789500" iyy="0.0003283000" izz="0.0003095000" ixy="-0.0000000012"
+          ixz="0.0000001341" iyz="0.0000017465" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}ee_bar" type="fixed">
+      <axis xyz="1 0 0" />
+      <origin rpy="0 0 0" xyz="0.025875 0 0" />
+      <parent link="${prefix}gripper_bar_link" />
+      <child link="${prefix}fingers_link" />
+    </joint>
+    
+    <!-- no visual -->
+    <link name="${prefix}fingers_link">
+      <inertial>
+        <mass value="0.001" />
+        <inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0" ixz="0" iyz="0" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}left_finger" type="prismatic">
+      <axis xyz="0 1 0" />
+      <limit effort="5" lower="0.021" upper="0.057" velocity="1" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <parent link="${prefix}fingers_link" />
+      <child link="${prefix}left_finger_link" />
+      <dynamics friction="0.1" />
+    </joint>
+
+    <link name="${prefix}left_finger_link">
+      <visual>
+        <origin rpy="${pi/2} ${-pi} ${pi/2}" xyz="-0.0404 -0.0575 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_10_gripper_finger.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="interbotix_black" />
+      </visual>
+      <collision>
+        <origin rpy="${pi/2} ${-pi} ${pi/2}" xyz="-0.0404 -0.0575 0" />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_10_gripper_finger.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="${pi} ${pi} ${pi/2}" xyz="0.0173440000 -0.0060692000 0.0000000000" />
+        <mass value="0.034796" />
+        <inertia ixx="0.0000243300" iyy="0.0000125500" izz="0.0000141700" ixy="-0.0000024004"
+          ixz="0.0000000000" iyz="0.0000000000" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}right_finger" type="prismatic">
+      <axis xyz="0 1 0" />
+      <limit effort="5" lower="-0.057" upper="-0.021" velocity="1" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <parent link="${prefix}fingers_link" />
+      <child link="${prefix}right_finger_link" />
+      <dynamics friction="0.1" />
+      <mimic joint="${prefix}left_finger" multiplier="-1" offset="0" />
+    </joint>
+
+    <link name="${prefix}right_finger_link">
+      <visual>
+        <origin rpy="${-pi/2} ${pi} ${-pi/2}" xyz="-0.0404 0.0575 0 " />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_10_gripper_finger.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="interbotix_black" />
+      </visual>
+      <collision>
+        <origin rpy="${-pi/2} ${pi} ${-pi/2}" xyz="-0.0404 0.0575 0 " />
+        <geometry>
+          <mesh
+            filename="package://interbotix_xsarm_descriptions/meshes/vx300s_meshes/vx300s_10_gripper_finger.stl"
+            scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="0 ${pi} ${pi/2}" xyz="0.0173440000 0.0060692000  0.0000000000" />
+        <mass value="0.034796" />
+        <inertia ixx="0.0000243300" iyy="0.0000125500" izz="0.0000141700" ixy="0.0000024001"
+          ixz="0.0000000000" iyz="0.0000000000" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}ee_gripper" type="fixed">
+      <axis xyz="1 0 0" />
+      <origin rpy="0 0 0" xyz="0.0385 0 0" />
+      <parent link="${prefix}fingers_link" />
+      <child link="${prefix}ee_gripper_link" />
+    </joint>
+
+    <!-- no visual -->    
+    <link name="${prefix}ee_gripper_link">
+      <inertial>
+        <mass value="0.001" />
+        <inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0" ixz="0" iyz="0" />
+      </inertial>
+    </link>
+
+
+  </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/roboimi/assets/models/manipulators/vx300s/vx300s_right.xml b/roboimi/assets/models/manipulators/vx300s/vx300s_right.xml
new file mode 100644
index 0000000..edebcd4
--- /dev/null
+++ b/roboimi/assets/models/manipulators/vx300s/vx300s_right.xml
@@ -0,0 +1,59 @@
+
+<mujocoinclude>
+    <body name="vx300s_right" pos="0.469 0.5 0" euler="0 0 3.1416">
+        <geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_1_base" name="vx300s_right/1_base" contype="0" conaffinity="0"/>
+        <body name="vx300s_right/shoulder_link" pos="0 0 0.079">
+            <inertial pos="0.000259233 -3.3552e-06 0.0116129" quat="-0.476119 0.476083 0.52279 0.522826" mass="0.798614" diaginertia="0.00120156 0.00113744 0.0009388" />
+            <joint name="vx300s_right/waist" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14158 3.14158" frictionloss="50" />
+            <geom pos="0 0 -0.003" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_2_shoulder" name="vx300s_right/2_shoulder" />
+            <body name="vx300s_right/upper_arm_link" pos="0 0 0.04805">
+                <inertial pos="0.0206949 4e-10 0.226459" quat="0 0.0728458 0 0.997343" mass="0.792592" diaginertia="0.00911338 0.008925 0.000759317" />
+                <joint name="vx300s_right/shoulder" pos="0 0 0" axis="0 1 0" limited="true" range="-1.85005 1.25664" frictionloss="60" />
+                <geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_3_upper_arm" name="vx300s_right/3_upper_arm"/>
+                <body name="vx300s_right/upper_forearm_link" pos="0.05955 0 0.3">
+                    <inertial pos="0.105723 0 0" quat="-0.000621631 0.704724 0.0105292 0.709403" mass="0.322228" diaginertia="0.00144107 0.00134228 0.000152047" />
+                    <joint name="vx300s_right/elbow" pos="0 0 0" axis="0 1 0" limited="true" range="-1.76278 1.6057" frictionloss="60" />
+                    <geom type="mesh" mesh="vx300s_4_upper_forearm" name="vx300s_right/4_upper_forearm" />
+                    <body name="vx300s_right/lower_forearm_link" pos="0.2 0 0">
+                        <inertial pos="0.0513477 0.00680462 0" quat="-0.702604 -0.0796724 -0.702604 0.0796724" mass="0.414823" diaginertia="0.0005911 0.000546493 0.000155707" />
+                        <joint name="vx300s_right/forearm_roll" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
+                        <geom quat="0 1 0 0" type="mesh" mesh="vx300s_5_lower_forearm" name="vx300s_right/5_lower_forearm"/>
+                        <body name="vx300s_right/wrist_link" pos="0.1 0 0">
+                            <inertial pos="0.046743 -7.6652e-06 0.010565" quat="-0.00100191 0.544586 0.0026583 0.8387" mass="0.115395" diaginertia="5.45707e-05 4.63101e-05 4.32692e-05" />
+                            <joint name="vx300s_right/wrist_angle" pos="0 0 0" axis="0 1 0" limited="true" range="-1.8675 2.23402" frictionloss="30" />
+                            <geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_6_wrist" name="vx300s_right/6_wrist" />
+                            <body name="vx300s_right/gripper_link" pos="0.069744 0 0">
+                                <body name="vx300s_right/camera_focus" pos="0.15 0 0.01">
+                                    <site pos="0 0 0" size="0.01" type="sphere" name="right_cam_focus" rgba="0 0 1 0"/>
+                                </body>
+                                <site pos="0.15 0 0" size="0.003 0.003 0.03" type="box" name="cali_right_site1" rgba="0 0 1 0"/>
+                                <site pos="0.15 0 0" size="0.003 0.03 0.003" type="box" name="cali_right_site2" rgba="0 0 1 0"/>
+                                <site pos="0.15 0 0" size="0.03 0.003 0.003" type="box" name="cali_right_site3" rgba="0 0 1 0"/>
+                                <camera name="right_wrist" pos="-0.1 0 0.16" fovy="20" mode="targetbody" target="vx300s_right/camera_focus"/>
+                                <inertial pos="0.0395662 -2.56311e-07 0.00400649" quat="0.62033 0.619916 -0.339682 0.339869" mass="0.251652" diaginertia="0.000689546 0.000650316 0.000468142" />
+                                <joint name="vx300s_right/wrist_rotate" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
+                                <geom pos="-0.02 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_7_gripper" name="vx300s_right/7_gripper" />
+                                <geom pos="-0.020175 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_9_gripper_bar" name="vx300s_right/9_gripper_bar" />
+                                <body name="vx300s_right/gripper_prop_link" pos="0.0485 0 0">
+                                    <inertial pos="0.002378 2.85e-08 0" quat="0 0 0.897698 0.440611" mass="0.008009" diaginertia="4.2979e-06 2.8868e-06 1.5314e-06" />
+<!--                                    <joint name="vx300s_right/gripper" pos="0 0 0" axis="1 0 0" frictionloss="30" />-->
+                                    <geom pos="-0.0685 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_8_gripper_prop" name="vx300s_right/8_gripper_prop" />
+                                </body>
+                                <body name="vx300s_right/left_finger_link" pos="0.0687 0.015 0">
+                                    <inertial pos="0.017344 -0.0060692 0" quat="0.449364 0.449364 -0.54596 -0.54596" mass="0.034796" diaginertia="2.48003e-05 1.417e-05 1.20797e-05" />
+                                    <joint name="vx300s_right/left_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.01 0.057" frictionloss="30" />
+                                    <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 -0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_left" name="vx300s_right/10_left_gripper_finger"/>
+                                </body>
+                                <body name="vx300s_right/right_finger_link" pos="0.0687 -0.015 0">
+                                    <inertial pos="0.017344 0.0060692 0" quat="0.44937 -0.44937 0.545955 -0.545955" mass="0.034796" diaginertia="2.48002e-05 1.417e-05 1.20798e-05" />
+                                    <joint name="vx300s_right/right_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.057 -0.01" frictionloss="30" />
+                                    <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_right" name="vx300s_right/10_right_gripper_finger"/>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujocoinclude>
\ No newline at end of file
diff --git a/roboimi/assets/objects/can/can.stl b/roboimi/assets/objects/can/can.stl
new file mode 100644
index 0000000..1d26732
Binary files /dev/null and b/roboimi/assets/objects/can/can.stl differ
diff --git a/roboimi/assets/objects/table/base_link.STL b/roboimi/assets/objects/table/base_link.STL
new file mode 100644
index 0000000..d9a8538
Binary files /dev/null and b/roboimi/assets/objects/table/base_link.STL differ
diff --git a/roboimi/assets/robots/__init__.py b/roboimi/assets/robots/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/roboimi/assets/robots/arm_base.py b/roboimi/assets/robots/arm_base.py
new file mode 100644
index 0000000..5cf94bd
--- /dev/null
+++ b/roboimi/assets/robots/arm_base.py
@@ -0,0 +1,152 @@
+import mujoco
+import numpy as np
+from roboimi.utils.KDL_utils import KDL_utils
+
+
+class ArmBase(object):
+    def __init__(self,
+                 name=None,
+                 urdf_path=None,
+                 xml_path=None,
+                 gripper=None
+                 ):
+        self.name = name
+        self.urdf_path = urdf_path
+        self.xml_path = xml_path
+        self.gripper = gripper
+        self.robot_model = mujoco.MjModel.from_xml_path(filename=self.xml_path, assets=None)
+        self.robot_data = mujoco.MjData(self.robot_model)
+        self.arms = []
+        # joint PD
+        self.kp = None
+        self.kd = None
+
+    class Arm(object):
+        """
+        internal class
+        using for precise arm state, double (left and right) or single
+        """
+        def __init__(self, ArmBase, state, urdf_path):
+            self.robot_model = ArmBase.robot_model
+            self.robot_data = ArmBase.robot_data
+            self.state = state
+            self.urdf_path = urdf_path
+            self.joint_index = []
+            self.gripper_index = []
+            self.actuator_index = []
+            self.base_joint_index = []
+            self.base_actuator_index = []
+            self.ee_mocap = None
+            self.ee = None
+            self.init_pose = None
+            self.init_base_pose = None
+            self.arm_base_link = None
+            self.arm_base_pos = None
+            self.arm_base_mat = None
+            self.name = None
+            self.interpolator = None
+            
+
+        @property 
+        def InitKDL(self):
+            if self.state == "single":
+                self.kdl_solver = KDL_utils(self.urdf_path)
+                self.kdl_solver.resetChain(self.arm_base_link,self.ee)
+            else:
+                print("failed to Init KDL !")
+
+        @property
+        def jnt_num(self):
+            return len(self.joint_index)
+        
+        @property
+        def gripper_num(self):
+            return len(self.gripper_index)
+
+        def getBaseJoint(self):
+            """base joints are the rotation joints in robot stand """
+            self.base_joint_index = [string for string in self.joint_index if 'base' in string]
+            return self.base_joint_index
+
+        def getBaseActuator(self):
+            """base actuators are the rotation motors in robot stand """
+            self.base_actuator_index = [string for string in self.actuator_index if 'base' in string]
+            return self.base_actuator_index
+
+        def setArmInitPose(self, initPose: np.array):
+            if len(initPose) == self.jnt_num:
+                self.init_pose = initPose
+            else:
+                raise ValueError("shape error for input pose vector")  # need to optimize
+
+        def setBaseInitPose(self, initBasePose: np.array):
+            if len(self.init_base_pose) == len(initBasePose):
+                self.init_base_pose = initBasePose
+            else:
+                raise ValueError("shape error for input pose vector")  # need to optimize
+
+        def get_Joint_index(self):
+            joint_index = []
+            for i in range(self.jnt_num):
+                joint_index.append(self.joint_index[i])
+            return joint_index
+
+        def get_Gripper_index(self):
+            '''
+            left then right
+            '''
+            gripper_index = []
+            for i in range(len(self.gripper_index)):
+                gripper_index.append(self.gripper_index[i])
+            return gripper_index
+
+        def get_Joint_id(self):
+            joint_id = []
+            for i in range(self.jnt_num):
+                joint_id.append(mujoco.mj_name2id(self.robot_model, mujoco.mjtObj.mjOBJ_JOINT, self.joint_index[i]))
+            return joint_id
+
+        def set_Arm_base_link(self,link):
+            self.arm_base_link = link
+
+        def set_Arm_ee_link(self,ee):
+            self.ee = ee
+
+        def get_Arm_bias_frame(self):
+            xpos = self.robot_data.body(self.arm_base_link).xpos
+            xmat = self.robot_data.body(self.arm_base_link).xmat
+            return xpos,xmat
+            
+        def CartPoseComp(self):
+            # print("arm_base_link===",self.arm_base_link)
+            arm_base_pos, arm_base_mat = self.get_Arm_bias_frame()
+            # print("in arm_base:",arm_base_pos)
+            self.arm_base_pos = self.kdl_solver.setVec(arm_base_pos)
+            self.arm_base_mat = self.kdl_solver.setRot(arm_base_mat).Inverse()
+            
+            return self.arm_base_pos, self.arm_base_mat
+
+        @property
+        def arm_qpos(self):
+            qpos_states = []
+            for i in range(self.jnt_num):
+                qpos_states.append(self.robot_data.joint(self.joint_index[i]).qpos[0])
+            return qpos_states
+
+        @arm_qpos.setter
+        def arm_qpos(self, value):
+            raise ValueError("You cannot set qpos directly.")
+
+        @property
+        def arm_qvel(self):
+            qvel_states = []
+            for i in range(self.jnt_num):
+                qvel_states.append(self.robot_data.joint(self.joint_index[i]).qvel[0])
+            return qvel_states
+
+        @property
+        def arm_torq(self):
+            qtorq_states = []
+            for i in range(self.jnt_num):
+                qtorq_states.append(self.robot_data.actuator(self.actuator_index[i]).ctrl[0])
+            return qtorq_states
diff --git a/roboimi/assets/robots/bidiana_med_vs.py b/roboimi/assets/robots/bidiana_med_vs.py
new file mode 100644
index 0000000..2151496
--- /dev/null
+++ b/roboimi/assets/robots/bidiana_med_vs.py
@@ -0,0 +1,46 @@
+from roboimi.assets.robots.arm_base import *
+import os
+
+
+
+class BiDianaMedVS(ArmBase):
+    def __init__(self):
+        super().__init__(
+            name="bidiana_med",
+            urdf_path= "./assets/models/manipulators/DianaMed/DianaMed_vs.urdf",
+            xml_path = "./assets/models/manipulators/DianaMed/BiDianaMed_vs.xml",
+            gripper=None
+        )
+        self.left_arm = self.Arm(self, 'single', self.urdf_path)
+        self.left_arm.set_Arm_base_link('base_link')
+        self.left_arm.set_Arm_ee_link('link7')
+        self.left_arm.InitKDL
+        self.left_arm.joint_index = ['0_j1', '0_j2', '0_j3', '0_j4', '0_j5', '0_j6', '0_j7']
+        self.left_arm.actuator_index = ['0_m1', '0_m2', '0_m3', '0_m4', '0_m5', '0_m6', '0_m7']
+        self.left_arm.setArmInitPose(self.init_qpos)
+        self.arms.append(self.left_arm)
+
+        self.aruco_arm = self.Arm(self, 'single',self.urdf_path)
+        self.aruco_arm.set_Arm_base_link('base_link_aruco')
+        self.aruco_arm.set_Arm_ee_link('link7_aruco')
+        self.aruco_arm.InitKDL
+        self.aruco_arm.joint_index = ['0_aruco_j1', '0_aruco_j2', '0_aruco_j3', '0_aruco_j4', '0_aruco_j5', '0_aruco_j6', '0_aruco_j7']
+        self.aruco_arm.actuator_index = ['0_aruco_m1', '0_aruco_m2', '0_aruco_m3', '0_aruco_m4', '0_aruco_m5', '0_aruco_m6', '0_aruco_m7']
+        self.aruco_arm.setArmInitPose(self.init_aruco_qpos)
+        self.arms.append(self.aruco_arm)
+        self.jnt_num = self.left_arm.jnt_num + self.aruco_arm.jnt_num
+
+        # joint PD
+        self.kp = 500 * np.ones(self.jnt_num)
+        self.kd = 44.57 * np.ones(self.jnt_num)
+        print("BiDianaMed init !")
+
+    @property
+    def init_qpos(self):
+        """ Robot's init joint position. """
+        return np.array([0.0, 0.0, 0.0, 1.5708, 0.0, 0.0, 0.0])
+    
+    @property
+    def init_aruco_qpos(self):
+        """ Robot's init joint position. """
+        return np.array([0.0, 0.0, 0.0, 1.5708, 0.0, 0.0, 0.0])
diff --git a/roboimi/assets/robots/diana_med.py b/roboimi/assets/robots/diana_med.py
new file mode 100644
index 0000000..234b50e
--- /dev/null
+++ b/roboimi/assets/robots/diana_med.py
@@ -0,0 +1,93 @@
+from roboimi.utils import RobotGenerator
+from roboimi.assets.robots.arm_base import *
+import os
+
+
+class DianaMed(ArmBase):
+    def __init__(self):
+        self.robot = RobotGenerator(
+            name='singlediana',
+            scene='default',
+            chassis=None,
+            manipulator='DianaMed',
+            gripper=None,
+            g2m_body=['0_link7']
+        )
+        self.load_aruco()
+        super().__init__(
+            name="diana_med",
+            urdf_path=os.path.join(os.path.dirname(__file__), "../models/manipulators/DianaMed/DianaMed.urdf"),
+            xml_path="./assets/singlediana.xml",
+            gripper=None
+        )
+        self.single_arm = self.Arm(self, 'single',self.urdf_path)
+        self.single_arm.joint_index = ['0_j1', '0_j2', '0_j3', '0_j4', '0_j5', '0_j6', '0_j7']
+        self.single_arm.actuator_index = ['0_a1', '0_a2', '0_a3', '0_a4', '0_a5', '0_a6', '0_a7']
+        self.single_arm.setArmInitPose(self.init_qpos)
+        self.arms.append(self.single_arm)
+
+        self.jnt_num = self.single_arm.jnt_num
+        # joint PD
+        self.kp = 500 * np.ones(self.jnt_num)
+        self.kd = 44.57 * np.ones(self.jnt_num)
+
+        print("DianaMed init !")
+
+    def load_aruco(self):
+        self.robot.add_texture('aruco', type='2d',
+                               file=os.path.join(os.path.dirname(__file__), '../textures/aruco.png'))
+        self.robot.add_material('aruco', texture='aruco', texrepeat='1 1', texuniform='false')
+        self.robot.add_body(node='worldbody',name='aruco')
+        self.robot.add_geom(node='aruco', name='aruco_box', pos='0.919 0 1.27', mass='0.001',
+                            euler="0 -1.57 0", size='0.05 0.05 0.001', type='box', material='aruco')
+        self.robot.add_joint(node='aruco', name='aruco_x' ,type='slide' ,axis='1 0 0')
+        self.robot.add_joint(node='aruco', name='aruco_y' ,type='slide' ,axis='0 1 0')
+        self.robot.add_joint(node='aruco', name='aruco_z' ,type='slide' ,axis='0 0 1')
+
+
+
+
+    @property
+    def init_qpos(self):
+        """ Robot's init joint position. """
+        # return np.array([0.0, -np.pi / 4.0, 0.0, np.pi / 2.0, 0.00, np.pi / 4.0, 0.0])
+        return np.array([0.0, 0.0, 0.0, 1.57, 0.0, 0.0, 0.0])
+
+
+class BiDianaMed(ArmBase):
+    def __init__(self):
+        super().__init__(
+            name="Bidiana",
+            urdf_path="./assets/models/manipulators/DianaMed/DualDianaMed.urdf",
+            xml_path="./assets/models/manipulators/DianaMed/bi_diana_transfer_ee.xml",
+            gripper=None
+        )
+        self.left_arm = self.Arm(self, 'single', self.urdf_path)
+        self.left_arm.set_Arm_base_link('left_base_link')
+        self.left_arm.set_Arm_ee_link('left_link7')
+        self.left_arm.InitKDL
+        self.left_arm.joint_index = ['l_j1','l_j2','l_j3','l_j4','l_j5','l_j6','l_j7']
+        self.left_arm.gripper_index = ['l_finger_joint_left','r_finger_joint_left']
+        self.left_arm.actuator_index = ['a1_l','a2_l','a3_l','a4_l','a5_l','a6_l','a7_l','gripper_left']
+        self.left_arm.setArmInitPose(self.init_qpos)
+        self.arms.append(self.left_arm)
+        self.right_arm = self.Arm(self,'single', self.urdf_path)
+        self.right_arm.set_Arm_base_link('right_base_link')
+        self.right_arm.set_Arm_ee_link('right_link7')
+        self.right_arm.InitKDL
+        self.right_arm.joint_index = ['r_j1','r_j2','r_j3','r_j4','r_j5','r_j6','r_j7']
+        self.right_arm.gripper_index = ['l_finger_joint_right','r_finger_joint_right']
+        self.right_arm.actuator_index = ['a1_r','a2_r','a3_r','a4_r','a5_r','a6_r','a7_r','gripper_right']
+        self.right_arm.setArmInitPose(self.init_qpos)
+        self.arms.append(self.right_arm)
+        self.jnt_num = self.left_arm.jnt_num + self.right_arm.jnt_num
+        # joint PD
+        self.kp = 500 * np.ones(self.jnt_num)
+        self.kd = 44.57 * np.ones(self.jnt_num)
+        # print("Double Diana init !")
+
+    @property
+    def init_qpos(self):
+        """ Robot's init joint position. """
+        return np.array([0.0, 0.0, 0.0, 1.57, 0.0, 0.0, 0.0])
+    
diff --git a/roboimi/assets/robots/diana_med_sig.py b/roboimi/assets/robots/diana_med_sig.py
new file mode 100644
index 0000000..1754992
--- /dev/null
+++ b/roboimi/assets/robots/diana_med_sig.py
@@ -0,0 +1,40 @@
+from roboimi.utils import RobotGenerator
+from roboimi.assets.robots.arm_base import *
+import os
+
+
+class DianaMed(ArmBase):
+    def __init__(self):
+        self.robot = RobotGenerator(
+            name='singlediana',
+            scene='default',
+            chassis=None,
+            manipulator='DianaMed',
+            gripper=None,
+            g2m_body=['0_link7']
+        )
+        super().__init__(
+            name="diana_med",
+            urdf_path=os.path.join(os.path.dirname(__file__), "../models/manipulators/DianaMed/DianaMed.urdf"),
+            xml_path="./assets/singlediana.xml",
+            gripper=None
+        )
+        self.single_arm = self.Arm(self, 'single',self.urdf_path)
+        self.single_arm.joint_index = ['0_j1', '0_j2', '0_j3', '0_j4', '0_j5', '0_j6', '0_j7']
+        self.single_arm.actuator_index = ['0_a1', '0_a2', '0_a3', '0_a4', '0_a5', '0_a6', '0_a7']
+        self.single_arm.setArmInitPose(self.init_qpos)
+        self.arms.append(self.single_arm)
+
+        self.jnt_num = self.single_arm.jnt_num
+        # joint PD
+        self.kp = 500 * np.ones(self.jnt_num)
+        self.kd = 44.57 * np.ones(self.jnt_num)
+
+        print("DianaMed init !")
+
+
+
+    @property
+    def init_qpos(self):
+        """ Robot's init joint position. """
+        return np.array([0.0, -np.pi / 4.0, 0.0, np.pi / 2.0, 0.00, np.pi / 4.0, 0.0])
diff --git a/roboimi/assets/robots/robot_base.py b/roboimi/assets/robots/robot_base.py
new file mode 100644
index 0000000..45116be
--- /dev/null
+++ b/roboimi/assets/robots/robot_base.py
@@ -0,0 +1,24 @@
+import numpy as np
+import os
+import sys
+
+
+class ModelBase(object):
+    def __init__(self):
+        self.arms = []
+        self.chasis = None
+        self.grippers = []
+        pass
+
+    def splicer(self):
+        pass
+
+
+    class arm(ArmBase):
+        pass
+
+    class mobile(MobileBase):
+        pass
+
+    class gripper(GripperBase):
+        pass
\ No newline at end of file
diff --git a/roboimi/assets/robots/vx300s.py b/roboimi/assets/robots/vx300s.py
new file mode 100644
index 0000000..307f08e
--- /dev/null
+++ b/roboimi/assets/robots/vx300s.py
@@ -0,0 +1,164 @@
+from roboimi.assets.robots.arm_base import *
+import os
+
+
+class VX300s_insert_ee(ArmBase):
+    def __init__(self):
+        super().__init__(
+            name="vx300s",
+            urdf_path=None,
+            xml_path="./assets/models/manipulators/vx300s/bi_vx300s_insertion_ee.xml",
+            gripper=None
+        )
+        self.left_arm = self.Arm(self, 'single', self.urdf_path)
+        self.left_arm.joint_index = ['vx300s_left/waist', 'vx300s_left/shoulder', 'vx300s_left/elbow', 'vx300s_left/forearm_roll', 'vx300s_left/wrist_angle','vx300s_left/wrist_rotate']
+        self.left_arm.gripper_index = ['vx300s_left/left_finger','vx300s_left/right_finger']
+        self.left_arm.actuator_index = ['vx300s_left/left_finger_t', 'vx300s_left/right_finger_t']
+        self.left_arm.setArmInitPose(np.array([0.5,0.0,0.0,0.0,0.0,0.0]))
+        self.left_arm.ee_mocap = 0
+        self.arms.append(self.left_arm)
+        self.right_arm = self.Arm(self,'single', self.urdf_path)
+        self.right_arm.joint_index = ['vx300s_right/waist', 'vx300s_right/shoulder', 'vx300s_right/elbow', 'vx300s_right/forearm_roll', 'vx300s_right/wrist_angle','vx300s_right/wrist_rotate']
+        self.right_arm.gripper_index = ['vx300s_right/left_finger','vx300s_right/right_finger']
+        self.right_arm.actuator_index = ['vx300s_right/left_finger_t', 'vx300s_right/right_finger_t']
+        self.right_arm.setArmInitPose(np.array([-0.5,0.0,0.0,0.0,0.0,0.0]))
+        self.right_arm.ee_mocap = 1
+        self.arms.append(self.right_arm)
+        self.jnt_num = self.left_arm.jnt_num + self.right_arm.jnt_num
+
+        # joint PD
+        # self.kp = 500 * np.ones(self.jnt_num)
+        # self.kd = 44.57 * np.ones(self.jnt_num)
+
+        # print("Dual VX300s init !")
+
+    @property
+    def init_qpos(self):
+        """ Robot's init joint position. """
+        return np.array([-0.5, 0.0, 0.0, 0.0, 0.0, 0.0])
+
+
+
+
+class VX300s_transfer_ee(ArmBase):
+    def __init__(self):
+        super().__init__(
+            name="vx300s",
+            urdf_path=None,
+            xml_path="./assets/models/manipulators/vx300s/bi_vx300s_transfer_ee.xml",
+            gripper=None
+        )
+        self.left_arm = self.Arm(self, 'single', self.urdf_path)
+        self.left_arm.joint_index = ['vx300s_left/waist', 'vx300s_left/shoulder', 'vx300s_left/elbow', 'vx300s_left/forearm_roll', 'vx300s_left/wrist_angle','vx300s_left/wrist_rotate']
+        self.left_arm.actuator_index = ['vx300s_left/left_finger_t', 'vx300s_left/right_finger_t']
+        self.left_arm.setArmInitPose(self.init_qpos)
+        self.left_arm.ee_mocap = 0
+        self.arms.append(self.left_arm)
+        self.right_arm = self.Arm(self,'single', self.urdf_path)
+        self.right_arm.joint_index = ['vx300s_right/waist', 'vx300s_right/shoulder', 'vx300s_right/elbow', 'vx300s_right/forearm_roll', 'vx300s_right/wrist_angle','vx300s_right/wrist_rotate']
+        self.right_arm.actuator_index = ['vx300s_right/left_finger_t', 'vx300s_right/right_finger_t']
+        self.right_arm.setArmInitPose(self.init_qpos)
+        self.right_arm.ee_mocap = 1
+        self.arms.append(self.right_arm)
+        self.jnt_num = self.left_arm.jnt_num + self.right_arm.jnt_num
+
+        print("VX300s left init !")
+
+    @property
+    def init_qpos(self):
+        """ Robot's init joint position. """
+        return np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+
+
+
+class VX300s_insert_jnt(ArmBase):
+    def __init__(self):
+        super().__init__(
+            name="vx300s",
+            urdf_path=None,
+            xml_path="./assets/models/manipulators/vx300s/bi_vx300s_insert_jnt.xml",
+            gripper=None
+        )
+        self.left_arm = self.Arm(self, 'single', self.urdf_path)
+        self.left_arm.joint_index = ['vx300s_left/waist', 'vx300s_left/shoulder', 'vx300s_left/elbow', 'vx300s_left/forearm_roll', 'vx300s_left/wrist_angle','vx300s_left/wrist_rotate']
+        self.left_arm.gripper_index = ['vx300s_left/left_finger','vx300s_left/right_finger']
+        self.left_arm.actuator_index = ['vx300s_left/waist_t',
+                                        'vx300s_left/shoulder_t',
+                                        'vx300s_left/elbow_t',
+                                        'vx300s_left/forearm_roll_t',
+                                        'vx300s_left/wrist_angle_t',
+                                        'vx300s_left/wrist_rotate_t',
+                                        'vx300s_left/left_finger_t', 
+                                        'vx300s_left/right_finger_t']
+        self.left_arm.setArmInitPose(self.init_qpos)
+        self.arms.append(self.left_arm)
+        self.right_arm = self.Arm(self,'single', self.urdf_path)
+        self.right_arm.joint_index = ['vx300s_right/waist', 'vx300s_right/shoulder', 'vx300s_right/elbow', 'vx300s_right/forearm_roll', 'vx300s_right/wrist_angle','vx300s_right/wrist_rotate']
+        self.right_arm.gripper_index = ['vx300s_right/left_finger','vx300s_right/right_finger']
+        self.right_arm.actuator_index = ['vx300s_right/waist_t',
+                                         'vx300s_right/shoulder_t',
+                                         'vx300s_right/elbow_t',
+                                         'vx300s_right/forearm_roll_t',
+                                         'vx300s_right/wrist_angle_t',
+                                         'vx300s_right/wrist_rotate_t',
+                                         'vx300s_right/left_finger_t',
+                                         'vx300s_right/right_finger_t']
+        self.right_arm.setArmInitPose(self.init_qpos)
+        self.arms.append(self.right_arm)
+        self.jnt_num = self.left_arm.jnt_num + self.right_arm.jnt_num
+
+        # joint PD
+        # self.kp = 500 * np.ones(self.jnt_num)
+        # self.kd = 44.57 * np.ones(self.jnt_num)
+
+        # print("Dual VX300s init !")
+
+    @property
+    def init_qpos(self):
+        """ Robot's init joint position. """
+        return np.array([-0.5, 0.0, 0.0, 0.0, 0.0, 0.0])
+    
+
+
+class VX300s_transfer_jnt(ArmBase):
+    def __init__(self):
+        super().__init__(
+            name="vx300s",
+            urdf_path=None,
+            xml_path="./assets/models/manipulators/vx300s/bi_vx300s_transfer_jnt.xml",
+            gripper=None
+        )
+        self.left_arm = self.Arm(self, 'single', self.urdf_path)
+        self.left_arm.joint_index = ['vx300s_left/waist', 'vx300s_left/shoulder', 'vx300s_left/elbow', 'vx300s_left/forearm_roll', 'vx300s_left/wrist_angle','vx300s_left/wrist_rotate']
+        self.left_arm.actuator_index = ['vx300s_left/waist_t',
+                                        'vx300s_left/shoulder_t',
+                                        'vx300s_left/elbow_t',
+                                        'vx300s_left/forearm_roll_t',
+                                        'vx300s_left/wrist_angle_t',
+                                        'vx300s_left/wrist_rotate_t',
+                                        'vx300s_left/left_finger_t', 
+                                        'vx300s_left/right_finger_t']
+        self.left_arm.setArmInitPose(self.init_qpos)
+        self.left_arm.ee_mocap = 0
+        self.arms.append(self.left_arm)
+        self.right_arm = self.Arm(self,'single', self.urdf_path)
+        self.right_arm.joint_index = ['vx300s_right/waist', 'vx300s_right/shoulder', 'vx300s_right/elbow', 'vx300s_right/forearm_roll', 'vx300s_right/wrist_angle','vx300s_right/wrist_rotate']
+        self.right_arm.actuator_index = ['vx300s_right/waist_t',
+                                         'vx300s_right/shoulder_t',
+                                         'vx300s_right/elbow_t',
+                                         'vx300s_right/forearm_roll_t',
+                                         'vx300s_right/wrist_angle_t',
+                                         'vx300s_right/wrist_rotate_t',
+                                         'vx300s_right/left_finger_t',
+                                         'vx300s_right/right_finger_t']
+        self.right_arm.setArmInitPose(self.init_qpos)
+        self.right_arm.ee_mocap = 1
+        self.arms.append(self.right_arm)
+        self.jnt_num = self.left_arm.jnt_num + self.right_arm.jnt_num
+
+        print("VX300s left init !")
+
+    @property
+    def init_qpos(self):
+        """ Robot's init joint position. """
+        return np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
\ No newline at end of file
diff --git a/roboimi/assets/scenes/default.xml b/roboimi/assets/scenes/default.xml
new file mode 100644
index 0000000..5556897
--- /dev/null
+++ b/roboimi/assets/scenes/default.xml
@@ -0,0 +1,27 @@
+<mujoco model="empty_floor">
+  <compiler angle="radian"/>
+  <option timestep="0.0005" gravity="0 0 -9.81">
+      <!-- <flag sensornoise="disable" contact="enable" energy="enable" gravity="enable"/> -->
+      <flag contact="enable" energy="enable" gravity="enable"/>
+  </option>
+  <asset>
+    <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
+    <texture file="../textures/wood-tiles.png" type="2d" name="texplane"/>
+    <material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true"/>
+  </asset>
+
+  <worldbody>
+    <!-- Floor -->
+    <geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/>
+    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
+    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
+    <!-- front view -->
+    <camera mode="fixed" name="frontview" pos="1.6 0 1.45" quat="0.56 0.43 0.43 0.56"/>
+    <!-- bird view -->
+    <camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071"/>
+    <!-- agent view -->
+    <camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653"/>
+    <!-- side view -->
+    <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
+  </worldbody>
+</mujoco>
diff --git a/roboimi/assets/scenes/grasping.xml b/roboimi/assets/scenes/grasping.xml
new file mode 100644
index 0000000..e8f32c8
--- /dev/null
+++ b/roboimi/assets/scenes/grasping.xml
@@ -0,0 +1,105 @@
+<mujoco model="empty_floor">
+    <compiler angle="radian"/>
+  <option timestep="0.0005" gravity="0 0 -9.81">
+      <!-- <flag sensornoise="disable" contact="enable" energy="enable" gravity="enable"/> -->
+      <flag contact="enable" energy="enable" gravity="enable"/>
+  </option>
+  <asset>
+    <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
+    <texture file="../textures/wood-tiles.png" type="2d" name="texplane"/>
+    <material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true"/>
+  </asset>
+  <asset>
+        <mesh file="../objects/can/can.stl" name="can_mesh" scale="1.0 1.0 1.5"/>
+        <texture file="../objects/can/can.png" name="tex-can"/>
+        <material name="coke" reflectance="0.7" texrepeat="5 5" texture="tex-can" texuniform="true"/>
+  </asset>
+
+  <asset>
+        <mesh file="../objects/can/can.stl" name="cer_mesh" scale="1.0 1.0 1.5"/>
+        <texture file="../objects/can/ceramic.png" name="tex-cer"/>
+        <material name="ceramic" reflectance="0.7" texrepeat="5 5" texture="tex-cer" texuniform="true"/>
+  </asset>
+
+  <asset>
+        <mesh file="../objects/can/can.stl" name="gla_mesh" scale="1.0 1.0 1.5"/>
+        <texture file="../objects/can/glass.png" name="tex-gla"/>
+        <material name="glass" reflectance="0.7" texrepeat="5 5" texture="tex-gla" texuniform="true"/>
+  </asset>
+
+
+  <worldbody>
+    <!-- Floor -->
+    <geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/>
+    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
+    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
+    <!-- front view -->
+    <camera mode="fixed" name="frontview" pos="1.6 0 1.45" quat="0.56 0.43 0.43 0.56"/>
+    <!-- bird view -->
+    <camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071"/>
+    <!-- agent view -->
+    <camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653"/>
+    <!-- side view -->
+    <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
+  
+    <body name="table" pos="1 0.3 0.35">
+        <geom name="table" type="box" size="0.7 1.0 0.05" rgba="0.9 0.9 0.9 1"/>
+        <joint type="free" stiffness="0" damping="0.01" frictionloss="0" armature="0"/>
+        <body name="leg1" pos="0.35 0.7 -0.2">
+            <geom name="leg1_geom" type="cylinder" size="0.05 0.15" rgba="0.5 0.5 0.5 1" />
+                <inertial pos="0 0 0" quat="1 0 0 0" mass="0.01" diaginertia="0.0008 0.0008 0.0008"/>
+            <!-- <joint type="hinge" axis="1 0 0" pos="0 0 0" /> -->
+        </body>
+        <body name="leg2" pos="-0.35 0.7 -0.2">
+            <geom name="leg2_geom" type="cylinder" size="0.05 0.15" rgba="0.5 0.5 0.5 1" />
+                <inertial pos="0 0 0" quat="1 0 0 0" mass="0.01" diaginertia="0.0008 0.0008 0.0008"/>
+            <!-- <joint type="hinge" axis="1 0 0" pos="0 0 0" /> -->
+        </body>
+        <body name="leg3" pos="0.35 -0.7 -0.2">
+            <geom name="leg3_geom" type="cylinder" size="0.05 0.15" rgba="0.5 0.5 0.5 1" />
+                <inertial pos="0 0 0" quat="1 0 0 0" mass="0.01" diaginertia="0.0008 0.0008 0.0008"/>
+            <!-- <joint type="hinge" axis="1 0 0" pos="0 0 0" /> -->
+        </body>
+        <body name="leg4" pos="-0.35 -0.7 -0.2">
+            <geom name="leg4_geom" type="cylinder" size="0.05 0.15" rgba="0.5 0.5 0.5 1" />
+                <inertial pos="0 0 0" quat="1 0 0 0" mass="0.01" diaginertia="0.0008 0.0008 0.0008"/>
+            <!-- <joint type="hinge" axis="1 0 0" pos="0 0 0" /> -->
+        </body>
+        </body>
+         <body pos="0.8 0.3 0.46" name="coke_can">
+			<joint name="object0:joint" type="free" damping="0.01" />
+			<!-- <geom name= 'coke_can' pos="0 0 0" size="0.02 0.02 0.02" type="box" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="coke" group="1" condim="4" /> -->
+			<!-- <geom pos="0 0 0" mesh="can_mesh" type="mesh" material="coke"   group="1"/> -->
+			<geom name= 'coke_can' pos="0 0 0" size="0.02 0.02 " type="box" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="coke" group="1" condim="4" />
+
+			<site name="coke_can" pos="0 0 0" quat='-0.707 0 0.707 0' size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere" />
+
+			<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="can_bottom_site"/>
+			<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="can_top_site"/>
+			<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="can_horizontal_radius_site"/>
+		</body>
+
+        <body pos="0.8 0.0 0.46" name="ceramic_can">
+			<joint name="object1:joint" type="free" damping="0.01" />
+			<geom name="ceramic_can" pos="0 0 0" mesh="can_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4"/>
+			<geom pos="0 0 0" mesh="can_mesh" type="mesh" material="ceramic"   group="1"/>
+			<site name="ceramic_can" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere" />
+
+			<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="ceramic_bottom_site"/>
+			<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="ceramic_top_site"/>
+			<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="ceramic_horizontal_radius_site"/>
+		</body>
+
+        <body pos="0.8 -0.2 0.46" name="glass_can">
+			<joint name="object2:joint" type="free" damping="0.01" />
+			<geom name="glass_can" pos="0 0 0" mesh="can_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="glass" group="1" condim="4"/>
+			<geom pos="0 0 0" mesh="can_mesh" type="mesh" material="glass"   group="1"/>
+			<site name="glass_can" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere" />
+	
+			<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="glass_bottom_site"/>
+			<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="glass_top_site"/>
+			<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="glass_horizontal_radius_site"/>
+		</body>
+  
+  </worldbody>
+</mujoco>
diff --git a/roboimi/assets/scenes/table.xml b/roboimi/assets/scenes/table.xml
new file mode 100644
index 0000000..b9cdae5
--- /dev/null
+++ b/roboimi/assets/scenes/table.xml
@@ -0,0 +1,62 @@
+<mujoco model="empty_floor">
+  <compiler angle="radian"/>
+  <option timestep="0.0005" gravity="0 0 -9.81">
+      <flag contact="enable" energy="enable" gravity="enable"/>
+  </option>
+  <asset>
+    <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
+    <texture file="../textures/wood-tiles.png" type="2d" name="texplane"/>
+    <material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true"/>
+    <mesh name="table" file="../objects/table/base_link.STL" scale="2.0 2.0 2.0"/>
+    <mesh file="../objects/can/can.stl" name="gla_mesh" scale="1.0 1.0 1.5"/>
+    <texture file="../objects/can/can.png" name="tex-can"/>
+    <material name="coke" reflectance="0.7" texrepeat="5 5" texture="tex-can" texuniform="true"/>
+    <texture file="../objects/can/glass.png" name="tex-gla"/>
+    <material name="glass" reflectance="0.7" texrepeat="5 5" texture="tex-gla" texuniform="true"/>
+    <texture file="../objects/can/ceramic.png" name="tex-cer"/>
+    <material name="ceramic" reflectance="0.7" texrepeat="5 5" texture="tex-cer" texuniform="true"/>
+  </asset>
+
+  <worldbody>
+    <!-- Floor -->
+    <geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/>
+    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
+    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
+    <!-- front view -->
+    <camera mode="fixed" name="frontview" pos="1.6 0 1.45" quat="0.56 0.43 0.43 0.56"/>
+    <!-- bird view -->
+    <camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071"/>
+    <!-- agent view -->
+    <camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653"/>
+    <!-- side view -->
+    <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
+    
+    
+    <body name="table" pos="1 0.3 0.35" quat="1 0 0 0">
+        <!-- <freejoint/> -->
+        <inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
+        <geom type="mesh"  rgba="1 1 1 1" mesh="table"/>
+    </body>
+
+    <body name="green" pos="0.8 -0.2 0.46">
+      <joint type="free" stiffness="0" damping="0.01" frictionloss="0" armature="0"/>
+      <geom pos="0 0 0" size="0.02 0.04" type="cylinder" friction="1 0.005 0.0001" material="glass"/>
+      <geom pos="0 0 0" size="0.02 0.04" type="cylinder" material="glass"/>
+    </body>
+
+    <body name="red" pos="0.8 0.3 0.46">
+      <joint type="free" stiffness="0" damping="0.01" frictionloss="0" armature="0"/>
+      <geom pos="0 0 0" size="0.02 0.04" type="cylinder" friction="1 0.005 0.0001" material="coke"/>
+      <geom pos="0 0 0" size="0.02 0.04" type="cylinder" material="coke"/>
+    </body>
+
+    <body name="gray" pos="0.8 0.0 0.46">
+      <joint type="free" stiffness="0" damping="0.01" frictionloss="0" armature="0"/>
+      <geom pos="0 0 0" size="0.02 0.04" type="cylinder" friction="1 0.005 0.0001" material="ceramic"/>
+      <geom pos="0 0 0" size="0.02 0.04" type="cylinder" material="ceramic"/>
+    </body>
+
+
+  </worldbody>
+
+</mujoco>
diff --git a/roboimi/assets/scenes/visual_imped.xml b/roboimi/assets/scenes/visual_imped.xml
new file mode 100644
index 0000000..e1302c8
--- /dev/null
+++ b/roboimi/assets/scenes/visual_imped.xml
@@ -0,0 +1,30 @@
+<mujoco model="empty_floor">
+  <compiler angle="radian"/>
+  <option timestep="0.0005" gravity="0 0 -9.81">
+      <flag contact="enable" energy="enable" gravity="enable"/>
+  </option>
+  <asset>
+    <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
+    <texture file="../textures/wood-tiles.png" type="2d" name="texplane"/>
+    <material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true"/>
+  </asset>
+
+  <worldbody>
+    <!-- Floor -->
+    <geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/>
+    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
+    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
+    <!-- front view -->
+    <camera mode="fixed" name="frontview" pos="1.6 0 1.45" quat="0.56 0.43 0.43 0.56"/>
+    <!-- bird view -->
+    <camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071"/>
+    <!-- agent view -->
+    <camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653"/>
+    <!-- side view -->
+    <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
+    <body name="object" pos="1.1 0 0.6">
+        <inertial pos="0.0 0.0 0.0" mass="10" diaginertia="0.184 0.1 0.1"/>
+        <geom type="box" size="0.05 0.2 0.2" friction="0.0000 0.000 0.0000" rgba="1 0 0 0.5"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/roboimi/assets/singlediana.xml b/roboimi/assets/singlediana.xml
new file mode 100644
index 0000000..15c03e8
--- /dev/null
+++ b/roboimi/assets/singlediana.xml
@@ -0,0 +1,81 @@
+<mujoco model="empty_floor">
+  <compiler angle="radian" />
+  <option timestep="0.0005" gravity="0 0 -9.81">
+      <flag contact="enable" energy="enable" gravity="disable" />
+  </option>
+  <asset>
+    <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
+    <texture file="./textures/wood-tiles.png" type="2d" name="texplane" />
+    <material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true" />
+  <mesh name="0_base_link" file="models/manipulators/DianaMed/meshes/base_link.STL" />
+        <mesh name="0_link1" file="models/manipulators/DianaMed/meshes/link1.STL" />
+        <mesh name="0_link2" file="models/manipulators/DianaMed/meshes/link2.STL" />
+        <mesh name="0_link3" file="models/manipulators/DianaMed/meshes/link3.STL" />
+        <mesh name="0_link4" file="models/manipulators/DianaMed/meshes/link4.STL" />
+        <mesh name="0_link5" file="models/manipulators/DianaMed/meshes/link5.STL" />
+        <mesh name="0_link6" file="models/manipulators/DianaMed/meshes/link6.STL" />
+        <mesh name="0_link7" file="models/manipulators/DianaMed/meshes/link7.STL" />
+    <texture name="aruco" type="2d" file="./textures/aruco.png" /><material name="aruco" texture="aruco" texrepeat="1 1" texuniform="false" /></asset>
+
+<worldbody>
+    
+    <geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane" />
+    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 8.0" specular="0.3 0.3 0.3" castshadow="false" />
+    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 8.0" specular="0.3 0.3 0.3" castshadow="false" />
+    
+    <camera mode="fixed" name="frontview" pos="1.6 0 1.45" quat="0.56 0.43 0.43 0.56" />
+    
+    <camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071" />
+    
+    <camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653" />
+    
+    <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
+  <body name="0_base_link">
+            <geom type="mesh" contype="0" conaffinity="0" group="1" pos="0 0 0" rgba="1 1 1 1" mesh="0_base_link" />
+            <body name="0_link1" pos="8.7058e-05 -0.00063474 0.2985" quat="-3.67321e-06 1 0 0">
+                <inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616" />
+                <joint name="0_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.56 2.56" damping="0.1" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="0_link1" />
+                <body name="0_link2" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
+                    <inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505" />
+                    <joint name="0_j2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.57 1.57" damping="0.1" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="0_link2" />
+                    <body name="0_link3" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
+                        <inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482" />
+                        <joint name="0_j3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.56 2.56" damping="0.1" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="0_link3" />
+                        <body name="0_link4" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
+                            <inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104" />
+                            <joint name="0_j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.1" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="0_link4" />
+                            <body name="0_link5" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
+                                <inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656" />
+                                <joint name="0_j5" pos="0 0 0" axis="0 0 1" limited="true" range="-3.05 3.05" damping="0.1" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="0_link5" />
+                                <body name="0_link6" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                                    <inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065" />
+                                    <joint name="0_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.05 0.523" damping="0.01" />
+                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="0_link6" />
+                                    <body name="0_link7" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
+                                        <joint name="0_j7" pos="0 0 0" axis="0 0 1" limited="true" range="-3.05 3.05" damping="0.01" />
+                                        <inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05" />
+                                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="0_link7" />
+                                        <geom type="mesh" rgba="1 1 1 1" mesh="0_link7" />
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    <!-- <body name="aruco"><geom name="aruco_box" pos="0.919 0 1.27" mass="0.001" euler="0 -1.57 0" size="0.05 0.05 0.001" type="box" material="aruco" /><joint name="aruco_x" type="slide" axis="1 0 0" /><joint name="aruco_y" type="slide" axis="0 1 0" /><joint name="aruco_z" type="slide" axis="0 0 1" /></body> -->
+</worldbody> 
+<actuator><motor name="0_a1" ctrllimited="true" ctrlrange="-100.0 100.0" joint="0_j1" />
+        <motor name="0_a2" ctrllimited="true" ctrlrange="-100.0 100.0" joint="0_j2" />
+        <motor name="0_a3" ctrllimited="true" ctrlrange="-100.0 100.0" joint="0_j3" />
+        <motor name="0_a4" ctrllimited="true" ctrlrange="-100.0 100.0" joint="0_j4" />
+        <motor name="0_a5" ctrllimited="true" ctrlrange="-100.0 100.0" joint="0_j5" />
+        <motor name="0_a6" ctrllimited="true" ctrlrange="-100.0 100.0" joint="0_j6" />
+        <motor name="0_a7" ctrllimited="true" ctrlrange="-100.0 100.0" joint="0_j7" />
+    </actuator><default /><contact /><sensor /><equality /></mujoco>
\ No newline at end of file
diff --git a/roboimi/assets/textures/aruco.png b/roboimi/assets/textures/aruco.png
new file mode 100644
index 0000000..2f33757
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diff --git a/roboimi/assets/textures/blue-wood.png b/roboimi/assets/textures/blue-wood.png
new file mode 100644
index 0000000..ffb9c3c
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diff --git a/roboimi/assets/textures/brass-ambra.png b/roboimi/assets/textures/brass-ambra.png
new file mode 100644
index 0000000..8c8f338
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diff --git a/roboimi/assets/textures/bread.png b/roboimi/assets/textures/bread.png
new file mode 100644
index 0000000..064ff13
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diff --git a/roboimi/assets/textures/can.png b/roboimi/assets/textures/can.png
new file mode 100644
index 0000000..1927142
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diff --git a/roboimi/assets/textures/ceramic.png b/roboimi/assets/textures/ceramic.png
new file mode 100644
index 0000000..cbfbd35
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diff --git a/roboimi/assets/textures/cereal.png b/roboimi/assets/textures/cereal.png
new file mode 100644
index 0000000..b078cdb
Binary files /dev/null and b/roboimi/assets/textures/cereal.png differ
diff --git a/roboimi/assets/textures/clay.png b/roboimi/assets/textures/clay.png
new file mode 100644
index 0000000..a24843a
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diff --git a/roboimi/assets/textures/cream-plaster.png b/roboimi/assets/textures/cream-plaster.png
new file mode 100644
index 0000000..b8e6c5b
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diff --git a/roboimi/assets/textures/dark-wood.png b/roboimi/assets/textures/dark-wood.png
new file mode 100644
index 0000000..69e7735
Binary files /dev/null and b/roboimi/assets/textures/dark-wood.png differ
diff --git a/roboimi/assets/textures/dirt.png b/roboimi/assets/textures/dirt.png
new file mode 100644
index 0000000..e56c97f
Binary files /dev/null and b/roboimi/assets/textures/dirt.png differ
diff --git a/roboimi/assets/textures/glass.png b/roboimi/assets/textures/glass.png
new file mode 100644
index 0000000..437c4c7
Binary files /dev/null and b/roboimi/assets/textures/glass.png differ
diff --git a/roboimi/assets/textures/gray-felt.png b/roboimi/assets/textures/gray-felt.png
new file mode 100644
index 0000000..caf26e3
Binary files /dev/null and b/roboimi/assets/textures/gray-felt.png differ
diff --git a/roboimi/assets/textures/gray-plaster.png b/roboimi/assets/textures/gray-plaster.png
new file mode 100644
index 0000000..6050efe
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diff --git a/roboimi/assets/textures/gray-woodgrain.png b/roboimi/assets/textures/gray-woodgrain.png
new file mode 100644
index 0000000..433046f
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diff --git a/roboimi/assets/textures/green-wood.png b/roboimi/assets/textures/green-wood.png
new file mode 100644
index 0000000..ec1d9ec
Binary files /dev/null and b/roboimi/assets/textures/green-wood.png differ
diff --git a/roboimi/assets/textures/lemon.png b/roboimi/assets/textures/lemon.png
new file mode 100644
index 0000000..abecefe
Binary files /dev/null and b/roboimi/assets/textures/lemon.png differ
diff --git a/roboimi/assets/textures/light-wood.png b/roboimi/assets/textures/light-wood.png
new file mode 100644
index 0000000..f63484f
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diff --git a/roboimi/assets/textures/metal.png b/roboimi/assets/textures/metal.png
new file mode 100644
index 0000000..3624f17
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diff --git a/roboimi/assets/textures/pink-plaster.png b/roboimi/assets/textures/pink-plaster.png
new file mode 100644
index 0000000..f1ae9df
Binary files /dev/null and b/roboimi/assets/textures/pink-plaster.png differ
diff --git a/roboimi/assets/textures/plaster-wall-4k.jpg b/roboimi/assets/textures/plaster-wall-4k.jpg
new file mode 100644
index 0000000..3f658c5
Binary files /dev/null and b/roboimi/assets/textures/plaster-wall-4k.jpg differ
diff --git a/roboimi/assets/textures/plywood-4k.jpg b/roboimi/assets/textures/plywood-4k.jpg
new file mode 100644
index 0000000..fff7f75
Binary files /dev/null and b/roboimi/assets/textures/plywood-4k.jpg differ
diff --git a/roboimi/assets/textures/red-wood.png b/roboimi/assets/textures/red-wood.png
new file mode 100644
index 0000000..ded747d
Binary files /dev/null and b/roboimi/assets/textures/red-wood.png differ
diff --git a/roboimi/assets/textures/soda.png b/roboimi/assets/textures/soda.png
new file mode 100644
index 0000000..a7569fb
Binary files /dev/null and b/roboimi/assets/textures/soda.png differ
diff --git a/roboimi/assets/textures/steel-brushed.png b/roboimi/assets/textures/steel-brushed.png
new file mode 100644
index 0000000..3eae1cc
Binary files /dev/null and b/roboimi/assets/textures/steel-brushed.png differ
diff --git a/roboimi/assets/textures/steel-scratched.png b/roboimi/assets/textures/steel-scratched.png
new file mode 100644
index 0000000..b32060b
Binary files /dev/null and b/roboimi/assets/textures/steel-scratched.png differ
diff --git a/roboimi/assets/textures/white-bricks.png b/roboimi/assets/textures/white-bricks.png
new file mode 100644
index 0000000..f119679
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diff --git a/roboimi/assets/textures/white-plaster.png b/roboimi/assets/textures/white-plaster.png
new file mode 100644
index 0000000..1448e1d
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diff --git a/roboimi/assets/textures/white_board.png b/roboimi/assets/textures/white_board.png
new file mode 100644
index 0000000..e6c7f34
Binary files /dev/null and b/roboimi/assets/textures/white_board.png differ
diff --git a/roboimi/assets/textures/wood-tiles.png b/roboimi/assets/textures/wood-tiles.png
new file mode 100644
index 0000000..01f66ec
Binary files /dev/null and b/roboimi/assets/textures/wood-tiles.png differ
diff --git a/roboimi/assets/textures/wood-varnished-panels.png b/roboimi/assets/textures/wood-varnished-panels.png
new file mode 100644
index 0000000..8003dd8
Binary files /dev/null and b/roboimi/assets/textures/wood-varnished-panels.png differ
diff --git a/roboimi/assets/textures/yellow-plaster.png b/roboimi/assets/textures/yellow-plaster.png
new file mode 100644
index 0000000..a59c551
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diff --git a/roboimi/camera_driver/unitree_cam_driver.py b/roboimi/camera_driver/unitree_cam_driver.py
new file mode 100644
index 0000000..996f01e
--- /dev/null
+++ b/roboimi/camera_driver/unitree_cam_driver.py
@@ -0,0 +1,57 @@
+import cv2
+import numpy as np
+
+def capture_and_split_camera(device=0, width=1856, height=800, fps=30):
+    cap = cv2.VideoCapture(0,cv2.CAP_V4L2)
+    # # cap.open('/dev/video0')
+    # cap.open(0)
+    # cap.open(0,apiPreference=cv2.CAP_DSHOW)
+    # cap.set(6, cv2.VideoWriter.fourcc('M', 'J', 'P', 'G'))
+    cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
+    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
+    cap.set(cv2.CAP_PROP_FPS, fps)
+
+    if not cap.isOpened():
+        print("Error: Could not open camera")
+        return
+    else:
+        print("camera detected !")
+        try:
+            while True:
+                ret, frame = cap.read()
+
+                if not ret:
+                    print("Error: Failed to capture frame")
+                    break
+
+                height, width = frame.shape[:2]
+                left_half = frame[:, :width//2]
+                right_half = frame[:, width//2:]
+
+                split_frame = np.hstack((left_half ,right_half))
+
+                cv2.imshow('Camera Frame', split_frame)
+
+                key = cv2.waitKey(10)
+                if key == 27:    # "q" 
+                    break
+
+        finally:
+            cap.release()
+            cv2.destroyAllWindows()
+
+def main():
+    capture_and_split_camera(
+        device=0,      # Camera device node
+        width=1856,    # Frame width
+        height=800,    # Frame height
+        fps=30         # Frames per second
+    )
+    # capture_and_split_camera(
+    #     device=0,      # Camera device node
+    #     width=1856/2,    # Frame width
+    #     height=800/2,    # Frame height
+    #     fps=30*2         # Frames per second
+    # )
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/roboimi/demos/config.yaml b/roboimi/demos/config.yaml
new file mode 100644
index 0000000..16ab129
--- /dev/null
+++ b/roboimi/demos/config.yaml
@@ -0,0 +1,60 @@
+
+# general settings
+onscreen_render: false
+eval: 1
+ckpt_dir: "ckpt_models"  
+num_epochs: 20000
+temporal_agg: false     
+
+# policy_class: "ACT"
+# backbone: 'resnet18'
+policy_class: "ACTTV"
+backbone: 'dino_v2'
+
+seed: 0
+real_robot: 0
+# task_name: "sim_transfer_cube"
+task_name: "sim_transfer"   
+
+
+images_render_height: 480
+images_render_width: 640
+
+
+# DOF settings
+left_arm_DOF_number: 6
+right_arm_DOF_number: 6
+left_qpos_raw: 8
+right_qpos_raw: 8
+left_qvel_raw: 8
+right_qvel_raw: 8
+
+
+
+# record settings
+dataset_dir:      # leave empty here by default
+num_episodes:     # leave empty here by default
+episode_len:      # leave empty here by default
+camera_names: []  # leave empty here by default
+xml_dir:          # leave empty here by default
+
+# transformer settings
+batch_size: 15                          
+state_dim: 16            
+action_dim: 16      
+lr_backbone: 0.00001        
+
+enc_layers: 4            
+dec_layers: 7            
+nheads: 8                 
+
+qpos_noise_std: 0
+DT: 0.02
+
+# DO NOT CHANGE IF UNNECESSARY
+lr: 0.00001             
+kl_weight: 100              
+chunk_size: 10            
+hidden_dim: 512           
+dim_feedforward: 3200   
+
diff --git a/roboimi/demos/diana_eval.py b/roboimi/demos/diana_eval.py
new file mode 100644
index 0000000..1c85258
--- /dev/null
+++ b/roboimi/demos/diana_eval.py
@@ -0,0 +1,119 @@
+import torch
+import os
+import numpy as np
+import matplotlib.pyplot as plt
+from tqdm import tqdm
+from einops import rearrange
+from roboimi.utils.utils import set_seed
+from roboimi.utils.io_utils import IOUtils
+from roboimi.utils.model_interface import ModelInterface
+from roboimi.envs.double_pos_ctrl_env import make_sim_env
+# from visualize_episodes import save_videos
+from roboimi.utils.act_ex_utils import sample_transfer_pose
+
+
+
+#should be added into IOUtils
+def get_image(obs,camera_names):
+    curr_images = []
+    for cam_name in camera_names:
+        curr_image = rearrange(obs['images'][cam_name], 'h w c -> c h w')
+        curr_images.append(curr_image)
+    curr_image = np.stack(curr_images, axis=0)
+    curr_image = torch.from_numpy(curr_image / 255.0).float().cuda().unsqueeze(0)
+    return curr_image
+
+
+def eval_bc(config, ckpt_name='policy_best.ckpt', save_episode=True):
+    set_seed(1)
+    model_interface = ModelInterface(config)
+    model_interface.setup()
+    policy = IOUtils.load_policy(config, ckpt_name)
+    stats = IOUtils.load_stats(config['ckpt_dir'])
+    num_rollouts = 3
+    episode_returns = []
+    highest_rewards = []
+    
+    
+    
+   
+    
+    run_episode(config, policy, stats,
+                save_episode,num_rollouts)
+    # episode_return, episode_highest_reward = run_episode(config, policy, stats,
+    #                                                           save_episode,num_rollouts)
+    
+
+    
+
+def run_episode(config, policy, stats, save_episode,num_rollouts):
+
+    if 'sim_transfer' in config['task_name']:
+        task_name =  'sim_transfer'  #config['task_name']
+        env = make_sim_env(task_name)
+    
+    max_timesteps = config['episode_len']
+    max_timesteps = int(max_timesteps * 1)
+    pre_process = lambda s_qpos: (s_qpos - stats['qpos_mean']) / stats['qpos_std']
+    post_process = lambda a: a * stats['action_std'] + stats['action_mean']
+    box_pos = sample_transfer_pose()
+    for rollout_id in range(num_rollouts):
+        print("\nrollout_id===",rollout_id,"\n")
+        image_list = []
+        rewards = []
+        query_frequency = config['policy_config'].get('num_queries', 1)
+        print("query_freq =====",query_frequency)
+        env.reset(box_pos)
+        with torch.inference_mode():
+            for t in range(700):
+                image_list.append(env._get_image_obs()['images'] if 'images' in env._get_image_obs() else {print("img error")})
+                qpos_numpy = np.array(env._get_qpos_obs()['qpos'])
+                qpos = pre_process(qpos_numpy)
+                qpos = torch.from_numpy(qpos).float().cuda().unsqueeze(0)
+                curr_image = get_image(env._get_image_obs(), config['camera_names'])
+                if config['policy_class'] == "ACT" or "ACTTV":
+                    if t % query_frequency == 0:
+                        all_actions = policy(qpos, curr_image)
+                    raw_action = all_actions[:, t % query_frequency]
+                    # raw_action = all_actions[:, t % 1]
+                    raw_action = raw_action.squeeze(0).cpu().numpy()
+                elif config['policy_class'] == "CNNMLP":
+                    raw_action = policy(qpos, curr_image)
+                else:
+                    raise NotImplementedError
+
+
+                action = post_process(raw_action)
+                print("action == ",action)
+                env.step_jnt(action)
+                rewards.append(env.rew)
+                env.render()
+
+
+    rewards = np.array(rewards)
+    # episode_return = np.sum(rewards[rewards != None])
+    # episode_highest_reward = np.max(rewards)
+    # env.viewer.close()
+
+    # del env
+    # return episode_return, episode_highest_reward
+
+
+
+
+def test_env():
+    try:
+        env = make_sim_env('sim_transfer')
+        env.reset()
+        while True: pass
+    except KeyboardInterrupt:
+        del env
+        print("stop")
+
+if __name__ == '__main__':
+    # test_env()
+    io_utils = IOUtils()
+    config = io_utils.load_config()
+    eval_bc(config)
+
+
diff --git a/roboimi/demos/diana_policy.py b/roboimi/demos/diana_policy.py
new file mode 100644
index 0000000..f710d76
--- /dev/null
+++ b/roboimi/demos/diana_policy.py
@@ -0,0 +1,123 @@
+import numpy as np
+import matplotlib.pyplot as plt
+from pyquaternion import Quaternion #for specific task
+
+
+
+class PolicyBase:
+    def __init__(self, inject_noise=False):
+        self.inject_noise = inject_noise
+        self.step_count = 0
+        self.left_trajectory = None
+        self.right_trajectory = None
+        # print("init base policy")
+
+    def generate_trajectory(self, obs):
+        raise NotImplementedError
+
+    @staticmethod
+    def interpolate(curr_waypoint, next_waypoint, t):
+        t_frac = (t - curr_waypoint["t"]) / (next_waypoint["t"] - curr_waypoint["t"])
+        curr_xyz = curr_waypoint['xyz']
+        curr_quat = curr_waypoint['quat']
+        curr_grip = curr_waypoint['gripper']
+        next_xyz = next_waypoint['xyz']
+        next_quat = next_waypoint['quat']
+        next_grip = next_waypoint['gripper']
+        xyz = curr_xyz + (next_xyz - curr_xyz) * t_frac
+        quat = curr_quat + (next_quat - curr_quat) * t_frac
+        gripper = curr_grip + (next_grip - curr_grip) * t_frac
+        return xyz, quat, gripper
+
+    def predict(self, obs, step_count):
+        # generate trajectory at first timestep, then open-loop execution
+        self.step_count = step_count
+        # print("\nstep_counter===",self.step_count,"\n")
+        if self.step_count == 0:
+            self.generate_trajectory(obs)
+            # print("init scripted policy !")
+            action_l = np.array([-0.17297014, 1.00485877, 1.32773627,
+                         7.06825181e-01,  8.20281078e-06, -7.07388269e-01, -5.20399313e-06])
+            action_r = np.array([0.17297014, 0.9951369,  1.32773623,
+                         2.59463975e-06, 7.07388269e-01, 5.59551158e-06, 7.06825181e-01])
+            action_gripper = np.array([100,100])
+            action = np.hstack((action_l,action_r,action_gripper))
+            return action
+        # obtain left and right waypoints
+        # elif self.step_count >= 1:
+        #     action_l = np.array([-0.81444094, 1.0, 1.869898,
+        #                  1.0,0.0,0.0,0.0])
+        #     action_r = np.array([0.81444094, 1.0, 1.869898,
+        #                  1.0,0.0,0.0,0.0])
+        #     action_gripper = np.array([100,100])
+        #     action = np.hstack((action_l,action_r,action_gripper))
+        #     return action
+        elif self.step_count >= 1: 
+            if self.left_trajectory[0]['t'] == self.step_count:
+                self.curr_left_waypoint = self.left_trajectory.pop(0)
+            next_left_waypoint = self.left_trajectory[0]
+
+            if self.right_trajectory[0]['t'] == self.step_count:
+                self.curr_right_waypoint = self.right_trajectory.pop(0)
+            next_right_waypoint = self.right_trajectory[0]
+
+            # Inject noise
+            if self.inject_noise:
+                scale = 0.01
+                left_xyz = left_xyz + np.random.uniform(-scale, scale, left_xyz.shape)
+                right_xyz = right_xyz + np.random.uniform(-scale, scale, right_xyz.shape)
+
+            # interpolate between waypoints to obtain current pose and gripper command
+            left_xyz, left_quat, left_gripper = self.interpolate(self.curr_left_waypoint, next_left_waypoint, self.step_count)
+            right_xyz, right_quat, right_gripper = self.interpolate(self.curr_right_waypoint, next_right_waypoint, self.step_count)
+            action_gripper = np.array([left_gripper,right_gripper])
+            action_left = np.concatenate([left_xyz, left_quat])
+            action_right = np.concatenate([right_xyz, right_quat])
+            self.step_count += 1
+            return np.hstack([action_left, action_right,action_gripper])
+
+        
+        else:
+            raise AttributeError
+        
+
+class TestPickAndTransferPolicy(PolicyBase):
+    def generate_trajectory(self, box_pos):
+        init_mocap_pose_left  = np.array([-0.17297014, 1.00485877, 1.32773627,
+                         7.06825181e-01,  8.20281078e-06, -7.07388269e-01, -5.20399313e-06])  # 双臂直角
+        init_mocap_pose_right = np.array([0.17297014, 0.9951369,  1.32773623,
+                         2.59463975e-06, 7.07388269e-01, 5.59551158e-06, 7.06825181e-01])
+
+        box_xyz = box_pos
+        # box_quat = box_info[3:]
+        # print(f"Generate trajectory for {box_xyz=}")
+
+        gripper_quat = Quaternion(init_mocap_pose_right[3:])
+        gripper_approach_quat = gripper_quat * Quaternion(axis=[0.0, 1.0, 0.0], degrees=45)
+        gripper_pick_quat = gripper_quat * Quaternion(axis=[0.0, 1.0, 0.0], degrees=90)
+
+        meet_xyz = np.array([0, 1.0, 1.3277])
+        meet_right_quat = gripper_quat
+        meet_left_quat = Quaternion(init_mocap_pose_left[3:]) * Quaternion(axis=[0.0, 0.0, 1.0], degrees=-90)
+
+        self.right_trajectory = [
+            {"t": 1, "xyz": init_mocap_pose_right[:3], "quat": init_mocap_pose_right[3:], "gripper": -100}, # sleep
+            {"t": 75, "xyz": np.array([(0.8+box_xyz[0])*0.5,(1.0+box_xyz[1])*0.5,init_mocap_pose_right[2]]), "quat": gripper_approach_quat.elements, "gripper": 100},
+            {"t": 225, "xyz": box_xyz + np.array([0, 0, 0.3]), "quat": gripper_pick_quat.elements, "gripper": 100}, # approach the cube
+            {"t": 275, "xyz": box_xyz + np.array([0, 0, 0.12]), "quat": gripper_pick_quat.elements, "gripper": 100}, # go down
+            {"t": 280, "xyz": box_xyz + np.array([0, 0, 0.12]), "quat": gripper_pick_quat.elements, "gripper": -100}, # close gripper
+            {"t": 450, "xyz": init_mocap_pose_right[:3], "quat": init_mocap_pose_right[3:], "gripper": -100},# approach wait position
+            {"t": 500, "xyz": meet_xyz + np.array([0.1, 0, 0.0]), "quat": meet_right_quat.elements, "gripper": -100},# approach meet position
+            {"t": 510, "xyz": meet_xyz + np.array([0.1, 0, 0.0]), "quat": meet_right_quat.elements, "gripper": 100}, # open gripper
+            {"t": 675, "xyz": meet_xyz + np.array([0.4, 0, 0.0]), "quat": meet_right_quat.elements, "gripper": 100}, # move to right
+            {"t": 700, "xyz": meet_xyz + np.array([0.4, 0, 0.0]), "quat": meet_right_quat.elements, "gripper": 100}, # stay
+        ]
+
+        self.left_trajectory = [
+            {"t": 1, "xyz": init_mocap_pose_left[:3], "quat": init_mocap_pose_left[3:], "gripper": -100},# sleep
+            {"t": 250, "xyz": meet_xyz + np.array([-0.5, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": 100}, # approach meet position
+            {"t": 500, "xyz": meet_xyz + np.array([-0.15, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": 100}, # move to meet position
+            {"t": 505, "xyz": meet_xyz + np.array([-0.15, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": -100}, # close gripper
+            {"t": 675, "xyz": meet_xyz + np.array([-0.3, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": -100}, # move left
+            {"t": 700, "xyz": meet_xyz + np.array([-0.3, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": -100}, # stay
+        ]
diff --git a/roboimi/demos/diana_record_sim_episodes.py b/roboimi/demos/diana_record_sim_episodes.py
new file mode 100644
index 0000000..b40062e
--- /dev/null
+++ b/roboimi/demos/diana_record_sim_episodes.py
@@ -0,0 +1,105 @@
+import time
+import os,collections,sys
+import numpy as np
+import h5py
+from roboimi.envs.double_pos_ctrl_env import make_sim_env
+from diana_policy import TestPickAndTransferPolicy
+import cv2
+from roboimi.utils.act_ex_utils import sample_transfer_pose
+
+import pathlib
+HOME_PATH = str(pathlib.Path(__file__).parent.resolve())
+DATASET_DIR = HOME_PATH + '/dataset'
+
+
+def main():
+    task_name = 'sim_transfer'
+    dataset_dir = DATASET_DIR + '/sim_transfer'   #SIM_TASK_CONFIGS[task_name]['dataset_dir']
+    num_episodes = 100       #SIM_TASK_CONFIGS[task_name]['num_episodes']
+    onscreen_render = None  #config['onscreen_render']
+    inject_noise = False
+    render_cam_name = 'angle'
+
+    episode_len  = 700      #SIM_TASK_CONFIGS[task_name]['episode_len']
+    camera_names = ['angle','r_vis']   #SIM_TASK_CONFIGS[task_name]['camera_names']
+    if task_name == 'sim_transfer':
+        policy = TestPickAndTransferPolicy(inject_noise)
+        print(task_name)
+    else:
+        raise NotImplementedError
+    
+    success = []
+    
+    env = make_sim_env(task_name)
+    policy = TestPickAndTransferPolicy(inject_noise)
+    for episode_idx in range(num_episodes):
+        obs = []
+        reward_ee = []
+        print(f'\n{episode_idx=}')
+        print('Rollout out EE space scripted policy')
+        box_pos = sample_transfer_pose()
+        env.reset(box_pos)
+        for step in range(episode_len):
+            
+            
+            action = policy.predict(box_pos,step)
+            env.step(action)
+            env.render()
+            reward_ee.append(env.rew)
+            obs.append(env.obs)
+        sum_reward = np.sum(reward_ee)
+        max_reward = np.max(reward_ee)
+        if max_reward == env.max_reward:
+            success.append(1)
+            print(f"{episode_idx=} Successful, {sum_reward=}")
+            t0 = time.time()
+            data_dict = {
+            '/observations/qpos': [],
+            '/action': [],
+            }
+            
+            for cam_name in camera_names:
+                data_dict[f'/observations/images/{cam_name}'] = []
+            for i in range(episode_len):
+                print("type qpos==",obs[i]['qpos'])
+                data_dict['/observations/qpos'].append(obs[i]['qpos'])
+                data_dict['/action'].append(obs[i]['action'])
+                for cam_name in camera_names:
+                    data_dict[f'/observations/images/{cam_name}'].append(obs[i]['images'][cam_name])
+            
+            dataset_path = os.path.join(dataset_dir, f'episode_{episode_idx}')
+
+            with h5py.File(dataset_path + '.hdf5', 'w', rdcc_nbytes=1024 ** 2 * 2) as root:
+                max_timesteps = episode_len
+                root.attrs['sim'] = True
+                obs_ = root.create_group('observations')
+                image = obs_.create_group('images')
+                for cam_name in camera_names:
+                    _ = image.create_dataset(cam_name, (max_timesteps, 480, 640, 3), dtype='uint8',
+                                         chunks=(1, 480, 640, 3), )
+                qpos = obs_.create_dataset('qpos', (max_timesteps, 16))
+                action = root.create_dataset('action', (max_timesteps, 16))
+                for name, array in data_dict.items():
+                    root[name][...] = np.array(array)              
+        else:
+            success.append(0)
+            print(f"{episode_idx=} Failed")
+            print(max_reward)
+        del obs
+        del reward_ee
+        del sum_reward
+        del max_reward
+        
+        # del policy
+        # env.viewer.close()
+        # del env
+    print(f'Success: {np.sum(success)} / {len(success)}')
+    env.exit_flag = True
+    cv2.destroyAllWindows()
+    cv2.waitKey(1)
+    env.cam_thread.join()
+    env.viewer.close()
+   
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/roboimi/demos/eval.py b/roboimi/demos/eval.py
new file mode 100644
index 0000000..792c81a
--- /dev/null
+++ b/roboimi/demos/eval.py
@@ -0,0 +1,152 @@
+import torch
+import os
+import numpy as np
+import matplotlib.pyplot as plt
+from tqdm import tqdm
+from einops import rearrange
+from roboimi.utils.utils import set_seed
+from roboimi.utils.io_utils import IOUtils
+from roboimi.utils.model_interface import ModelInterface
+from roboimi.envs.vx300s_jnt import make_sim_env
+import time
+
+# from visualize_episodes import save_videos
+from roboimi.utils.utils import sample_box_pose, sample_insertion_pose
+
+
+
+#should be added into IOUtils
+def get_image(obs,camera_names):
+    curr_images = []
+    for cam_name in camera_names:
+        curr_image = rearrange(obs['images'][cam_name], 'h w c -> c h w')
+        curr_images.append(curr_image)
+    curr_image = np.stack(curr_images, axis=0)
+    curr_image = torch.from_numpy(curr_image / 255.0).float().cuda().unsqueeze(0)
+    return curr_image
+
+
+def eval_bc(config, ckpt_name='policy_best.ckpt', save_episode=True):
+    set_seed(1)
+    model_interface = ModelInterface(config)
+    task_name = 'sim_insertion' #config['task_name']
+    model_interface.setup()
+    policy = IOUtils.load_policy(config, ckpt_name)
+    stats = IOUtils.load_stats(config['ckpt_dir'])
+    num_rollouts = 3
+    episode_returns = []
+    highest_rewards = []
+    for rollout_id in range(num_rollouts):
+        episode_return, episode_highest_reward = run_episode(config, policy, stats,
+                                                              save_episode,rollout_id)
+    
+
+    
+
+def run_episode(config, policy, stats, save_episode,rollout_id):
+    print("\nrollout_id===",rollout_id,"\n")
+    pre_process = lambda s_qpos: (s_qpos - stats['qpos_mean']) / stats['qpos_std']
+    post_process = lambda a: a * stats['action_std'] + stats['action_mean']
+    if 'sim_insertion' in config['task_name']:
+        peg_pose, socket_pose = sample_insertion_pose()
+        box_pose = np.hstack((peg_pose[:3],socket_pose[:3])) # used in sim reset
+    task_name =  'sim_insertion'  #config['task_name']
+    env = make_sim_env(task_name)
+    env.reset(box_pose)
+    max_timesteps = config['episode_len']
+    max_timesteps = int(max_timesteps * 1)
+ 
+    image_list = []
+    rewards = []
+    query_frequency = config['policy_config'].get('num_queries', 1)
+
+    with torch.inference_mode():
+        for t in range(700):
+            # print("obs_img",env.obs['images'])
+            image_list.append(env.obs['images'] if 'images' in env.obs else {print("img error")})
+            qpos_numpy = np.array(env.obs['qpos'])
+            qpos = pre_process(qpos_numpy)
+            qpos = torch.from_numpy(qpos).float().cuda().unsqueeze(0)
+            curr_image = get_image(env.obs, config['camera_names'])
+            if config['policy_class'] == "ACT" or "ACTTV":
+                if t % query_frequency == 0:
+                    all_actions = policy(qpos, curr_image)
+            elif config['policy_class'] == "CNNMLP":
+                raw_action = policy(qpos, curr_image)
+            else:
+                raise NotImplementedError
+            raw_action = all_actions[:, t % query_frequency]
+            raw_action = raw_action.squeeze(0).cpu().numpy()
+            action = post_process(raw_action)
+            
+            env.step(action)
+            rewards.append(env.rew)
+            env.render()
+
+
+    rewards = np.array(rewards)
+    episode_return = np.sum(rewards[rewards != None])
+    episode_highest_reward = np.max(rewards)
+    env.viewer.close()
+
+    del env
+    return episode_return, episode_highest_reward
+
+
+def test_env():
+    try:
+        env = make_sim_env('sim_insertion')
+        box_pos = np.concatenate(sample_insertion_pose())
+        env.reset(box_pos)
+        while True: pass
+    except KeyboardInterrupt:
+        del env
+        print("stop")
+    
+
+if __name__ == '__main__':
+    test_env()
+    # io_utils = IOUtils()
+    # config = io_utils.load_config()
+    # eval_bc(config)
+
+
+
+
+# config===== {'onscreen_render': False,
+#  'eval': 1, 
+# 'ckpt_dir': 'ckpt_models', 
+# 'num_epochs': 3000, 
+# 'temporal_agg': False, 
+# 'policy_class': 'ACT', 
+# 'backbone': 'resnet18', 
+# 'seed': 0, 'real_robot': 0,
+#  'task_name': 'sim_insertion', 
+# 'images_render_height': 480, 
+# 'images_render_width': 640, 
+# 'left_arm_DOF_number': 6, 
+# 'right_arm_DOF_number': 6, 
+# 'left_qpos_raw': 8, 
+# 'right_qpos_raw': 8, 
+# 'left_qvel_raw': 8, 
+# 'right_qvel_raw': 8, 
+# 'dataset_dir': '/home/arm/lzd/act_env/dataset/sim_insertion', 
+# 'num_episodes': 7, 
+# 'episode_len': 400, 
+# 'camera_names': ['top'], 
+# 'xml_dir': None, 
+# 'batch_size': 8, 
+# 'state_dim': 14, 
+# 'action_dim': 14, 
+# 'lr_backbone': 1e-05, 
+# 'enc_layers': 4, 
+# 'dec_layers': 7, 
+# 'nheads': 8, 
+# 'qpos_noise_std': 0, 
+# 'DT': 0.02, 
+# 'lr': 1e-05, 
+# 'kl_weight': 10, 
+# 'chunk_size': 100, 
+# 'hidden_dim': 512, 
+# 'dim_feedforward': 3200, 
+# 'policy_config': {'lr': 1e-05, 'num_queries': 100, 'kl_weight': 10, 'hidden_dim': 512, 'dim_feedforward': 3200, 'lr_backbone': 1e-05, 'backbone': 'resnet18', 'enc_layers': 4, 'dec_layers': 7, 'nheads': 8, 'camera_names': ['top']}} 
\ No newline at end of file
diff --git a/roboimi/demos/record_sim_episodes.py b/roboimi/demos/record_sim_episodes.py
new file mode 100644
index 0000000..890a6e6
--- /dev/null
+++ b/roboimi/demos/record_sim_episodes.py
@@ -0,0 +1,152 @@
+import time
+import os
+import numpy as np
+import argparse
+import matplotlib.pyplot as plt
+import h5py
+from roboimi.envs.vx300s_ee import make_ee_sim_env
+from roboimi.envs.vx300s_jnt import make_sim_env
+# from io_utils import IOUtils
+from roboimi.utils.constants import PUPPET_GRIPPER_POSITION_NORMALIZE_FN, SIM_TASK_CONFIGS
+# from ee_sim_env import make_ee_sim_env
+from scripted_policy import PickAndTransferPolicy, InsertionPolicy,TestInsertionPolicy
+import cv2
+
+import pathlib
+HOME_PATH = str(pathlib.Path(__file__).parent.resolve())
+DATASET_DIR = HOME_PATH + '/dataset'
+
+
+def main():
+    task_name = 'sim_insertion'
+    dataset_dir = DATASET_DIR + '/sim_insertion'   #SIM_TASK_CONFIGS[task_name]['dataset_dir']
+    num_episodes = 20       #SIM_TASK_CONFIGS[task_name]['num_episodes']
+    onscreen_render = None  #config['onscreen_render']
+    inject_noise = False
+    render_cam_name = 'angle'
+
+    episode_len  = 1950      #SIM_TASK_CONFIGS[task_name]['episode_len']
+    camera_names = ['top']   #SIM_TASK_CONFIGS[task_name]['camera_names']
+    if task_name == 'sim_transfer_cube':
+        print(task_name)
+        # policy_cls = PickAndTransferPolicy
+    elif task_name == 'sim_insertion':
+        policy = TestInsertionPolicy(inject_noise)
+        # policy_cls = InsertionPolicy
+        print(task_name,'\n')
+    else:
+        raise NotImplementedError
+    
+    success = []
+    
+    
+    for episode_idx in range(num_episodes):
+        policy = TestInsertionPolicy(inject_noise)
+        env_ee = make_ee_sim_env(task_name)
+        print(f'\n{episode_idx=}')
+        print('Rollout out EE space scripted policy')
+        env_ee.reset()
+        if onscreen_render:
+            print("camera render")
+        reward_ee = []
+        jnt_traj = []
+        gripper_ctrl_traj = []
+        for step in range(episode_len):
+            if step == 0:
+                action = policy.predict(env_ee.obs,step)
+                env_ee.step(action)
+                env_ee.render()
+            if step >= 1:
+                action = policy.predict(env_ee.obs,step)
+                env_ee.step(action)
+                if step == 1:
+                    box_pose = env_ee.obs['env_state'].copy()
+                env_ee.render()
+                reward_ee.append(env_ee.rew)
+                jnt_traj.append(env_ee.obs['qpos'])
+                gripper_ctrl_traj.append(env_ee.obs['gripper_ctrl'])
+            # print("\nstep finish",step)
+        sum_reward = np.sum(reward_ee)
+        max_reward = np.max(reward_ee)
+        if max_reward == env_ee.max_reward:
+            print(f"{episode_idx=} Successful, {sum_reward=}")
+        else:
+            print(f"{episode_idx=} Failed")
+
+        del policy
+        # env_ee.viewer.close()
+        del env_ee
+        
+        print('Replaying joint commands')
+        time.sleep(1)
+        env = make_sim_env(task_name)
+
+        reward = []
+        obs = []
+        env.reset(box_pose)
+        # print("envt=====",env.event)
+        for step in range(2,len(jnt_traj)):
+            action = jnt_traj[step]
+            env.step(action)
+            if step == 2:  #is np.ndarray
+                print("step == 2 :type of env.obs.top===",type(env.obs['images']['top']))
+            obs.append(env.obs)
+            env.render()
+            # print("\nstep===",step)
+
+            reward.append(env.rew)
+        sum_reward = np.sum(reward)
+        max_reward = np.max(reward)
+        # env.event.set()
+        env.viewer.close()
+        if max_reward == env.max_reward:
+            success.append(1)
+
+            print('Replaying',f"{episode_idx=} Successful, {sum_reward=}")
+            t0 = time.time()
+            data_dict = {
+            '/observations/qpos': [],
+            '/action': [],
+            }
+            
+            for cam_name in camera_names:
+                data_dict[f'/observations/images/{cam_name}'] = []
+            for i in range(2,len(jnt_traj)):
+                action = jnt_traj[i]
+                data_dict['/observations/qpos'].append(obs[i-2]['qpos'])
+                data_dict['/action'].append(action)
+                for cam_name in camera_names:
+                    data_dict[f'/observations/images/{cam_name}'].append(obs[i-2]['images'][cam_name])
+            
+            dataset_path = os.path.join(dataset_dir, f'episode_{episode_idx}')
+
+            # with h5py.File(dataset_path + '.hdf5', 'w', rdcc_nbytes=1024 ** 2 * 2) as root:
+            #     max_timesteps = len(jnt_traj)-2
+            #     root.attrs['sim'] = True
+            #     obs = root.create_group('observations')
+            #     image = obs.create_group('images')
+            #     for cam_name in camera_names:
+            #         _ = image.create_dataset(cam_name, (max_timesteps, 480, 640, 3), dtype='uint8',
+            #                              chunks=(1, 480, 640, 3), )
+            #     qpos = obs.create_dataset('qpos', (max_timesteps, 14))
+            #     action = root.create_dataset('action', (max_timesteps, 14))
+                # 
+                    # if name == '/observations/images/top':
+                    #     root[name][...] = array
+                    #     print("image done")
+        #     # print(f'Saving: {time.time() - t0:.1f} secs\n')
+
+
+
+        else:
+            success.append(0)
+            print('Replaying',f"{episode_idx=} Failed")
+
+
+
+        
+        del env
+
+    print(f'Success: {np.sum(success)} / {len(success)}')
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/roboimi/demos/replay.py b/roboimi/demos/replay.py
new file mode 100644
index 0000000..fd440c7
--- /dev/null
+++ b/roboimi/demos/replay.py
@@ -0,0 +1,64 @@
+import os,cv2
+import numpy as np
+import h5py
+from roboimi.envs.double_pos_ctrl_env import make_sim_env
+
+pwd = os.getcwd()
+DATASET_DIR = pwd + '/demos/dataset'
+
+def traverse_datasets(hdf_file):
+    all_actions = []
+    all_images = []
+    def h5py_dataset_iterator(g, prefix=''):
+        for key in g.keys():
+            item = g[key]
+            path = '{}/{}'.format(prefix, key)
+            if isinstance(item, h5py.Dataset):  
+                yield (path, item)
+            elif isinstance(item, h5py.Group):  
+                yield from h5py_dataset_iterator(item, path)
+
+    with h5py.File(hdf_file, 'r') as f:
+        i = 0
+        for (path, dset) in h5py_dataset_iterator(f):
+            i+=1
+            if path == "/action":
+                # for i in range():
+                action = dset[()] 
+                # action = dset 
+                print("len action=",len(action[0]))
+                print("action=",action[0])
+                # all_actions.append(action)
+            if path == "/observations/images/top":
+                images = dset[()]  
+                # all_images.append(images)
+        print("i=",i)
+    return all_actions,all_images 
+if __name__ == "__main__":
+    # env = make_sim_env('sim_transfer')
+    dataset_dir = DATASET_DIR + '/sim_transfer/episode_0.hdf5'
+    traverse_datasets(dataset_dir)
+    # actions,images = traverse_datasets(dataset_dir)
+    # print("len actions=",len(actions),"len image=",len(images))
+
+    # box_pos = np.array([0.4878127780735517, 0.7978437132112287, 0.47])
+    # env.mj_data.joint('red_box_joint').qpos[0] = box_pos[0] 
+    # env.mj_data.joint('red_box_joint').qpos[1] = box_pos[1]
+    # env.mj_data.joint('red_box_joint').qpos[2] = box_pos[2]
+    # env.mj_data.joint('red_box_joint').qpos[3] = 1.0
+    # env.mj_data.joint('red_box_joint').qpos[4] = 0.0
+    # env.mj_data.joint('red_box_joint').qpos[5] = 0.0
+    # env.mj_data.joint('red_box_joint').qpos[6] = 0.0
+    # env.reset()
+    # cv2.namedWindow('Cam view',cv2.WINDOW_NORMAL)
+    
+    # for i in range(len(actions)):
+    #     action_l = actions[i][0:7]
+    #     action_r = actions[i][7:14]
+    #     gripper = np.array([actions[i][-2],actions[i][-1]])
+    #     action = np.hstack((action_l,action_r,gripper))
+    #     env.step(action)
+    #     cv2.imshow('Cam view', images[i])
+    #     cv2.waitKey(1)
+    #     if env.is_render:
+    #         env.render()
\ No newline at end of file
diff --git a/roboimi/demos/scripted_policy.py b/roboimi/demos/scripted_policy.py
new file mode 100644
index 0000000..b49d3fd
--- /dev/null
+++ b/roboimi/demos/scripted_policy.py
@@ -0,0 +1,247 @@
+import numpy as np
+import matplotlib.pyplot as plt
+from pyquaternion import Quaternion #for specific task
+
+
+
+class PolicyBase:
+    def __init__(self, inject_noise=False):
+        self.inject_noise = inject_noise
+        self.step_count = 0
+        self.left_trajectory = None
+        self.right_trajectory = None
+        # print("init base policy")
+
+    def generate_trajectory(self, obs):
+        raise NotImplementedError
+
+    @staticmethod
+    def interpolate(curr_waypoint, next_waypoint, t):
+        t_frac = (t - curr_waypoint["t"]) / (next_waypoint["t"] - curr_waypoint["t"])
+        curr_xyz = curr_waypoint['xyz']
+        curr_quat = curr_waypoint['quat']
+        curr_grip = curr_waypoint['gripper']
+        next_xyz = next_waypoint['xyz']
+        next_quat = next_waypoint['quat']
+        next_grip = next_waypoint['gripper']
+        xyz = curr_xyz + (next_xyz - curr_xyz) * t_frac
+        quat = curr_quat + (next_quat - curr_quat) * t_frac
+        gripper = curr_grip + (next_grip - curr_grip) * t_frac
+        return xyz, quat, gripper
+
+    def predict(self, obs, step_count):
+        # generate trajectory at first timestep, then open-loop execution
+        self.step_count = step_count
+        # print("\nstep_counter===",self.step_count,"\n")
+        if self.step_count == 0:
+            # print("init scripted policy !")
+            action_l = np.array([-0.0,0.1,0.3,
+                         1.0,0.0,0.0,0.0])
+            action_r = np.array([0.1,-0.1,0.1,
+                         1.0,0.0,0.0,0.0])
+            action_gripper = np.array([1.0,-0.3])
+            action = np.hstack((action_l,action_r,action_gripper))
+            return action
+        # obtain left and right waypoints
+        elif self.step_count == 1:
+            self.generate_trajectory(obs)
+            action_l = np.array([-0.0,0.1,0.3,
+                         1.0,0.0,0.0,0.0])
+            action_r = np.array([0.1,-0.1,0.1,
+                         1.0,0.0,0.0,0.0])
+            action_gripper = np.array([1.0,-0.3])
+            action = np.hstack((action_l,action_r,action_gripper))
+            return action
+        elif self.step_count > 1: 
+            # print("\nobs=\n",obs)
+            # print("\nobs[mocap_pose_right]\n",obs['mocap_pose_right'])
+            if self.left_trajectory[0]['t'] == self.step_count:
+                self.curr_left_waypoint = self.left_trajectory.pop(0)
+            next_left_waypoint = self.left_trajectory[0]
+
+            if self.right_trajectory[0]['t'] == self.step_count:
+                self.curr_right_waypoint = self.right_trajectory.pop(0)
+            next_right_waypoint = self.right_trajectory[0]
+
+            # Inject noise
+            if self.inject_noise:
+                scale = 0.01
+                left_xyz = left_xyz + np.random.uniform(-scale, scale, left_xyz.shape)
+                right_xyz = right_xyz + np.random.uniform(-scale, scale, right_xyz.shape)
+
+            # interpolate between waypoints to obtain current pose and gripper command
+            left_xyz, left_quat, left_gripper = self.interpolate(self.curr_left_waypoint, next_left_waypoint, self.step_count)
+            right_xyz, right_quat, right_gripper = self.interpolate(self.curr_right_waypoint, next_right_waypoint, self.step_count)
+            action_gripper = np.array([left_gripper,right_gripper])
+            action_left = np.concatenate([left_xyz, left_quat])
+            action_right = np.concatenate([right_xyz, right_quat])
+            self.step_count += 1
+            # if self.left_trajectory[0]['t'] == 2:
+            #     print("2 2 2")
+            # elif self.left_trajectory[0]['t'] == 300:
+            #     print("300 300 300")
+
+            # elif self.left_trajectory[0]['t'] == 625:
+            #     print("625 625 625")
+
+            # elif self.left_trajectory[0]['t'] == 850:
+            #     print("850")
+            # elif self.left_trajectory[0]['t'] == 1013:
+            #     print("1013")
+            # elif self.left_trajectory[0]['t'] == 1250:
+            #     print("1250")
+            # else:
+            #     print("1500")
+            return np.hstack([action_left, action_right,action_gripper])
+
+        
+        else:
+            raise AttributeError
+
+        
+
+        
+
+        
+
+
+
+class TestInsertionPolicy(PolicyBase):
+    def generate_trajectory(self, obs):
+        
+        init_mocap_pose_right = obs['mocap_pose_right']
+        init_mocap_pose_left = obs['mocap_pose_left']
+        peg_info = np.array(obs['env_state'])[:3] #change here
+        peg_xyz = peg_info[:3]
+        # peg_quat = np.array([1.0,0.0,0.0,0.0])
+
+        socket_info = np.array(obs['env_state'])[3:]  #change here
+        # print("socket_info==",socket_info)
+        socket_xyz = socket_info[:3]
+        # socket_quat = np.array([1.0,0.0,0.0,0.0])
+
+        gripper_pick_quat_right = Quaternion(init_mocap_pose_right[3:])
+        gripper_pick_quat_right = gripper_pick_quat_right * Quaternion(axis=[0.0, 1.0, 0.0], degrees=-60)
+
+        gripper_pick_quat_left = Quaternion(init_mocap_pose_right[3:])
+        gripper_pick_quat_left = gripper_pick_quat_left * Quaternion(axis=[0.0, 1.0, 0.0], degrees=60)
+
+        meet_xyz = np.array([0, 0.5, 0.15])
+        lift_right = 0.00715
+        # self.left_trajectory = [
+        #     {"t": 1, "xyz": init_mocap_pose_left[:3], "quat": init_mocap_pose_left[3:], "gripper": 0}, # sleep
+        #     {"t": 120, "xyz": socket_xyz + np.array([0, 0, 0.08]), "quat": gripper_pick_quat_left.elements, "gripper": 1}, # approach the cube
+        #     {"t": 170, "xyz": socket_xyz + np.array([0, 0, -0.03]), "quat": gripper_pick_quat_left.elements, "gripper": 1}, # go down
+        #     {"t": 220, "xyz": socket_xyz + np.array([0, 0, -0.03]), "quat": gripper_pick_quat_left.elements, "gripper": 0}, # close gripper
+        #     {"t": 285, "xyz": meet_xyz + np.array([-0.1, 0, 0]), "quat": gripper_pick_quat_left.elements, "gripper": 0}, # approach meet position
+        #     {"t": 340, "xyz": meet_xyz + np.array([-0.05, 0, 0]), "quat": gripper_pick_quat_left.elements,"gripper": 0},  # insertion
+        #     {"t": 400, "xyz": meet_xyz + np.array([-0.05, 0, 0]), "quat": gripper_pick_quat_left.elements, "gripper": 0},  # insertion
+        # ]
+
+        # print("\ngripper_pick_quat_left=\n",gripper_pick_quat_left)
+        # print("\nsocket_xyz=\n",socket_xyz)
+        self.left_trajectory = [
+            {"t": 2, "xyz": init_mocap_pose_left[:3], "quat": init_mocap_pose_left[3:], "gripper": 0}, # sleep
+            {"t": 450, "xyz": socket_xyz + np.array([0, 0, 0.08]), "quat": gripper_pick_quat_left.elements, "gripper": 1}, # approach the cube
+            {"t": 725, "xyz": socket_xyz + np.array([0, 0, -0.03]), "quat": gripper_pick_quat_left.elements, "gripper": 1}, # go down
+            {"t": 1050, "xyz": socket_xyz + np.array([0, 0, -0.03]), "quat": gripper_pick_quat_left.elements, "gripper": -0.1}, # close gripper
+            {"t": 1413, "xyz": meet_xyz + np.array([-0.1, 0, 0]), "quat": gripper_pick_quat_left.elements, "gripper": -0.1}, # approach meet position
+            {"t": 1750, "xyz": meet_xyz + np.array([-0.05, 0, 0]), "quat": gripper_pick_quat_left.elements,"gripper": -0.1},  # insertion
+            {"t": 1950, "xyz": meet_xyz + np.array([-0.05, 0, 0]), "quat": gripper_pick_quat_left.elements, "gripper": -0.1},  # insertion
+        ]
+
+        self.right_trajectory = [
+            {"t": 2, "xyz": init_mocap_pose_right[:3], "quat": init_mocap_pose_right[3:], "gripper": 0}, # sleep
+            {"t": 450, "xyz": peg_xyz + np.array([0, 0, 0.08]), "quat": gripper_pick_quat_right.elements, "gripper": 1}, # approach the cube
+            {"t": 725, "xyz": peg_xyz + np.array([0, 0, -0.03]), "quat": gripper_pick_quat_right.elements, "gripper": 1}, # go down
+            {"t": 1050, "xyz": peg_xyz + np.array([0, 0, -0.03]), "quat": gripper_pick_quat_right.elements, "gripper": -0.3}, # close gripper
+            {"t": 1413, "xyz": meet_xyz + np.array([0.1, 0, lift_right+0.01]), "quat": gripper_pick_quat_right.elements, "gripper": -0.3}, # approach meet position
+            {"t": 1750, "xyz": meet_xyz + np.array([0.05, 0, lift_right+0.01]), "quat": gripper_pick_quat_right.elements, "gripper": -0.3},  # insertion
+            {"t": 1950, "xyz": meet_xyz + np.array([0.05, 0, lift_right+0.01]), "quat": gripper_pick_quat_right.elements, "gripper": -0.3},  # insertion
+
+        ]
+        
+
+class PickAndTransferPolicy(PolicyBase):
+
+    def generate_trajectory(self, obs):
+        init_mocap_pose_right = obs['mocap_pose_right']
+        init_mocap_pose_left = obs['mocap_pose_left']
+
+        box_info = np.array(obs['env_state'])
+        box_xyz = box_info[:3]
+        box_quat = box_info[3:]
+        # print(f"Generate trajectory for {box_xyz=}")
+
+        gripper_pick_quat = Quaternion(init_mocap_pose_right[3:])
+        gripper_pick_quat = gripper_pick_quat * Quaternion(axis=[0.0, 1.0, 0.0], degrees=-60)
+
+        meet_left_quat = Quaternion(axis=[1.0, 0.0, 0.0], degrees=90)
+
+        meet_xyz = np.array([0, 0.5, 0.25])
+
+        self.left_trajectory = [
+            {"t": 0, "xyz": init_mocap_pose_left[:3], "quat": init_mocap_pose_left[3:], "gripper": 0}, # sleep
+            {"t": 100, "xyz": meet_xyz + np.array([-0.1, 0, -0.02]), "quat": meet_left_quat.elements, "gripper": 1}, # approach meet position
+            {"t": 260, "xyz": meet_xyz + np.array([0.02, 0, -0.02]), "quat": meet_left_quat.elements, "gripper": 1}, # move to meet position
+            {"t": 310, "xyz": meet_xyz + np.array([0.02, 0, -0.02]), "quat": meet_left_quat.elements, "gripper": 0}, # close gripper
+            {"t": 360, "xyz": meet_xyz + np.array([-0.1, 0, -0.02]), "quat": np.array([1, 0, 0, 0]), "gripper": 0}, # move left
+            {"t": 400, "xyz": meet_xyz + np.array([-0.1, 0, -0.02]), "quat": np.array([1, 0, 0, 0]), "gripper": 0}, # stay
+        ]
+
+        self.right_trajectory = [
+            {"t": 0, "xyz": init_mocap_pose_right[:3], "quat": init_mocap_pose_right[3:], "gripper": 0}, # sleep
+            {"t": 90, "xyz": box_xyz + np.array([0, 0, 0.08]), "quat": gripper_pick_quat.elements, "gripper": 1}, # approach the cube
+            {"t": 130, "xyz": box_xyz + np.array([0, 0, -0.015]), "quat": gripper_pick_quat.elements, "gripper": 1}, # go down
+            {"t": 170, "xyz": box_xyz + np.array([0, 0, -0.015]), "quat": gripper_pick_quat.elements, "gripper": 0}, # close gripper
+            {"t": 200, "xyz": meet_xyz + np.array([0.05, 0, 0]), "quat": gripper_pick_quat.elements, "gripper": 0}, # approach meet position
+            {"t": 220, "xyz": meet_xyz, "quat": gripper_pick_quat.elements, "gripper": 0}, # move to meet position
+            {"t": 310, "xyz": meet_xyz, "quat": gripper_pick_quat.elements, "gripper": 1}, # open gripper
+            {"t": 360, "xyz": meet_xyz + np.array([0.1, 0, 0]), "quat": gripper_pick_quat.elements, "gripper": 1}, # move to right
+            {"t": 400, "xyz": meet_xyz + np.array([0.1, 0, 0]), "quat": gripper_pick_quat.elements, "gripper": 1}, # stay
+        ]
+
+
+class InsertionPolicy(PolicyBase):
+
+    def generate_trajectory(self, obs):
+        init_mocap_pose_right = obs['mocap_pose_right']
+        init_mocap_pose_left = obs['mocap_pose_left']
+
+        peg_info = np.array(obs['env_state'])[:7]
+        peg_xyz = peg_info[:3]
+        peg_quat = peg_info[3:]
+
+        socket_info = np.array(obs['env_state'])[7:]
+        socket_xyz = socket_info[:3]
+        socket_quat = socket_info[3:]
+
+        gripper_pick_quat_right = Quaternion(init_mocap_pose_right[3:])
+        gripper_pick_quat_right = gripper_pick_quat_right * Quaternion(axis=[0.0, 1.0, 0.0], degrees=-60)
+
+        gripper_pick_quat_left = Quaternion(init_mocap_pose_right[3:])
+        gripper_pick_quat_left = gripper_pick_quat_left * Quaternion(axis=[0.0, 1.0, 0.0], degrees=60)
+
+        meet_xyz = np.array([0, 0.5, 0.15])
+        lift_right = 0.00715
+
+        self.left_trajectory = [
+            {"t": 0, "xyz": init_mocap_pose_left[:3], "quat": init_mocap_pose_left[3:], "gripper": 0}, # sleep
+            {"t": 120, "xyz": socket_xyz + np.array([0, 0, 0.08]), "quat": gripper_pick_quat_left.elements, "gripper": 1}, # approach the cube
+            {"t": 170, "xyz": socket_xyz + np.array([0, 0, -0.03]), "quat": gripper_pick_quat_left.elements, "gripper": 1}, # go down
+            {"t": 220, "xyz": socket_xyz + np.array([0, 0, -0.03]), "quat": gripper_pick_quat_left.elements, "gripper": 0}, # close gripper
+            {"t": 285, "xyz": meet_xyz + np.array([-0.1, 0, 0]), "quat": gripper_pick_quat_left.elements, "gripper": 0}, # approach meet position
+            {"t": 340, "xyz": meet_xyz + np.array([-0.05, 0, 0]), "quat": gripper_pick_quat_left.elements,"gripper": 0},  # insertion
+            {"t": 400, "xyz": meet_xyz + np.array([-0.05, 0, 0]), "quat": gripper_pick_quat_left.elements, "gripper": 0},  # insertion
+        ]
+
+        self.right_trajectory = [
+            {"t": 0, "xyz": init_mocap_pose_right[:3], "quat": init_mocap_pose_right[3:], "gripper": 0}, # sleep
+            {"t": 120, "xyz": peg_xyz + np.array([0, 0, 0.08]), "quat": gripper_pick_quat_right.elements, "gripper": 1}, # approach the cube
+            {"t": 170, "xyz": peg_xyz + np.array([0, 0, -0.03]), "quat": gripper_pick_quat_right.elements, "gripper": 1}, # go down
+            {"t": 220, "xyz": peg_xyz + np.array([0, 0, -0.03]), "quat": gripper_pick_quat_right.elements, "gripper": 0}, # close gripper
+            {"t": 285, "xyz": meet_xyz + np.array([0.1, 0, lift_right]), "quat": gripper_pick_quat_right.elements, "gripper": 0}, # approach meet position
+            {"t": 340, "xyz": meet_xyz + np.array([0.05, 0, lift_right]), "quat": gripper_pick_quat_right.elements, "gripper": 0},  # insertion
+            {"t": 400, "xyz": meet_xyz + np.array([0.05, 0, lift_right]), "quat": gripper_pick_quat_right.elements, "gripper": 0},  # insertion
+
+        ]
\ No newline at end of file
diff --git a/roboimi/demos/training.py b/roboimi/demos/training.py
new file mode 100644
index 0000000..858960b
--- /dev/null
+++ b/roboimi/demos/training.py
@@ -0,0 +1,179 @@
+import torch
+import os
+from tqdm import tqdm
+import numpy as np
+from copy import deepcopy
+from itertools import repeat
+import matplotlib.pyplot as plt
+import time
+from roboimi.utils.utils import set_seed, compute_dict_mean, detach_dict, load_data
+from roboimi.utils.io_utils import IOUtils
+from roboimi.utils.model_interface import ModelInterface
+import matplotlib.pyplot as plt
+
+def train_bc(config):
+    num_epochs = config['num_epochs']
+    ckpt_dir = config['ckpt_dir']
+    seed = config['seed']
+
+    os.makedirs(ckpt_dir, exist_ok=True)
+
+    set_seed(seed)
+
+    model_interface = ModelInterface(config)
+    model_interface.setup()
+
+    policy = model_interface.make_policy()
+    policy.cuda()
+    optimizer = model_interface.make_optimizer(policy)
+    # print("cam names=====",config['camera_names'])
+    train_dataloader, val_dataloader, stats, _ = load_data(
+        config['dataset_dir'], 
+        config['num_episodes'], 
+        config['camera_names'], 
+        config['batch_size'], 
+        config['batch_size'])
+
+    IOUtils.save_stats(ckpt_dir, stats)
+
+    train_history = []
+    validation_history = []
+    min_val_loss = np.inf
+    min_train_loss = np.inf
+    best_ckpt_info = None
+
+    plt.ion()
+    fig, ax = plt.subplots()
+    train_losses, val_losses = [], []
+    train_line, = ax.plot([], [], label='Train Loss')
+    val_line, = ax.plot([], [], label='Validation Loss')
+    ax.autoscale_view()
+    ax.set_xlabel('Epoch')
+    ax.set_ylabel('Loss')
+    ax.legend()
+    ax.grid(True)
+    
+
+    train_annotation = ax.annotate('', xy=(0, 0), textcoords='offset points')
+    val_annotation = ax.annotate('', xy=(0, 0), textcoords='offset points')
+    
+
+    min_train_text = ax.text(0.85, 0.5, '', transform=ax.transAxes, fontsize=10, verticalalignment='center', horizontalalignment='left', bbox=dict(facecolor='white', alpha=0.5))
+    min_val_text = ax.text(0.85, 0.45, '', transform=ax.transAxes, fontsize=10, verticalalignment='center', horizontalalignment='left', bbox=dict(facecolor='white', alpha=0.5))
+
+    for epoch in tqdm(range(num_epochs)):
+        print(f'\nEpoch {epoch}')
+
+        # Validation
+        epoch_val_loss, epoch_summary = validate(policy, val_dataloader)
+        validation_history.append(epoch_summary)
+        val_losses.append(epoch_val_loss.cpu().item()) 
+
+        if epoch_val_loss < min_val_loss:
+            min_val_loss = epoch_val_loss
+            min_val_epoch = epoch
+            best_ckpt_info = (epoch, min_val_loss,
+                              deepcopy(policy.state_dict()))
+
+        print(f'Val loss:   {epoch_val_loss:.5f}')
+        print_summary(epoch_summary)
+
+        # Training
+        epoch_train_loss, epoch_summary = train_epoch(
+            policy, optimizer, train_dataloader)
+        train_history.append(epoch_summary)
+        train_losses.append(epoch_train_loss.cpu().item()) 
+
+        if epoch_train_loss < min_train_loss:
+            min_train_loss = epoch_train_loss
+            min_train_epoch = epoch
+
+        print(f'Train loss: {epoch_train_loss:.5f}')
+        print_summary(epoch_summary)
+
+        # Update the plot with the new data
+        train_line.set_xdata(range(len(train_losses)))
+        train_line.set_ydata(train_losses)
+        val_line.set_xdata(range(len(val_losses)))
+        val_line.set_ydata(val_losses)
+        
+        # Update annotations with the latest loss values at their respective positions
+        train_annotation.set_position((len(train_losses)-1, train_losses[-1]))
+        train_annotation.xy = (len(train_losses)-1, train_losses[-1])
+        train_annotation.set_text(f'{train_losses[-1]:.5f}')
+        
+        val_annotation.set_position((len(val_losses)-1, val_losses[-1]))
+        val_annotation.xy = (len(val_losses)-1, val_losses[-1])
+        val_annotation.set_text(f'{val_losses[-1]:.5f}')
+        
+        # Update text objects with the minimum loss values, fixed on the right side
+        min_train_text.set_text(f'Min Train Loss: {min_train_loss:.5f} (Epoch {min_train_epoch})')
+        min_val_text.set_text(f'Min Val Loss: {min_val_loss:.5f} (Epoch {min_val_epoch})')
+        
+        ax.relim()
+        ax.autoscale_view()
+        plt.draw()
+        plt.pause(0.1)
+
+
+    plt.ioff() 
+    IOUtils.save_checkpoint(policy, 'last', ckpt_dir, seed, 'last')
+
+    best_epoch, min_val_loss, best_state_dict = best_ckpt_info
+    IOUtils.save_checkpoint(best_state_dict, best_epoch,
+                            ckpt_dir, seed, 'best', min_val_loss)
+    print(
+        f'Training finished:\nSeed {seed}, val loss {min_val_loss:.6f} at epoch {best_epoch}')
+
+    IOUtils.plot_history(train_history, validation_history,
+                         num_epochs, ckpt_dir, seed)
+
+    return best_ckpt_info
+
+
+
+
+
+
+def validate(policy, dataloader):
+    policy.eval()
+    epoch_dicts = []
+    with torch.inference_mode():
+        for data in dataloader:
+            forward_dict = forward_pass(data, policy)
+            epoch_dicts.append(forward_dict)
+    epoch_summary = compute_dict_mean(epoch_dicts)
+    return epoch_summary['loss'], epoch_summary
+
+
+def train_epoch(policy, optimizer, dataloader):
+    policy.train()
+    epoch_dicts = []
+    for data in dataloader:
+        optimizer.zero_grad()
+        forward_dict = forward_pass(data, policy)
+        loss = forward_dict['loss']
+        loss.backward()
+        optimizer.step()
+        epoch_dicts.append(detach_dict(forward_dict))
+    epoch_summary = compute_dict_mean(epoch_dicts)
+    return epoch_summary['loss'], epoch_summary
+
+
+def forward_pass(data, policy):
+    image_data, qpos_data, action_data, is_pad = data
+    image_data, qpos_data, action_data, is_pad = image_data.cuda(
+    ), qpos_data.cuda(), action_data.cuda(), is_pad.cuda()
+    return policy(qpos_data, image_data, action_data, is_pad)
+
+
+def print_summary(summary):
+    summary_string = ' '.join(
+        [f'{k}: {v.item():.3f}' for k, v in summary.items()])
+    print(summary_string)
+
+
+if __name__ == '__main__':
+    io_utils = IOUtils()
+    config = io_utils.load_config()
+    train_bc(config)
diff --git a/roboimi/detr/LICENSE b/roboimi/detr/LICENSE
new file mode 100644
index 0000000..b1395e9
--- /dev/null
+++ b/roboimi/detr/LICENSE
@@ -0,0 +1,201 @@
+                                 Apache License
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+                        http://www.apache.org/licenses/
+
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+
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+
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+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
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diff --git a/roboimi/detr/README.md b/roboimi/detr/README.md
new file mode 100644
index 0000000..500b1b8
--- /dev/null
+++ b/roboimi/detr/README.md
@@ -0,0 +1,9 @@
+This part of the codebase is modified from DETR https://github.com/facebookresearch/detr under APACHE 2.0.
+
+    @article{Carion2020EndtoEndOD,
+      title={End-to-End Object Detection with Transformers},
+      author={Nicolas Carion and Francisco Massa and Gabriel Synnaeve and Nicolas Usunier and Alexander Kirillov and Sergey Zagoruyko},
+      journal={ArXiv},
+      year={2020},
+      volume={abs/2005.12872}
+    }
\ No newline at end of file
diff --git a/roboimi/detr/main.py b/roboimi/detr/main.py
new file mode 100644
index 0000000..4891049
--- /dev/null
+++ b/roboimi/detr/main.py
@@ -0,0 +1,106 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+import argparse
+from pathlib import Path
+
+import numpy as np
+import torch
+from .models import build_ACT_model, build_CNNMLP_model
+
+
+def get_args_parser():
+    parser = argparse.ArgumentParser('Set transformer detector', add_help=False)
+    parser.add_argument('--lr', default=1e-4, type=float) # will be overridden
+    parser.add_argument('--lr_backbone', default=1e-5, type=float) # will be overridden
+    parser.add_argument('--batch_size', default=2, type=int) # not used
+    parser.add_argument('--weight_decay', default=1e-4, type=float)
+    parser.add_argument('--epochs', default=300, type=int) # not used
+    parser.add_argument('--lr_drop', default=200, type=int) # not used
+    parser.add_argument('--clip_max_norm', default=0.1, type=float, # not used
+                        help='gradient clipping max norm')
+    parser.add_argument('--qpos_noise_std', action='store', default=0, type=float, help='lr', required=False)
+
+    # Model parameters
+    # * Backbone
+    parser.add_argument('--backbone', default='resnet18', type=str, # will be overridden
+                        help="Name of the convolutional backbone to use")
+    parser.add_argument('--dilation', action='store_true',
+                        help="If true, we replace stride with dilation in the last convolutional block (DC5)")
+    parser.add_argument('--position_embedding', default='sine', type=str, choices=('sine', 'learned'),
+                        help="Type of positional embedding to use on top of the image features")
+    parser.add_argument('--camera_names', default=[], type=list, # will be overridden
+                        help="A list of camera names")
+
+    # * Transformer
+    parser.add_argument('--enc_layers', default=4, type=int, # will be overridden
+                        help="Number of encoding layers in the transformer")
+    parser.add_argument('--dec_layers', default=6, type=int, # will be overridden
+                        help="Number of decoding layers in the transformer")
+    parser.add_argument('--dim_feedforward', default=2048, type=int, # will be overridden
+                        help="Intermediate size of the feedforward layers in the transformer blocks")
+    parser.add_argument('--hidden_dim', default=256, type=int, # will be overridden
+                        help="Size of the embeddings (dimension of the transformer)")
+    parser.add_argument('--dropout', default=0.1, type=float,
+                        help="Dropout applied in the transformer")
+    parser.add_argument('--nheads', default=8, type=int, # will be overridden
+                        help="Number of attention heads inside the transformer's attentions")
+    parser.add_argument('--num_queries', default=400, type=int, # will be overridden
+                        help="Number of query slots")
+    parser.add_argument('--pre_norm', action='store_true')
+    parser.add_argument('--state_dim', default=14, type=int)
+    parser.add_argument('--action_dim', default=14, type=int)
+
+
+    # * Segmentation
+    parser.add_argument('--masks', action='store_true',
+                        help="Train segmentation head if the flag is provided")
+
+
+
+    return parser
+
+
+def build_ACT_model_and_optimizer(args_override):
+    parser = argparse.ArgumentParser('DETR training and evaluation script', parents=[get_args_parser()])
+    args = parser.parse_args()
+
+    for k, v in args_override.items():
+        setattr(args, k, v)
+
+    model = build_ACT_model(args)
+    model.cuda()
+
+    param_dicts = [
+        {"params": [p for n, p in model.named_parameters() if "backbone" not in n and p.requires_grad]},
+        {
+            "params": [p for n, p in model.named_parameters() if "backbone" in n and p.requires_grad],
+            "lr": args.lr_backbone,
+        },
+    ]
+    optimizer = torch.optim.AdamW(param_dicts, lr=args.lr,
+                                  weight_decay=args.weight_decay)
+
+    return model, optimizer
+
+
+def build_CNNMLP_model_and_optimizer(args_override):
+    parser = argparse.ArgumentParser('DETR training and evaluation script', parents=[get_args_parser()])
+    args = parser.parse_args()
+
+    for k, v in args_override.items():
+        setattr(args, k, v)
+
+    model = build_CNNMLP_model(args)
+    model.cuda()
+
+    param_dicts = [
+        {"params": [p for n, p in model.named_parameters() if "backbone" not in n and p.requires_grad]},
+        {
+            "params": [p for n, p in model.named_parameters() if "backbone" in n and p.requires_grad],
+            "lr": args.lr_backbone,
+        },
+    ]
+    optimizer = torch.optim.AdamW(param_dicts, lr=args.lr,
+                                  weight_decay=args.weight_decay)
+
+    return model, optimizer
+
diff --git a/roboimi/detr/models/__init__.py b/roboimi/detr/models/__init__.py
new file mode 100644
index 0000000..cc78db1
--- /dev/null
+++ b/roboimi/detr/models/__init__.py
@@ -0,0 +1,9 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+from .detr_vae import build as build_vae
+from .detr_vae import build_cnnmlp as build_cnnmlp
+
+def build_ACT_model(args):
+    return build_vae(args)
+
+def build_CNNMLP_model(args):
+    return build_cnnmlp(args)
\ No newline at end of file
diff --git a/roboimi/detr/models/backbone.py b/roboimi/detr/models/backbone.py
new file mode 100644
index 0000000..759bfb5
--- /dev/null
+++ b/roboimi/detr/models/backbone.py
@@ -0,0 +1,168 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+Backbone modules.
+"""
+from collections import OrderedDict
+
+import torch
+import torch.nn.functional as F
+import torchvision
+from torch import nn
+from torchvision.models._utils import IntermediateLayerGetter
+from typing import Dict, List
+
+from util.misc import NestedTensor, is_main_process
+
+from .position_encoding import build_position_encoding
+
+class FrozenBatchNorm2d(torch.nn.Module):
+    """
+    BatchNorm2d where the batch statistics and the affine parameters are fixed.
+
+    Copy-paste from torchvision.misc.ops with added eps before rqsrt,
+    without which any other policy_models than torchvision.policy_models.resnet[18,34,50,101]
+    produce nans.
+    """
+
+    def __init__(self, n):
+        super(FrozenBatchNorm2d, self).__init__()
+        self.register_buffer("weight", torch.ones(n))
+        self.register_buffer("bias", torch.zeros(n))
+        self.register_buffer("running_mean", torch.zeros(n))
+        self.register_buffer("running_var", torch.ones(n))
+
+    def _load_from_state_dict(self, state_dict, prefix, local_metadata, strict,
+                              missing_keys, unexpected_keys, error_msgs):
+        num_batches_tracked_key = prefix + 'num_batches_tracked'
+        if num_batches_tracked_key in state_dict:
+            del state_dict[num_batches_tracked_key]
+
+        super(FrozenBatchNorm2d, self)._load_from_state_dict(
+            state_dict, prefix, local_metadata, strict,
+            missing_keys, unexpected_keys, error_msgs)
+
+    def forward(self, x):
+        # move reshapes to the beginning
+        # to make it fuser-friendly
+        w = self.weight.reshape(1, -1, 1, 1)
+        b = self.bias.reshape(1, -1, 1, 1)
+        rv = self.running_var.reshape(1, -1, 1, 1)
+        rm = self.running_mean.reshape(1, -1, 1, 1)
+        eps = 1e-5
+        scale = w * (rv + eps).rsqrt()
+        bias = b - rm * scale
+        return x * scale + bias
+
+
+class BackboneBase(nn.Module):
+
+    def __init__(self, backbone: nn.Module, train_backbone: bool, num_channels: int, return_interm_layers: bool):
+        super().__init__()
+        # for name, parameter in backbone.named_parameters(): # only train later layers # TODO do we want this?
+        #     if not train_backbone or 'layer2' not in name and 'layer3' not in name and 'layer4' not in name:
+        #         parameter.requires_grad_(False)
+        if return_interm_layers:
+            return_layers = {"layer1": "0", "layer2": "1", "layer3": "2", "layer4": "3"}
+        else:
+            return_layers = {'layer4': "0"}
+        self.body = IntermediateLayerGetter(backbone, return_layers=return_layers)
+        self.num_channels = num_channels
+
+    def forward(self, tensor):
+        xs = self.body(tensor)
+        return xs
+        # out: Dict[str, NestedTensor] = {}
+        # for name, x in xs.items():
+        #     m = tensor_list.mask
+        #     assert m is not None
+        #     mask = F.interpolate(m[None].float(), size=x.shape[-2:]).to(torch.bool)[0]
+        #     out[name] = NestedTensor(x, mask)
+        # return out
+
+
+class Backbone(BackboneBase):
+    """ResNet backbone with frozen BatchNorm."""
+    def __init__(self, name: str,
+                 train_backbone: bool,
+                 return_interm_layers: bool,
+                 dilation: bool):
+        backbone = getattr(torchvision.models, name)(
+            replace_stride_with_dilation=[False, False, dilation],
+            pretrained=is_main_process(), norm_layer=FrozenBatchNorm2d) # pretrained # TODO do we want frozen batch_norm??
+        num_channels = 512 if name in ('resnet18', 'resnet34') else 2048
+        super().__init__(backbone, train_backbone, num_channels, return_interm_layers)
+
+
+# class DINOv2BackBone(nn.Module):
+#     def __init__(self) -> None:
+#         super().__init__()
+#         self.body = torch.hub.load('facebookresearch/dinov2', 'dinov2_vits14')
+#         self.body.eval()
+#         self.num_channels = 384
+    
+#     @torch.no_grad()
+#     def forward(self, tensor):
+#         xs = self.body.forward_features(tensor)["x_norm_patchtokens"]
+#         od = OrderedDict()
+#         od["0"] = xs.reshape(xs.shape[0], 22, 16, 384).permute(0, 3, 2, 1)
+#         return od
+
+class DINOv2BackBone(nn.Module):
+    def __init__(self, return_interm_layers: bool = False) -> None:
+        super().__init__()
+        self.body = torch.hub.load('facebookresearch/dinov2', 'dinov2_vits14')
+        self.body.eval()
+        self.num_channels = 384
+        self.return_interm_layers = return_interm_layers
+    
+    @torch.no_grad()
+    def forward(self, tensor):
+        features = self.body.forward_features(tensor)
+
+        if self.return_interm_layers:
+
+            layer1 = features["x_norm_patchtokens"]  
+            layer2 = features["x_norm_patchtokens"]  
+            layer3 = features["x_norm_patchtokens"]  
+            layer4 = features["x_norm_patchtokens"]  
+
+            od = OrderedDict()
+            od["0"] = layer1.reshape(layer1.shape[0], 22, 16, 384).permute(0, 3, 2, 1)
+            od["1"] = layer2.reshape(layer2.shape[0], 22, 16, 384).permute(0, 3, 2, 1)
+            od["2"] = layer3.reshape(layer3.shape[0], 22, 16, 384).permute(0, 3, 2, 1)
+            od["3"] = layer4.reshape(layer4.shape[0], 22, 16, 384).permute(0, 3, 2, 1)
+            return od
+        else:
+            xs = features["x_norm_patchtokens"]
+            od = OrderedDict()
+            od["0"] = xs.reshape(xs.shape[0], 22, 16, 384).permute(0, 3, 2, 1)
+            return od
+    
+class Joiner(nn.Sequential):
+    def __init__(self, backbone, position_embedding):
+        super().__init__(backbone, position_embedding)
+
+    def forward(self, tensor_list: NestedTensor):
+        xs = self[0](tensor_list)
+        out: List[NestedTensor] = []
+        pos = []
+        for name, x in xs.items():
+            out.append(x)
+            # position encoding
+            pos.append(self[1](x).to(x.dtype))
+
+        return out, pos
+
+
+def build_backbone(args):
+    position_embedding = build_position_encoding(args)
+    train_backbone = args.lr_backbone > 0
+    return_interm_layers = args.masks
+    if args.backbone == 'dino_v2':
+        backbone = DINOv2BackBone()
+    else:
+        assert args.backbone in ['resnet18', 'resnet34']
+        backbone = Backbone(args.backbone, train_backbone, return_interm_layers, args.dilation)
+    model = Joiner(backbone, position_embedding)
+    model.num_channels = backbone.num_channels
+    return model
diff --git a/roboimi/detr/models/detr_vae.py b/roboimi/detr/models/detr_vae.py
new file mode 100644
index 0000000..afcdc5d
--- /dev/null
+++ b/roboimi/detr/models/detr_vae.py
@@ -0,0 +1,300 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+DETR model and criterion classes.
+"""
+import torch
+from torch import nn
+from torch.autograd import Variable
+from .backbone import build_backbone
+from .transformer import build_transformer, TransformerEncoder, TransformerEncoderLayer
+
+import numpy as np
+
+
+def reparametrize(mu, logvar):
+    std = logvar.div(2).exp()
+    eps = Variable(std.data.new(std.size()).normal_())
+    return mu + std * eps
+
+
+def get_sinusoid_encoding_table(n_position, d_hid):
+    def get_position_angle_vec(position):
+        return [position / np.power(10000, 2 * (hid_j // 2) / d_hid) for hid_j in range(d_hid)]
+
+    sinusoid_table = np.array([get_position_angle_vec(pos_i) for pos_i in range(n_position)])
+    sinusoid_table[:, 0::2] = np.sin(sinusoid_table[:, 0::2])  # dim 2i
+    sinusoid_table[:, 1::2] = np.cos(sinusoid_table[:, 1::2])  # dim 2i+1
+
+    return torch.FloatTensor(sinusoid_table).unsqueeze(0)
+
+
+class DETRVAE(nn.Module):
+    """ This is the DETR module that performs object detection """
+    def __init__(self, backbones, transformer, encoder, state_dim, action_dim, num_queries, camera_names):
+        """ Initializes the model.
+        Parameters:
+            backbones: torch module of the backbone to be used. See backbone.py
+            transformer: torch module of the transformer architecture. See transformer.py
+            state_dim: robot state dimension of the environment
+            num_queries: number of object queries, ie detection slot. This is the maximal number of objects
+                         DETR can detect in a single image. For COCO, we recommend 100 queries.
+            aux_loss: True if auxiliary decoding losses (loss at each decoder layer) are to be used.
+        """
+        super().__init__()
+        self.num_queries = num_queries
+        self.camera_names = camera_names
+        self.transformer = transformer
+        self.encoder = encoder
+        hidden_dim = transformer.d_model
+        self.action_head = nn.Linear(hidden_dim, action_dim)
+        self.is_pad_head = nn.Linear(hidden_dim, 1)
+        self.query_embed = nn.Embedding(num_queries, hidden_dim)
+        if backbones is not None:
+            self.input_proj = nn.Conv2d(backbones[0].num_channels, hidden_dim, kernel_size=1)
+            self.backbones = nn.ModuleList(backbones)
+            self.input_proj_robot_state = nn.Linear(state_dim, hidden_dim)
+        else:
+            raise NotImplementedError
+            # input_dim = 14 + 7 # robot_state + env_state
+            # self.input_proj_robot_state = nn.Linear(state_dim, hidden_dim)
+            # self.input_proj_env_state = nn.Linear(7, hidden_dim)
+            # self.pos = torch.nn.Embedding(2, hidden_dim)
+            # self.backbones = None
+
+        # encoder extra parameters
+        self.latent_dim = 32 # final size of latent z # TODO tune
+        self.cls_embed = nn.Embedding(1, hidden_dim) # extra cls token embedding
+        self.encoder_action_proj = nn.Linear(action_dim, hidden_dim) # project action to embedding
+        self.encoder_joint_proj = nn.Linear(state_dim, hidden_dim)  # project qpos to embedding
+        self.latent_proj = nn.Linear(hidden_dim, self.latent_dim*2) # project hidden state to latent std, var
+        self.register_buffer('pos_table', get_sinusoid_encoding_table(1+1+num_queries, hidden_dim)) # [CLS], qpos, a_seq
+
+        # decoder extra parameters
+        self.latent_out_proj = nn.Linear(self.latent_dim, hidden_dim) # project latent sample to embedding
+        self.additional_pos_embed = nn.Embedding(2, hidden_dim) # learned position embedding for proprio and latent
+
+    def forward(self, qpos, image, env_state, actions=None, is_pad=None):
+        """
+        qpos: batch, qpos_dim
+        image: batch, num_cam, channel, height, width
+        env_state: None
+        actions: batch, seq, action_dim
+        """
+        is_training = actions is not None # train or val
+        bs, _ = qpos.shape
+        ### Obtain latent z from action sequence
+        if is_training:
+            # project action sequence to embedding dim, and concat with a CLS token
+            action_embed = self.encoder_action_proj(actions) # (bs, seq, hidden_dim)
+            qpos_embed = self.encoder_joint_proj(qpos)  # (bs, hidden_dim)
+            qpos_embed = torch.unsqueeze(qpos_embed, axis=1)  # (bs, 1, hidden_dim)
+            cls_embed = self.cls_embed.weight # (1, hidden_dim)
+            cls_embed = torch.unsqueeze(cls_embed, axis=0).repeat(bs, 1, 1) # (bs, 1, hidden_dim)
+            encoder_input = torch.cat([cls_embed, qpos_embed, action_embed], axis=1) # (bs, seq+1, hidden_dim)
+            encoder_input = encoder_input.permute(1, 0, 2) # (seq+1, bs, hidden_dim)
+            # do not mask cls token
+            cls_joint_is_pad = torch.full((bs, 2), False).to(qpos.device) # False: not a padding
+            is_pad = torch.cat([cls_joint_is_pad, is_pad], axis=1)  # (bs, seq+1)
+            # obtain position embedding
+            pos_embed = self.pos_table.clone().detach()
+            pos_embed = pos_embed.permute(1, 0, 2)  # (seq+1, 1, hidden_dim)
+            # query model
+            encoder_output = self.encoder(encoder_input, pos=pos_embed, src_key_padding_mask=is_pad)
+            encoder_output = encoder_output[0] # take cls output only
+            latent_info = self.latent_proj(encoder_output)
+            mu = latent_info[:, :self.latent_dim]
+            logvar = latent_info[:, self.latent_dim:]
+            latent_sample = reparametrize(mu, logvar)
+            latent_input = self.latent_out_proj(latent_sample)
+        else:
+            mu = logvar = None
+            latent_sample = torch.zeros([bs, self.latent_dim], dtype=torch.float32).to(qpos.device)
+            latent_input = self.latent_out_proj(latent_sample)
+
+        if self.backbones is not None:
+            # Image observation features and position embeddings
+            all_cam_features = []
+            all_cam_pos = []
+
+
+
+
+            # print(f"Image shape: {image.shape}, Number of cameras: {len(self.camera_names)}")
+
+            
+            for cam_id, cam_name in enumerate(self.camera_names):
+                # features, pos = self.backbones[0](image[:, cam_id]) # HARDCODED
+                features, pos = self.backbones[cam_id](image[:, cam_id])
+                features = features[0] # take the last layer feature
+                pos = pos[0]
+                all_cam_features.append(self.input_proj(features))
+                all_cam_pos.append(pos)
+
+
+
+
+
+
+
+
+
+
+
+            # proprioception features
+            proprio_input = self.input_proj_robot_state(qpos)
+            # fold camera dimension into width dimension
+            src = torch.cat(all_cam_features, axis=3)
+            pos = torch.cat(all_cam_pos, axis=3)
+            hs = self.transformer(src, None, self.query_embed.weight, pos, latent_input, proprio_input, self.additional_pos_embed.weight)[0]
+        else:
+            qpos = self.input_proj_robot_state(qpos)
+            env_state = self.input_proj_env_state(env_state)
+            transformer_input = torch.cat([qpos, env_state], axis=1) # seq length = 2
+            hs = self.transformer(transformer_input, None, self.query_embed.weight, self.pos.weight)[0]
+        a_hat = self.action_head(hs)
+        is_pad_hat = self.is_pad_head(hs)
+        return a_hat, is_pad_hat, [mu, logvar]
+
+
+
+class CNNMLP(nn.Module):
+    def __init__(self, backbones, state_dim, camera_names):
+        """ Initializes the model.
+        Parameters:
+            backbones: torch module of the backbone to be used. See backbone.py
+            transformer: torch module of the transformer architecture. See transformer.py
+            state_dim: robot state dimension of the environment
+            num_queries: number of object queries, ie detection slot. This is the maximal number of objects
+                         DETR can detect in a single image. For COCO, we recommend 100 queries.
+            aux_loss: True if auxiliary decoding losses (loss at each decoder layer) are to be used.
+        """
+        super().__init__()
+        self.camera_names = camera_names
+        self.action_head = nn.Linear(1000, state_dim) # TODO add more
+        if backbones is not None:
+            self.backbones = nn.ModuleList(backbones)
+            backbone_down_projs = []
+            for backbone in backbones:
+                down_proj = nn.Sequential(
+                    nn.Conv2d(backbone.num_channels, 128, kernel_size=5),
+                    nn.Conv2d(128, 64, kernel_size=5),
+                    nn.Conv2d(64, 32, kernel_size=5)
+                )
+                backbone_down_projs.append(down_proj)
+            self.backbone_down_projs = nn.ModuleList(backbone_down_projs)
+
+            mlp_in_dim = 768 * len(backbones) + 14
+            self.mlp = mlp(input_dim=mlp_in_dim, hidden_dim=1024, output_dim=14, hidden_depth=2)
+        else:
+            raise NotImplementedError
+
+    def forward(self, qpos, image, env_state, actions=None):
+        """
+        qpos: batch, qpos_dim
+        image: batch, num_cam, channel, height, width
+        env_state: None
+        actions: batch, seq, action_dim
+        """
+        is_training = actions is not None # train or val
+        bs, _ = qpos.shape
+        # Image observation features and position embeddings
+        all_cam_features = []
+        for cam_id, cam_name in enumerate(self.camera_names):
+            features, pos = self.backbones[cam_id](image[:, cam_id])
+            features = features[0] # take the last layer feature
+            pos = pos[0] # not used
+            all_cam_features.append(self.backbone_down_projs[cam_id](features))
+        # flatten everything
+        flattened_features = []
+        for cam_feature in all_cam_features:
+            flattened_features.append(cam_feature.reshape([bs, -1]))
+        flattened_features = torch.cat(flattened_features, axis=1) # 768 each
+        features = torch.cat([flattened_features, qpos], axis=1) # qpos: 14
+        a_hat = self.mlp(features)
+        return a_hat
+
+
+def mlp(input_dim, hidden_dim, output_dim, hidden_depth):
+    if hidden_depth == 0:
+        mods = [nn.Linear(input_dim, output_dim)]
+    else:
+        mods = [nn.Linear(input_dim, hidden_dim), nn.ReLU(inplace=True)]
+        for i in range(hidden_depth - 1):
+            mods += [nn.Linear(hidden_dim, hidden_dim), nn.ReLU(inplace=True)]
+        mods.append(nn.Linear(hidden_dim, output_dim))
+    trunk = nn.Sequential(*mods)
+    return trunk
+
+
+def build_encoder(args):
+    d_model = args.hidden_dim # 256
+    dropout = args.dropout # 0.1
+    nhead = args.nheads # 8
+    dim_feedforward = args.dim_feedforward # 2048
+    num_encoder_layers = args.enc_layers # 4 # TODO shared with VAE decoder
+    normalize_before = args.pre_norm # False
+    activation = "relu"
+
+    encoder_layer = TransformerEncoderLayer(d_model, nhead, dim_feedforward,
+                                            dropout, activation, normalize_before)
+    encoder_norm = nn.LayerNorm(d_model) if normalize_before else None
+    encoder = TransformerEncoder(encoder_layer, num_encoder_layers, encoder_norm)
+
+    return encoder
+
+
+def build(args):
+    state_dim = args.state_dim
+    action_dim = args.action_dim
+
+    # From state
+    # backbone = None # from state for now, no need for conv nets
+    # From image
+    backbones = []
+    # backbone = build_backbone(args)
+    # backbones.append(backbone)
+    for _ in args.camera_names:
+        backbone = build_backbone(args)
+        backbones.append(backbone)
+
+    transformer = build_transformer(args)
+
+    encoder = build_encoder(args)
+
+    model = DETRVAE(
+        backbones,
+        transformer,
+        encoder,
+        state_dim=state_dim,
+        action_dim=action_dim,
+        num_queries=args.num_queries,
+        camera_names=args.camera_names,
+    )
+
+    n_parameters = sum(p.numel() for p in model.parameters() if p.requires_grad)
+    print("number of parameters: %.2fM" % (n_parameters/1e6,))
+
+    return model
+
+def build_cnnmlp(args):
+    state_dim = 14 # TODO hardcode
+
+    # From state
+    # backbone = None # from state for now, no need for conv nets
+    # From image
+    backbones = []
+    for _ in args.camera_names:
+        backbone = build_backbone(args)
+        backbones.append(backbone)
+
+    model = CNNMLP(
+        backbones,
+        state_dim=state_dim,
+        camera_names=args.camera_names,
+    )
+
+    n_parameters = sum(p.numel() for p in model.parameters() if p.requires_grad)
+    print("number of parameters: %.2fM" % (n_parameters/1e6,))
+
+    return model
+
diff --git a/roboimi/detr/models/position_encoding.py b/roboimi/detr/models/position_encoding.py
new file mode 100644
index 0000000..c75733e
--- /dev/null
+++ b/roboimi/detr/models/position_encoding.py
@@ -0,0 +1,91 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+Various positional encodings for the transformer.
+"""
+import math
+import torch
+from torch import nn
+
+from util.misc import NestedTensor
+
+
+class PositionEmbeddingSine(nn.Module):
+    """
+    This is a more standard version of the position embedding, very similar to the one
+    used by the Attention is all you need paper, generalized to work on images.
+    """
+    def __init__(self, num_pos_feats=64, temperature=10000, normalize=False, scale=None):
+        super().__init__()
+        self.num_pos_feats = num_pos_feats
+        self.temperature = temperature
+        self.normalize = normalize
+        if scale is not None and normalize is False:
+            raise ValueError("normalize should be True if scale is passed")
+        if scale is None:
+            scale = 2 * math.pi
+        self.scale = scale
+
+    def forward(self, tensor):
+        x = tensor
+        # mask = tensor_list.mask
+        # assert mask is not None
+        # not_mask = ~mask
+
+        not_mask = torch.ones_like(x[0, [0]])
+        y_embed = not_mask.cumsum(1, dtype=torch.float32)
+        x_embed = not_mask.cumsum(2, dtype=torch.float32)
+        if self.normalize:
+            eps = 1e-6
+            y_embed = y_embed / (y_embed[:, -1:, :] + eps) * self.scale
+            x_embed = x_embed / (x_embed[:, :, -1:] + eps) * self.scale
+
+        dim_t = torch.arange(self.num_pos_feats, dtype=torch.float32, device=x.device)
+        dim_t = self.temperature ** (2 * (dim_t // 2) / self.num_pos_feats)
+
+        pos_x = x_embed[:, :, :, None] / dim_t
+        pos_y = y_embed[:, :, :, None] / dim_t
+        pos_x = torch.stack((pos_x[:, :, :, 0::2].sin(), pos_x[:, :, :, 1::2].cos()), dim=4).flatten(3)
+        pos_y = torch.stack((pos_y[:, :, :, 0::2].sin(), pos_y[:, :, :, 1::2].cos()), dim=4).flatten(3)
+        pos = torch.cat((pos_y, pos_x), dim=3).permute(0, 3, 1, 2)
+        return pos
+
+
+class PositionEmbeddingLearned(nn.Module):
+    """
+    Absolute pos embedding, learned.
+    """
+    def __init__(self, num_pos_feats=256):
+        super().__init__()
+        self.row_embed = nn.Embedding(50, num_pos_feats)
+        self.col_embed = nn.Embedding(50, num_pos_feats)
+        self.reset_parameters()
+
+    def reset_parameters(self):
+        nn.init.uniform_(self.row_embed.weight)
+        nn.init.uniform_(self.col_embed.weight)
+
+    def forward(self, tensor_list: NestedTensor):
+        x = tensor_list.tensors
+        h, w = x.shape[-2:]
+        i = torch.arange(w, device=x.device)
+        j = torch.arange(h, device=x.device)
+        x_emb = self.col_embed(i)
+        y_emb = self.row_embed(j)
+        pos = torch.cat([
+            x_emb.unsqueeze(0).repeat(h, 1, 1),
+            y_emb.unsqueeze(1).repeat(1, w, 1),
+        ], dim=-1).permute(2, 0, 1).unsqueeze(0).repeat(x.shape[0], 1, 1, 1)
+        return pos
+
+
+def build_position_encoding(args):
+    N_steps = args.hidden_dim // 2
+    if args.position_embedding in ('v2', 'sine'):
+        # TODO find a better way of exposing other arguments
+        position_embedding = PositionEmbeddingSine(N_steps, normalize=True)
+    elif args.position_embedding in ('v3', 'learned'):
+        position_embedding = PositionEmbeddingLearned(N_steps)
+    else:
+        raise ValueError(f"not supported {args.position_embedding}")
+
+    return position_embedding
diff --git a/roboimi/detr/models/transformer.py b/roboimi/detr/models/transformer.py
new file mode 100644
index 0000000..2306ab2
--- /dev/null
+++ b/roboimi/detr/models/transformer.py
@@ -0,0 +1,312 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+DETR Transformer class.
+
+Copy-paste from torch.nn.Transformer with modifications:
+    * positional encodings are passed in MHattention
+    * extra LN at the end of encoder is removed
+    * decoder returns a stack of activations from all decoding layers
+"""
+import copy
+from typing import Optional, List
+
+import torch
+import torch.nn.functional as F
+from torch import nn, Tensor
+
+
+class Transformer(nn.Module):
+
+    def __init__(self, d_model=512, nhead=8, num_encoder_layers=6,
+                 num_decoder_layers=6, dim_feedforward=2048, dropout=0.1,
+                 activation="relu", normalize_before=False,
+                 return_intermediate_dec=False):
+        super().__init__()
+
+        encoder_layer = TransformerEncoderLayer(d_model, nhead, dim_feedforward,
+                                                dropout, activation, normalize_before)
+        encoder_norm = nn.LayerNorm(d_model) if normalize_before else None
+        self.encoder = TransformerEncoder(encoder_layer, num_encoder_layers, encoder_norm)
+
+        decoder_layer = TransformerDecoderLayer(d_model, nhead, dim_feedforward,
+                                                dropout, activation, normalize_before)
+        decoder_norm = nn.LayerNorm(d_model)
+        self.decoder = TransformerDecoder(decoder_layer, num_decoder_layers, decoder_norm,
+                                          return_intermediate=return_intermediate_dec)
+
+        self._reset_parameters()
+
+        self.d_model = d_model
+        self.nhead = nhead
+
+    def _reset_parameters(self):
+        for p in self.parameters():
+            if p.dim() > 1:
+                nn.init.xavier_uniform_(p)
+
+    def forward(self, src, mask, query_embed, pos_embed, latent_input=None, proprio_input=None, additional_pos_embed=None):
+        # TODO flatten only when input has H and W
+        if len(src.shape) == 4: # has H and W
+            # flatten NxCxHxW to HWxNxC
+            bs, c, h, w = src.shape
+            src = src.flatten(2).permute(2, 0, 1)
+            pos_embed = pos_embed.flatten(2).permute(2, 0, 1).repeat(1, bs, 1)
+            query_embed = query_embed.unsqueeze(1).repeat(1, bs, 1)
+            # mask = mask.flatten(1)
+
+            additional_pos_embed = additional_pos_embed.unsqueeze(1).repeat(1, bs, 1) # seq, bs, dim
+            pos_embed = torch.cat([additional_pos_embed, pos_embed], axis=0)
+
+            addition_input = torch.stack([latent_input, proprio_input], axis=0)
+            src = torch.cat([addition_input, src], axis=0)
+        else:
+            assert len(src.shape) == 3
+            # flatten NxHWxC to HWxNxC
+            bs, hw, c = src.shape
+            src = src.permute(1, 0, 2)
+            pos_embed = pos_embed.unsqueeze(1).repeat(1, bs, 1)
+            query_embed = query_embed.unsqueeze(1).repeat(1, bs, 1)
+
+        tgt = torch.zeros_like(query_embed)
+        memory = self.encoder(src, src_key_padding_mask=mask, pos=pos_embed)
+        hs = self.decoder(tgt, memory, memory_key_padding_mask=mask,
+                          pos=pos_embed, query_pos=query_embed)
+        hs = hs.transpose(1, 2)
+        return hs
+
+class TransformerEncoder(nn.Module):
+
+    def __init__(self, encoder_layer, num_layers, norm=None):
+        super().__init__()
+        self.layers = _get_clones(encoder_layer, num_layers)
+        self.num_layers = num_layers
+        self.norm = norm
+
+    def forward(self, src,
+                mask: Optional[Tensor] = None,
+                src_key_padding_mask: Optional[Tensor] = None,
+                pos: Optional[Tensor] = None):
+        output = src
+
+        for layer in self.layers:
+            output = layer(output, src_mask=mask,
+                           src_key_padding_mask=src_key_padding_mask, pos=pos)
+
+        if self.norm is not None:
+            output = self.norm(output)
+
+        return output
+
+
+class TransformerDecoder(nn.Module):
+
+    def __init__(self, decoder_layer, num_layers, norm=None, return_intermediate=False):
+        super().__init__()
+        self.layers = _get_clones(decoder_layer, num_layers)
+        self.num_layers = num_layers
+        self.norm = norm
+        self.return_intermediate = return_intermediate
+
+    def forward(self, tgt, memory,
+                tgt_mask: Optional[Tensor] = None,
+                memory_mask: Optional[Tensor] = None,
+                tgt_key_padding_mask: Optional[Tensor] = None,
+                memory_key_padding_mask: Optional[Tensor] = None,
+                pos: Optional[Tensor] = None,
+                query_pos: Optional[Tensor] = None):
+        output = tgt
+
+        intermediate = []
+
+        for layer in self.layers:
+            output = layer(output, memory, tgt_mask=tgt_mask,
+                           memory_mask=memory_mask,
+                           tgt_key_padding_mask=tgt_key_padding_mask,
+                           memory_key_padding_mask=memory_key_padding_mask,
+                           pos=pos, query_pos=query_pos)
+            if self.return_intermediate:
+                intermediate.append(self.norm(output))
+
+        if self.norm is not None:
+            output = self.norm(output)
+            if self.return_intermediate:
+                intermediate.pop()
+                intermediate.append(output)
+
+        if self.return_intermediate:
+            return torch.stack(intermediate)
+
+        return output.unsqueeze(0)
+
+
+class TransformerEncoderLayer(nn.Module):
+
+    def __init__(self, d_model, nhead, dim_feedforward=2048, dropout=0.1,
+                 activation="relu", normalize_before=False):
+        super().__init__()
+        self.self_attn = nn.MultiheadAttention(d_model, nhead, dropout=dropout)
+        # Implementation of Feedforward model
+        self.linear1 = nn.Linear(d_model, dim_feedforward)
+        self.dropout = nn.Dropout(dropout)
+        self.linear2 = nn.Linear(dim_feedforward, d_model)
+
+        self.norm1 = nn.LayerNorm(d_model)
+        self.norm2 = nn.LayerNorm(d_model)
+        self.dropout1 = nn.Dropout(dropout)
+        self.dropout2 = nn.Dropout(dropout)
+
+        self.activation = _get_activation_fn(activation)
+        self.normalize_before = normalize_before
+
+    def with_pos_embed(self, tensor, pos: Optional[Tensor]):
+        return tensor if pos is None else tensor + pos
+
+    def forward_post(self,
+                     src,
+                     src_mask: Optional[Tensor] = None,
+                     src_key_padding_mask: Optional[Tensor] = None,
+                     pos: Optional[Tensor] = None):
+        q = k = self.with_pos_embed(src, pos)
+        src2 = self.self_attn(q, k, value=src, attn_mask=src_mask,
+                              key_padding_mask=src_key_padding_mask)[0]
+        src = src + self.dropout1(src2)
+        src = self.norm1(src)
+        src2 = self.linear2(self.dropout(self.activation(self.linear1(src))))
+        src = src + self.dropout2(src2)
+        src = self.norm2(src)
+        return src
+
+    def forward_pre(self, src,
+                    src_mask: Optional[Tensor] = None,
+                    src_key_padding_mask: Optional[Tensor] = None,
+                    pos: Optional[Tensor] = None):
+        src2 = self.norm1(src)
+        q = k = self.with_pos_embed(src2, pos)
+        src2 = self.self_attn(q, k, value=src2, attn_mask=src_mask,
+                              key_padding_mask=src_key_padding_mask)[0]
+        src = src + self.dropout1(src2)
+        src2 = self.norm2(src)
+        src2 = self.linear2(self.dropout(self.activation(self.linear1(src2))))
+        src = src + self.dropout2(src2)
+        return src
+
+    def forward(self, src,
+                src_mask: Optional[Tensor] = None,
+                src_key_padding_mask: Optional[Tensor] = None,
+                pos: Optional[Tensor] = None):
+        if self.normalize_before:
+            return self.forward_pre(src, src_mask, src_key_padding_mask, pos)
+        return self.forward_post(src, src_mask, src_key_padding_mask, pos)
+
+
+class TransformerDecoderLayer(nn.Module):
+
+    def __init__(self, d_model, nhead, dim_feedforward=2048, dropout=0.1,
+                 activation="relu", normalize_before=False):
+        super().__init__()
+        self.self_attn = nn.MultiheadAttention(d_model, nhead, dropout=dropout)
+        self.multihead_attn = nn.MultiheadAttention(d_model, nhead, dropout=dropout)
+        # Implementation of Feedforward model
+        self.linear1 = nn.Linear(d_model, dim_feedforward)
+        self.dropout = nn.Dropout(dropout)
+        self.linear2 = nn.Linear(dim_feedforward, d_model)
+
+        self.norm1 = nn.LayerNorm(d_model)
+        self.norm2 = nn.LayerNorm(d_model)
+        self.norm3 = nn.LayerNorm(d_model)
+        self.dropout1 = nn.Dropout(dropout)
+        self.dropout2 = nn.Dropout(dropout)
+        self.dropout3 = nn.Dropout(dropout)
+
+        self.activation = _get_activation_fn(activation)
+        self.normalize_before = normalize_before
+
+    def with_pos_embed(self, tensor, pos: Optional[Tensor]):
+        return tensor if pos is None else tensor + pos
+
+    def forward_post(self, tgt, memory,
+                     tgt_mask: Optional[Tensor] = None,
+                     memory_mask: Optional[Tensor] = None,
+                     tgt_key_padding_mask: Optional[Tensor] = None,
+                     memory_key_padding_mask: Optional[Tensor] = None,
+                     pos: Optional[Tensor] = None,
+                     query_pos: Optional[Tensor] = None):
+        q = k = self.with_pos_embed(tgt, query_pos)
+        tgt2 = self.self_attn(q, k, value=tgt, attn_mask=tgt_mask,
+                              key_padding_mask=tgt_key_padding_mask)[0]
+        tgt = tgt + self.dropout1(tgt2)
+        tgt = self.norm1(tgt)
+        tgt2 = self.multihead_attn(query=self.with_pos_embed(tgt, query_pos),
+                                   key=self.with_pos_embed(memory, pos),
+                                   value=memory, attn_mask=memory_mask,
+                                   key_padding_mask=memory_key_padding_mask)[0]
+        tgt = tgt + self.dropout2(tgt2)
+        tgt = self.norm2(tgt)
+        tgt2 = self.linear2(self.dropout(self.activation(self.linear1(tgt))))
+        tgt = tgt + self.dropout3(tgt2)
+        tgt = self.norm3(tgt)
+        return tgt
+
+    def forward_pre(self, tgt, memory,
+                    tgt_mask: Optional[Tensor] = None,
+                    memory_mask: Optional[Tensor] = None,
+                    tgt_key_padding_mask: Optional[Tensor] = None,
+                    memory_key_padding_mask: Optional[Tensor] = None,
+                    pos: Optional[Tensor] = None,
+                    query_pos: Optional[Tensor] = None):
+        tgt2 = self.norm1(tgt)
+        q = k = self.with_pos_embed(tgt2, query_pos)
+        tgt2 = self.self_attn(q, k, value=tgt2, attn_mask=tgt_mask,
+                              key_padding_mask=tgt_key_padding_mask)[0]
+        tgt = tgt + self.dropout1(tgt2)
+        tgt2 = self.norm2(tgt)
+        tgt2 = self.multihead_attn(query=self.with_pos_embed(tgt2, query_pos),
+                                   key=self.with_pos_embed(memory, pos),
+                                   value=memory, attn_mask=memory_mask,
+                                   key_padding_mask=memory_key_padding_mask)[0]
+        tgt = tgt + self.dropout2(tgt2)
+        tgt2 = self.norm3(tgt)
+        tgt2 = self.linear2(self.dropout(self.activation(self.linear1(tgt2))))
+        tgt = tgt + self.dropout3(tgt2)
+        return tgt
+
+    def forward(self, tgt, memory,
+                tgt_mask: Optional[Tensor] = None,
+                memory_mask: Optional[Tensor] = None,
+                tgt_key_padding_mask: Optional[Tensor] = None,
+                memory_key_padding_mask: Optional[Tensor] = None,
+                pos: Optional[Tensor] = None,
+                query_pos: Optional[Tensor] = None):
+        if self.normalize_before:
+            return self.forward_pre(tgt, memory, tgt_mask, memory_mask,
+                                    tgt_key_padding_mask, memory_key_padding_mask, pos, query_pos)
+        return self.forward_post(tgt, memory, tgt_mask, memory_mask,
+                                 tgt_key_padding_mask, memory_key_padding_mask, pos, query_pos)
+
+
+def _get_clones(module, N):
+    return nn.ModuleList([copy.deepcopy(module) for i in range(N)])
+
+
+def build_transformer(args):
+    return Transformer(
+        d_model=args.hidden_dim,
+        dropout=args.dropout,
+        nhead=args.nheads,
+        dim_feedforward=args.dim_feedforward,
+        num_encoder_layers=args.enc_layers,
+        num_decoder_layers=args.dec_layers,
+        normalize_before=args.pre_norm,
+        return_intermediate_dec=True,
+    )
+
+
+def _get_activation_fn(activation):
+    """Return an activation function given a string"""
+    if activation == "relu":
+        return F.relu
+    if activation == "gelu":
+        return F.gelu
+    if activation == "glu":
+        return F.glu
+    raise RuntimeError(F"activation should be relu/gelu, not {activation}.")
diff --git a/roboimi/detr/policy.py b/roboimi/detr/policy.py
new file mode 100644
index 0000000..20ac4c0
--- /dev/null
+++ b/roboimi/detr/policy.py
@@ -0,0 +1,163 @@
+import torch.nn as nn
+from torch.nn import functional as F
+import torchvision.transforms as transforms
+from torchvision.transforms import v2
+import torch
+from roboimi.detr.main import build_ACT_model_and_optimizer, build_CNNMLP_model_and_optimizer
+
+
+class ACTPolicy(nn.Module):
+    def __init__(self, args_override):
+        super().__init__()
+        model, optimizer = build_ACT_model_and_optimizer(args_override)
+        self.model = model # CVAE decoder
+        self.optimizer = optimizer
+        self.kl_weight = args_override['kl_weight']
+        print(f'KL Weight {self.kl_weight}')
+
+    def __call__(self, qpos, image, actions=None, is_pad=None):
+        env_state = None
+        normalize = transforms.Normalize(mean=[0.485, 0.456, 0.406],
+                                         std=[0.229, 0.224, 0.225])
+        image = normalize(image)
+        if actions is not None: # training time
+            actions = actions[:, :self.model.num_queries]
+            is_pad = is_pad[:, :self.model.num_queries]
+
+            a_hat, is_pad_hat, (mu, logvar) = self.model(qpos, image, env_state, actions, is_pad)
+            total_kld, dim_wise_kld, mean_kld = kl_divergence(mu, logvar)
+            loss_dict = dict()
+            all_l1 = F.l1_loss(actions, a_hat, reduction='none')
+            l1 = (all_l1 * ~is_pad.unsqueeze(-1)).mean()
+            loss_dict['l1'] = l1
+            loss_dict['kl'] = total_kld[0]
+            loss_dict['loss'] = loss_dict['l1'] + loss_dict['kl'] * self.kl_weight
+            return loss_dict
+        else: # inference time
+            a_hat, _, (_, _) = self.model(qpos, image, env_state) # no action, sample from prior
+            return a_hat
+
+    def configure_optimizers(self):
+        return self.optimizer
+
+class ACTTVPolicy(nn.Module):
+    def __init__(self, args_override):
+        super().__init__()
+        model, optimizer = build_ACT_model_and_optimizer(args_override)
+        self.model = model # CVAE decoder
+        self.optimizer = optimizer
+        self.kl_weight = args_override['kl_weight']
+        self.qpos_noise_std = args_override['qpos_noise_std']
+        print(f'KL Weight {self.kl_weight}')
+
+    def __call__(self, qpos, image, actions=None, is_pad=None):
+        env_state = None
+
+
+
+
+
+
+
+
+
+        # normalize = transforms.Normalize(mean=[0.485, 0.456, 0.406],
+        #                                  std=[0.229, 0.224, 0.225])
+        # image = normalize(image)
+
+
+        patch_h = 16
+        patch_w = 22
+        if actions is not None:
+            transform = v2.Compose([
+                v2.ColorJitter(brightness=0.5, contrast=0.5, saturation=0.5, hue=0.5),
+                v2.RandomPerspective(distortion_scale=0.5),
+                v2.RandomAffine(degrees=10, translate=(0.1,0.1), scale=(0.9,1.1)),
+                v2.GaussianBlur(kernel_size=(9,9), sigma=(0.1,2.0)),
+                v2.Resize((patch_h * 14, patch_w * 14)),
+                # v2.CenterCrop((patch_h * 14, patch_w * 14)),
+                v2.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)),
+            ])
+            qpos += (self.qpos_noise_std**0.5)*torch.randn_like(qpos)
+        else: # inference time
+            transform = v2.Compose([
+                v2.Resize((patch_h * 14, patch_w * 14)),
+                # v2.CenterCrop((patch_h * 14, patch_w * 14)),
+                v2.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225))
+            ])
+            
+        image = transform(image)
+
+
+
+
+
+
+
+
+
+
+
+
+        if actions is not None: # training time
+            actions = actions[:, :self.model.num_queries]
+            is_pad = is_pad[:, :self.model.num_queries]
+
+            a_hat, is_pad_hat, (mu, logvar) = self.model(qpos, image, env_state, actions, is_pad)
+            total_kld, dim_wise_kld, mean_kld = kl_divergence(mu, logvar)
+            loss_dict = dict()
+            all_l1 = F.l1_loss(actions, a_hat, reduction='none')
+            l1 = (all_l1 * ~is_pad.unsqueeze(-1)).mean()
+            loss_dict['l1'] = l1
+            loss_dict['kl'] = total_kld[0]
+            loss_dict['loss'] = loss_dict['l1'] + loss_dict['kl'] * self.kl_weight
+            return loss_dict
+        else: # inference time
+            a_hat, _, (_, _) = self.model(qpos, image, env_state) # no action, sample from prior
+            return a_hat
+
+    def configure_optimizers(self):
+        return self.optimizer
+    
+
+class CNNMLPPolicy(nn.Module):
+    def __init__(self, args_override):
+        super().__init__()
+        model, optimizer = build_CNNMLP_model_and_optimizer(args_override)
+        self.model = model # decoder
+        self.optimizer = optimizer
+
+    def __call__(self, qpos, image, actions=None, is_pad=None):
+        env_state = None # TODO
+        normalize = transforms.Normalize(mean=[0.485, 0.456, 0.406],
+                                         std=[0.229, 0.224, 0.225])
+        image = normalize(image)
+        if actions is not None: # training time
+            actions = actions[:, 0]
+            a_hat = self.model(qpos, image, env_state, actions)
+            mse = F.mse_loss(actions, a_hat)
+            loss_dict = dict()
+            loss_dict['mse'] = mse
+            loss_dict['loss'] = loss_dict['mse']
+            return loss_dict
+        else: # inference time
+            a_hat = self.model(qpos, image, env_state) # no action, sample from prior
+            return a_hat
+
+    def configure_optimizers(self):
+        return self.optimizer
+
+def kl_divergence(mu, logvar):
+    batch_size = mu.size(0)
+    assert batch_size != 0
+    if mu.data.ndimension() == 4:
+        mu = mu.view(mu.size(0), mu.size(1))
+    if logvar.data.ndimension() == 4:
+        logvar = logvar.view(logvar.size(0), logvar.size(1))
+
+    klds = -0.5 * (1 + logvar - mu.pow(2) - logvar.exp())
+    total_kld = klds.sum(1).mean(0, True)
+    dimension_wise_kld = klds.mean(0)
+    mean_kld = klds.mean(1).mean(0, True)
+
+    return total_kld, dimension_wise_kld, mean_kld
diff --git a/roboimi/detr/setup.py b/roboimi/detr/setup.py
new file mode 100644
index 0000000..55d18c0
--- /dev/null
+++ b/roboimi/detr/setup.py
@@ -0,0 +1,10 @@
+from distutils.core import setup
+from setuptools import find_packages
+
+setup(
+    name='detr',
+    version='0.0.0',
+    packages=find_packages(),
+    license='MIT License',
+    long_description=open('README.md').read(),
+)
\ No newline at end of file
diff --git a/roboimi/detr/util/__init__.py b/roboimi/detr/util/__init__.py
new file mode 100644
index 0000000..168f997
--- /dev/null
+++ b/roboimi/detr/util/__init__.py
@@ -0,0 +1 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
diff --git a/roboimi/detr/util/box_ops.py b/roboimi/detr/util/box_ops.py
new file mode 100644
index 0000000..9c088e5
--- /dev/null
+++ b/roboimi/detr/util/box_ops.py
@@ -0,0 +1,88 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+Utilities for bounding box manipulation and GIoU.
+"""
+import torch
+from torchvision.ops.boxes import box_area
+
+
+def box_cxcywh_to_xyxy(x):
+    x_c, y_c, w, h = x.unbind(-1)
+    b = [(x_c - 0.5 * w), (y_c - 0.5 * h),
+         (x_c + 0.5 * w), (y_c + 0.5 * h)]
+    return torch.stack(b, dim=-1)
+
+
+def box_xyxy_to_cxcywh(x):
+    x0, y0, x1, y1 = x.unbind(-1)
+    b = [(x0 + x1) / 2, (y0 + y1) / 2,
+         (x1 - x0), (y1 - y0)]
+    return torch.stack(b, dim=-1)
+
+
+# modified from torchvision to also return the union
+def box_iou(boxes1, boxes2):
+    area1 = box_area(boxes1)
+    area2 = box_area(boxes2)
+
+    lt = torch.max(boxes1[:, None, :2], boxes2[:, :2])  # [N,M,2]
+    rb = torch.min(boxes1[:, None, 2:], boxes2[:, 2:])  # [N,M,2]
+
+    wh = (rb - lt).clamp(min=0)  # [N,M,2]
+    inter = wh[:, :, 0] * wh[:, :, 1]  # [N,M]
+
+    union = area1[:, None] + area2 - inter
+
+    iou = inter / union
+    return iou, union
+
+
+def generalized_box_iou(boxes1, boxes2):
+    """
+    Generalized IoU from https://giou.stanford.edu/
+
+    The boxes should be in [x0, y0, x1, y1] format
+
+    Returns a [N, M] pairwise matrix, where N = len(boxes1)
+    and M = len(boxes2)
+    """
+    # degenerate boxes gives inf / nan results
+    # so do an early check
+    assert (boxes1[:, 2:] >= boxes1[:, :2]).all()
+    assert (boxes2[:, 2:] >= boxes2[:, :2]).all()
+    iou, union = box_iou(boxes1, boxes2)
+
+    lt = torch.min(boxes1[:, None, :2], boxes2[:, :2])
+    rb = torch.max(boxes1[:, None, 2:], boxes2[:, 2:])
+
+    wh = (rb - lt).clamp(min=0)  # [N,M,2]
+    area = wh[:, :, 0] * wh[:, :, 1]
+
+    return iou - (area - union) / area
+
+
+def masks_to_boxes(masks):
+    """Compute the bounding boxes around the provided masks
+
+    The masks should be in format [N, H, W] where N is the number of masks, (H, W) are the spatial dimensions.
+
+    Returns a [N, 4] tensors, with the boxes in xyxy format
+    """
+    if masks.numel() == 0:
+        return torch.zeros((0, 4), device=masks.device)
+
+    h, w = masks.shape[-2:]
+
+    y = torch.arange(0, h, dtype=torch.float)
+    x = torch.arange(0, w, dtype=torch.float)
+    y, x = torch.meshgrid(y, x)
+
+    x_mask = (masks * x.unsqueeze(0))
+    x_max = x_mask.flatten(1).max(-1)[0]
+    x_min = x_mask.masked_fill(~(masks.bool()), 1e8).flatten(1).min(-1)[0]
+
+    y_mask = (masks * y.unsqueeze(0))
+    y_max = y_mask.flatten(1).max(-1)[0]
+    y_min = y_mask.masked_fill(~(masks.bool()), 1e8).flatten(1).min(-1)[0]
+
+    return torch.stack([x_min, y_min, x_max, y_max], 1)
diff --git a/roboimi/detr/util/misc.py b/roboimi/detr/util/misc.py
new file mode 100644
index 0000000..dfa9fb5
--- /dev/null
+++ b/roboimi/detr/util/misc.py
@@ -0,0 +1,468 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+Misc functions, including distributed helpers.
+
+Mostly copy-paste from torchvision references.
+"""
+import os
+import subprocess
+import time
+from collections import defaultdict, deque
+import datetime
+import pickle
+from packaging import version
+from typing import Optional, List
+
+import torch
+import torch.distributed as dist
+from torch import Tensor
+
+# needed due to empty tensor bug in pytorch and torchvision 0.5
+import torchvision
+if version.parse(torchvision.__version__) < version.parse('0.7'):
+    from torchvision.ops import _new_empty_tensor
+    from torchvision.ops.misc import _output_size
+
+
+class SmoothedValue(object):
+    """Track a series of values and provide access to smoothed values over a
+    window or the global series average.
+    """
+
+    def __init__(self, window_size=20, fmt=None):
+        if fmt is None:
+            fmt = "{median:.4f} ({global_avg:.4f})"
+        self.deque = deque(maxlen=window_size)
+        self.total = 0.0
+        self.count = 0
+        self.fmt = fmt
+
+    def update(self, value, n=1):
+        self.deque.append(value)
+        self.count += n
+        self.total += value * n
+
+    def synchronize_between_processes(self):
+        """
+        Warning: does not synchronize the deque!
+        """
+        if not is_dist_avail_and_initialized():
+            return
+        t = torch.tensor([self.count, self.total], dtype=torch.float64, device='cuda')
+        dist.barrier()
+        dist.all_reduce(t)
+        t = t.tolist()
+        self.count = int(t[0])
+        self.total = t[1]
+
+    @property
+    def median(self):
+        d = torch.tensor(list(self.deque))
+        return d.median().item()
+
+    @property
+    def avg(self):
+        d = torch.tensor(list(self.deque), dtype=torch.float32)
+        return d.mean().item()
+
+    @property
+    def global_avg(self):
+        return self.total / self.count
+
+    @property
+    def max(self):
+        return max(self.deque)
+
+    @property
+    def value(self):
+        return self.deque[-1]
+
+    def __str__(self):
+        return self.fmt.format(
+            median=self.median,
+            avg=self.avg,
+            global_avg=self.global_avg,
+            max=self.max,
+            value=self.value)
+
+
+def all_gather(data):
+    """
+    Run all_gather on arbitrary picklable data (not necessarily tensors)
+    Args:
+        data: any picklable object
+    Returns:
+        list[data]: list of data gathered from each rank
+    """
+    world_size = get_world_size()
+    if world_size == 1:
+        return [data]
+
+    # serialized to a Tensor
+    buffer = pickle.dumps(data)
+    storage = torch.ByteStorage.from_buffer(buffer)
+    tensor = torch.ByteTensor(storage).to("cuda")
+
+    # obtain Tensor size of each rank
+    local_size = torch.tensor([tensor.numel()], device="cuda")
+    size_list = [torch.tensor([0], device="cuda") for _ in range(world_size)]
+    dist.all_gather(size_list, local_size)
+    size_list = [int(size.item()) for size in size_list]
+    max_size = max(size_list)
+
+    # receiving Tensor from all ranks
+    # we pad the tensor because torch all_gather does not support
+    # gathering tensors of different shapes
+    tensor_list = []
+    for _ in size_list:
+        tensor_list.append(torch.empty((max_size,), dtype=torch.uint8, device="cuda"))
+    if local_size != max_size:
+        padding = torch.empty(size=(max_size - local_size,), dtype=torch.uint8, device="cuda")
+        tensor = torch.cat((tensor, padding), dim=0)
+    dist.all_gather(tensor_list, tensor)
+
+    data_list = []
+    for size, tensor in zip(size_list, tensor_list):
+        buffer = tensor.cpu().numpy().tobytes()[:size]
+        data_list.append(pickle.loads(buffer))
+
+    return data_list
+
+
+def reduce_dict(input_dict, average=True):
+    """
+    Args:
+        input_dict (dict): all the values will be reduced
+        average (bool): whether to do average or sum
+    Reduce the values in the dictionary from all processes so that all processes
+    have the averaged results. Returns a dict with the same fields as
+    input_dict, after reduction.
+    """
+    world_size = get_world_size()
+    if world_size < 2:
+        return input_dict
+    with torch.no_grad():
+        names = []
+        values = []
+        # sort the keys so that they are consistent across processes
+        for k in sorted(input_dict.keys()):
+            names.append(k)
+            values.append(input_dict[k])
+        values = torch.stack(values, dim=0)
+        dist.all_reduce(values)
+        if average:
+            values /= world_size
+        reduced_dict = {k: v for k, v in zip(names, values)}
+    return reduced_dict
+
+
+class MetricLogger(object):
+    def __init__(self, delimiter="\t"):
+        self.meters = defaultdict(SmoothedValue)
+        self.delimiter = delimiter
+
+    def update(self, **kwargs):
+        for k, v in kwargs.items():
+            if isinstance(v, torch.Tensor):
+                v = v.item()
+            assert isinstance(v, (float, int))
+            self.meters[k].update(v)
+
+    def __getattr__(self, attr):
+        if attr in self.meters:
+            return self.meters[attr]
+        if attr in self.__dict__:
+            return self.__dict__[attr]
+        raise AttributeError("'{}' object has no attribute '{}'".format(
+            type(self).__name__, attr))
+
+    def __str__(self):
+        loss_str = []
+        for name, meter in self.meters.items():
+            loss_str.append(
+                "{}: {}".format(name, str(meter))
+            )
+        return self.delimiter.join(loss_str)
+
+    def synchronize_between_processes(self):
+        for meter in self.meters.values():
+            meter.synchronize_between_processes()
+
+    def add_meter(self, name, meter):
+        self.meters[name] = meter
+
+    def log_every(self, iterable, print_freq, header=None):
+        i = 0
+        if not header:
+            header = ''
+        start_time = time.time()
+        end = time.time()
+        iter_time = SmoothedValue(fmt='{avg:.4f}')
+        data_time = SmoothedValue(fmt='{avg:.4f}')
+        space_fmt = ':' + str(len(str(len(iterable)))) + 'd'
+        if torch.cuda.is_available():
+            log_msg = self.delimiter.join([
+                header,
+                '[{0' + space_fmt + '}/{1}]',
+                'eta: {eta}',
+                '{meters}',
+                'time: {time}',
+                'data: {data}',
+                'max mem: {memory:.0f}'
+            ])
+        else:
+            log_msg = self.delimiter.join([
+                header,
+                '[{0' + space_fmt + '}/{1}]',
+                'eta: {eta}',
+                '{meters}',
+                'time: {time}',
+                'data: {data}'
+            ])
+        MB = 1024.0 * 1024.0
+        for obj in iterable:
+            data_time.update(time.time() - end)
+            yield obj
+            iter_time.update(time.time() - end)
+            if i % print_freq == 0 or i == len(iterable) - 1:
+                eta_seconds = iter_time.global_avg * (len(iterable) - i)
+                eta_string = str(datetime.timedelta(seconds=int(eta_seconds)))
+                if torch.cuda.is_available():
+                    print(log_msg.format(
+                        i, len(iterable), eta=eta_string,
+                        meters=str(self),
+                        time=str(iter_time), data=str(data_time),
+                        memory=torch.cuda.max_memory_allocated() / MB))
+                else:
+                    print(log_msg.format(
+                        i, len(iterable), eta=eta_string,
+                        meters=str(self),
+                        time=str(iter_time), data=str(data_time)))
+            i += 1
+            end = time.time()
+        total_time = time.time() - start_time
+        total_time_str = str(datetime.timedelta(seconds=int(total_time)))
+        print('{} Total time: {} ({:.4f} s / it)'.format(
+            header, total_time_str, total_time / len(iterable)))
+
+
+def get_sha():
+    cwd = os.path.dirname(os.path.abspath(__file__))
+
+    def _run(command):
+        return subprocess.check_output(command, cwd=cwd).decode('ascii').strip()
+    sha = 'N/A'
+    diff = "clean"
+    branch = 'N/A'
+    try:
+        sha = _run(['git', 'rev-parse', 'HEAD'])
+        subprocess.check_output(['git', 'diff'], cwd=cwd)
+        diff = _run(['git', 'diff-index', 'HEAD'])
+        diff = "has uncommited changes" if diff else "clean"
+        branch = _run(['git', 'rev-parse', '--abbrev-ref', 'HEAD'])
+    except Exception:
+        pass
+    message = f"sha: {sha}, status: {diff}, branch: {branch}"
+    return message
+
+
+def collate_fn(batch):
+    batch = list(zip(*batch))
+    batch[0] = nested_tensor_from_tensor_list(batch[0])
+    return tuple(batch)
+
+
+def _max_by_axis(the_list):
+    # type: (List[List[int]]) -> List[int]
+    maxes = the_list[0]
+    for sublist in the_list[1:]:
+        for index, item in enumerate(sublist):
+            maxes[index] = max(maxes[index], item)
+    return maxes
+
+
+class NestedTensor(object):
+    def __init__(self, tensors, mask: Optional[Tensor]):
+        self.tensors = tensors
+        self.mask = mask
+
+    def to(self, device):
+        # type: (Device) -> NestedTensor # noqa
+        cast_tensor = self.tensors.to(device)
+        mask = self.mask
+        if mask is not None:
+            assert mask is not None
+            cast_mask = mask.to(device)
+        else:
+            cast_mask = None
+        return NestedTensor(cast_tensor, cast_mask)
+
+    def decompose(self):
+        return self.tensors, self.mask
+
+    def __repr__(self):
+        return str(self.tensors)
+
+
+def nested_tensor_from_tensor_list(tensor_list: List[Tensor]):
+    # TODO make this more general
+    if tensor_list[0].ndim == 3:
+        if torchvision._is_tracing():
+            # nested_tensor_from_tensor_list() does not export well to ONNX
+            # call _onnx_nested_tensor_from_tensor_list() instead
+            return _onnx_nested_tensor_from_tensor_list(tensor_list)
+
+        # TODO make it support different-sized images
+        max_size = _max_by_axis([list(img.shape) for img in tensor_list])
+        # min_size = tuple(min(s) for s in zip(*[img.shape for img in tensor_list]))
+        batch_shape = [len(tensor_list)] + max_size
+        b, c, h, w = batch_shape
+        dtype = tensor_list[0].dtype
+        device = tensor_list[0].device
+        tensor = torch.zeros(batch_shape, dtype=dtype, device=device)
+        mask = torch.ones((b, h, w), dtype=torch.bool, device=device)
+        for img, pad_img, m in zip(tensor_list, tensor, mask):
+            pad_img[: img.shape[0], : img.shape[1], : img.shape[2]].copy_(img)
+            m[: img.shape[1], :img.shape[2]] = False
+    else:
+        raise ValueError('not supported')
+    return NestedTensor(tensor, mask)
+
+
+# _onnx_nested_tensor_from_tensor_list() is an implementation of
+# nested_tensor_from_tensor_list() that is supported by ONNX tracing.
+@torch.jit.unused
+def _onnx_nested_tensor_from_tensor_list(tensor_list: List[Tensor]) -> NestedTensor:
+    max_size = []
+    for i in range(tensor_list[0].dim()):
+        max_size_i = torch.max(torch.stack([img.shape[i] for img in tensor_list]).to(torch.float32)).to(torch.int64)
+        max_size.append(max_size_i)
+    max_size = tuple(max_size)
+
+    # work around for
+    # pad_img[: img.shape[0], : img.shape[1], : img.shape[2]].copy_(img)
+    # m[: img.shape[1], :img.shape[2]] = False
+    # which is not yet supported in onnx
+    padded_imgs = []
+    padded_masks = []
+    for img in tensor_list:
+        padding = [(s1 - s2) for s1, s2 in zip(max_size, tuple(img.shape))]
+        padded_img = torch.nn.functional.pad(img, (0, padding[2], 0, padding[1], 0, padding[0]))
+        padded_imgs.append(padded_img)
+
+        m = torch.zeros_like(img[0], dtype=torch.int, device=img.device)
+        padded_mask = torch.nn.functional.pad(m, (0, padding[2], 0, padding[1]), "constant", 1)
+        padded_masks.append(padded_mask.to(torch.bool))
+
+    tensor = torch.stack(padded_imgs)
+    mask = torch.stack(padded_masks)
+
+    return NestedTensor(tensor, mask=mask)
+
+
+def setup_for_distributed(is_master):
+    """
+    This function disables printing when not in master process
+    """
+    import builtins as __builtin__
+    builtin_print = __builtin__.print
+
+    def print(*args, **kwargs):
+        force = kwargs.pop('force', False)
+        if is_master or force:
+            builtin_print(*args, **kwargs)
+
+    __builtin__.print = print
+
+
+def is_dist_avail_and_initialized():
+    if not dist.is_available():
+        return False
+    if not dist.is_initialized():
+        return False
+    return True
+
+
+def get_world_size():
+    if not is_dist_avail_and_initialized():
+        return 1
+    return dist.get_world_size()
+
+
+def get_rank():
+    if not is_dist_avail_and_initialized():
+        return 0
+    return dist.get_rank()
+
+
+def is_main_process():
+    return get_rank() == 0
+
+
+def save_on_master(*args, **kwargs):
+    if is_main_process():
+        torch.save(*args, **kwargs)
+
+
+def init_distributed_mode(args):
+    if 'RANK' in os.environ and 'WORLD_SIZE' in os.environ:
+        args.rank = int(os.environ["RANK"])
+        args.world_size = int(os.environ['WORLD_SIZE'])
+        args.gpu = int(os.environ['LOCAL_RANK'])
+    elif 'SLURM_PROCID' in os.environ:
+        args.rank = int(os.environ['SLURM_PROCID'])
+        args.gpu = args.rank % torch.cuda.device_count()
+    else:
+        print('Not using distributed mode')
+        args.distributed = False
+        return
+
+    args.distributed = True
+
+    torch.cuda.set_device(args.gpu)
+    args.dist_backend = 'nccl'
+    print('| distributed init (rank {}): {}'.format(
+        args.rank, args.dist_url), flush=True)
+    torch.distributed.init_process_group(backend=args.dist_backend, init_method=args.dist_url,
+                                         world_size=args.world_size, rank=args.rank)
+    torch.distributed.barrier()
+    setup_for_distributed(args.rank == 0)
+
+
+@torch.no_grad()
+def accuracy(output, target, topk=(1,)):
+    """Computes the precision@k for the specified values of k"""
+    if target.numel() == 0:
+        return [torch.zeros([], device=output.device)]
+    maxk = max(topk)
+    batch_size = target.size(0)
+
+    _, pred = output.topk(maxk, 1, True, True)
+    pred = pred.t()
+    correct = pred.eq(target.view(1, -1).expand_as(pred))
+
+    res = []
+    for k in topk:
+        correct_k = correct[:k].view(-1).float().sum(0)
+        res.append(correct_k.mul_(100.0 / batch_size))
+    return res
+
+
+def interpolate(input, size=None, scale_factor=None, mode="nearest", align_corners=None):
+    # type: (Tensor, Optional[List[int]], Optional[float], str, Optional[bool]) -> Tensor
+    """
+    Equivalent to nn.functional.interpolate, but with support for empty batch sizes.
+    This will eventually be supported natively by PyTorch, and this
+    class can go away.
+    """
+    if version.parse(torchvision.__version__) < version.parse('0.7'):
+        if input.numel() > 0:
+            return torch.nn.functional.interpolate(
+                input, size, scale_factor, mode, align_corners
+            )
+
+        output_shape = _output_size(2, input, size, scale_factor)
+        output_shape = list(input.shape[:-2]) + list(output_shape)
+        return _new_empty_tensor(input, output_shape)
+    else:
+        return torchvision.ops.misc.interpolate(input, size, scale_factor, mode, align_corners)
diff --git a/roboimi/detr/util/plot_utils.py b/roboimi/detr/util/plot_utils.py
new file mode 100644
index 0000000..0f24bed
--- /dev/null
+++ b/roboimi/detr/util/plot_utils.py
@@ -0,0 +1,107 @@
+"""
+Plotting utilities to visualize training logs.
+"""
+import torch
+import pandas as pd
+import numpy as np
+import seaborn as sns
+import matplotlib.pyplot as plt
+
+from pathlib import Path, PurePath
+
+
+def plot_logs(logs, fields=('class_error', 'loss_bbox_unscaled', 'mAP'), ewm_col=0, log_name='log.txt'):
+    '''
+    Function to plot specific fields from training log(s). Plots both training and test results.
+
+    :: Inputs - logs = list containing Path objects, each pointing to individual dir with a log file
+              - fields = which results to plot from each log file - plots both training and test for each field.
+              - ewm_col = optional, which column to use as the exponential weighted smoothing of the plots
+              - log_name = optional, name of log file if different than default 'log.txt'.
+
+    :: Outputs - matplotlib plots of results in fields, color coded for each log file.
+               - solid lines are training results, dashed lines are test results.
+
+    '''
+    func_name = "plot_utils.py::plot_logs"
+
+    # verify logs is a list of Paths (list[Paths]) or single Pathlib object Path,
+    # convert single Path to list to avoid 'not iterable' error
+
+    if not isinstance(logs, list):
+        if isinstance(logs, PurePath):
+            logs = [logs]
+            print(f"{func_name} info: logs param expects a list argument, converted to list[Path].")
+        else:
+            raise ValueError(f"{func_name} - invalid argument for logs parameter.\n \
+            Expect list[Path] or single Path obj, received {type(logs)}")
+
+    # Quality checks - verify valid dir(s), that every item in list is Path object, and that log_name exists in each dir
+    for i, dir in enumerate(logs):
+        if not isinstance(dir, PurePath):
+            raise ValueError(f"{func_name} - non-Path object in logs argument of {type(dir)}: \n{dir}")
+        if not dir.exists():
+            raise ValueError(f"{func_name} - invalid directory in logs argument:\n{dir}")
+        # verify log_name exists
+        fn = Path(dir / log_name)
+        if not fn.exists():
+            print(f"-> missing {log_name}.  Have you gotten to Epoch 1 in training?")
+            print(f"--> full path of missing log file: {fn}")
+            return
+
+    # load log file(s) and plot
+    dfs = [pd.read_json(Path(p) / log_name, lines=True) for p in logs]
+
+    fig, axs = plt.subplots(ncols=len(fields), figsize=(16, 5))
+
+    for df, color in zip(dfs, sns.color_palette(n_colors=len(logs))):
+        for j, field in enumerate(fields):
+            if field == 'mAP':
+                coco_eval = pd.DataFrame(
+                    np.stack(df.test_coco_eval_bbox.dropna().values)[:, 1]
+                ).ewm(com=ewm_col).mean()
+                axs[j].plot(coco_eval, c=color)
+            else:
+                df.interpolate().ewm(com=ewm_col).mean().plot(
+                    y=[f'train_{field}', f'test_{field}'],
+                    ax=axs[j],
+                    color=[color] * 2,
+                    style=['-', '--']
+                )
+    for ax, field in zip(axs, fields):
+        ax.legend([Path(p).name for p in logs])
+        ax.set_title(field)
+
+
+def plot_precision_recall(files, naming_scheme='iter'):
+    if naming_scheme == 'exp_id':
+        # name becomes exp_id
+        names = [f.parts[-3] for f in files]
+    elif naming_scheme == 'iter':
+        names = [f.stem for f in files]
+    else:
+        raise ValueError(f'not supported {naming_scheme}')
+    fig, axs = plt.subplots(ncols=2, figsize=(16, 5))
+    for f, color, name in zip(files, sns.color_palette("Blues", n_colors=len(files)), names):
+        data = torch.load(f)
+        # precision is n_iou, n_points, n_cat, n_area, max_det
+        precision = data['precision']
+        recall = data['params'].recThrs
+        scores = data['scores']
+        # take precision for all classes, all areas and 100 detections
+        precision = precision[0, :, :, 0, -1].mean(1)
+        scores = scores[0, :, :, 0, -1].mean(1)
+        prec = precision.mean()
+        rec = data['recall'][0, :, 0, -1].mean()
+        print(f'{naming_scheme} {name}: mAP@50={prec * 100: 05.1f}, ' +
+              f'score={scores.mean():0.3f}, ' +
+              f'f1={2 * prec * rec / (prec + rec + 1e-8):0.3f}'
+              )
+        axs[0].plot(recall, precision, c=color)
+        axs[1].plot(recall, scores, c=color)
+
+    axs[0].set_title('Precision / Recall')
+    axs[0].legend(names)
+    axs[1].set_title('Scores / Recall')
+    axs[1].legend(names)
+    return fig, axs
diff --git a/roboimi/diana_driver/DianaApi_v2.py b/roboimi/diana_driver/DianaApi_v2.py
new file mode 100644
index 0000000..b1135bb
--- /dev/null
+++ b/roboimi/diana_driver/DianaApi_v2.py
@@ -0,0 +1,2539 @@
+#!usr/bin/python3
+from ctypes import *
+import platform
+import os
+import time
+import sys
+from enum import Enum
+import math
+
+
+
+errorCodeMessage = {
+    0: 'NO_ERROR_CODE',
+    -1000: 'ERROR_CODE_SOCKET_OTHER_ERROR',
+    -1001: 'ERROR_CODE_WSASTART_FAIL',
+    -1002: 'ERROR_CODE_CREATE_SOCKET_FAIL',
+    -1003: 'ERROR_CODE_BIND_PORT_FAIL',
+    -1004: 'ERROR_CODE_SOCKET_READ_FAIL',
+    -1005: 'ERROR_CODE_SOCKET_TIMEOUT',
+    -1006: 'ERROR_CODE_RECVFROM_FAIL',
+    -1007: 'ERROR_CODE_SENDTO_FAIL',
+    -1008: 'ERROR_CODE_LOST_HEARTBEAT',
+    -1009: 'ERROR_CODE_LOST_ROBOTSTATE',
+    -1010: 'ERROR_CODE_GET_DH_FAILED',
+    -1011: 'ERROR_CODE_RELEASE_BRAKE_FAILED',
+    -1012: 'ERROR_CODE_HOLD_BRAKE_FAILED',
+    -2001: 'ERROR_CODE_JOINT_REGIST_ERROR',
+    -2101: 'ERROR_CODE_COMMUNICATE_ERROR',
+    -2201: 'ERROR_CODE_CALLING_CONFLICT_ERR',
+    -2202: 'ERROR_CODE_COLLISION_ERROR',
+    -2203: 'ERROR_CODE_NOT_FOLLOW_POSITION_CMD',
+    -2204: 'ERROR_CODE_NOT_FOLLOW_TCP_CMD',
+    -2205: 'ERROR_CODE_NOT_ALL_AT_OP_STATE',
+    -2206: 'ERROR_CODE_OUT_RANGE_FEEDBACK',
+    -2207: 'ERROR_CODE_EMERGENCY_STOP',
+    -2208: 'ERROR_CODE_NO_INIT_PARAMETER',
+    -2209: 'ECODE_NOT_MATCH_LOAD',
+    -2210: 'ECODE_CANNOT_MOVE_WHILE_FREE_DRIVING', 
+    -2211: 'ECODE_CANNOT_MOVE_WHILE_ZERO_SPACE_FREE_DRIVING',
+    -2212: 'ECODE_PASSTHROUGH_FIFO_OVERFLOW_UP_ERROR',
+    -2213: 'ECODE_PASSTHROUGH_FIFO_OVERFLOW_DOWN_ERROR',
+    -2214: 'ERROR_CODE_ROBOT_IN_VIRTUAL_WALL',
+    -2215: 'ERROR_CODE_CONFLICT_TASK_RUNNING',
+    -2301: 'ERROR_CODE_PLAN_ERROR',
+    -2302: 'ERROR_CODE_INTERPOLATE_ERROR',
+    -2303: 'ERROR_CODE_INTERPOLATE_TORQUE_ERROR',
+    -2304: 'ERROR_CODE_SINGULAR_VALUE_ERROR',
+    -3001: 'ERROR_CODE_RESOURCE_UNAVAILABLE',
+    -3002: 'ERROR_CODE_DUMP_LOG_TIMEOUT',
+    -3003: 'ERROR_CODE_DUMP_LOG_FAILED',
+    -3004: 'RESET_DH_FAILED',
+}
+
+scriptLibraryNames = {
+    'Linux': 'libDianaApi.so',
+    'Windows': 'DianaApi.dll'
+}
+
+# scriptLibraryDir = os.path.split(os.path.realpath(__file__))[0]
+# scriptLibraryPath = os.path.join(
+#     scriptLibraryDir, scriptLibraryNames[platform.system()])
+# api_mod = None
+cur_path = os.getcwd()
+LIB_PATH = cur_path + "/lib/libDianaApi.so"
+scriptLibraryPath=LIB_PATH
+if sys.version_info < (3, 8):
+    api_mod = CDLL(scriptLibraryPath)
+else:
+    api_mod = CDLL(scriptLibraryPath, winmode=0)
+
+# Enumration starts
+# add Enumration here
+
+# api_mod = load_api(LIB_PATH)
+
+
+class tcp_direction_e(Enum):
+    T_MOVE_X_UP = 0
+    T_MOVE_X_DOWN = 1
+    T_MOVE_Y_UP = 2
+    T_MOVE_Y_DOWN = 3
+    T_MOVE_Z_UP = 4
+    T_MOVE_Z_DOWN = 5
+
+
+class mode_e(Enum):
+    T_MODE_INVALID = -1
+    T_MODE_POSITION = 0
+    T_MODE_JOINT_IMPEDANCE = 1
+    T_MODE_CART_IMPEDANCE = 2
+
+
+class joint_direction_e(Enum):
+    T_MOVE_UP = 0
+    T_MOVE_DOWN = 1
+
+
+class complex_path_type(Enum):
+    NORMAL_JOINT_PATH = 0
+    MOVEP_JOINT_PATH = 1
+    NORMAL_POSE_PATH = 2
+    MOVEP_POSE_PATH = 3
+
+
+class coordinate_e(Enum):
+    E_BASE_COORDINATE = 0
+    E_TOOL_COORDINATE = 1
+    E_WORK_PIECE_COORDINATE = 2
+    E_VIEW_COORDINATE = 3
+
+
+class collision_level(Enum):
+    E_NO_COLLISION_DETECTION = 0
+    E_JOINT_SPACE_DETECTION = 1
+    E_CART_SPACE_DETECTION = 2
+    E_TCP_RESULTANT_DETECTION = 3
+
+
+class zero_space_move_direction(Enum):
+    E_FORWARD = 1
+    E_BACKWARD = -1
+
+# Enumeration ends
+
+# Structure starts
+# add Structure here
+
+
+class DIANA_JOINTS_POSITION(Structure):
+    pass
+
+
+DIANA_JOINTS_POSITION._fields_ = [
+    ('values', c_double*7)
+]
+
+
+class DIANA_JOINTS_FORCE(Structure):
+    pass
+
+
+DIANA_JOINTS_FORCE._fields_ = [
+    ('values', c_double*7)
+]
+
+
+class DIANA_TCP_POSE(Structure):
+    pass
+
+
+DIANA_TCP_POSE._fields_ = [
+    ('values', c_double * 6)
+]
+
+
+class DIANA_JOINTS_SPEED(Structure):
+    pass
+
+
+DIANA_JOINTS_SPEED._fields_ = [
+    ('values', c_double*7)
+]
+
+
+class DIANA_JOINTS_SPEED_L(Structure):
+    pass
+
+
+DIANA_JOINTS_SPEED_L._fields_ = [
+    ('values', c_double*6)
+]
+
+
+class DIANA_JOINTS_ACC(Structure):
+    pass
+
+
+DIANA_JOINTS_ACC._fields_ = [
+    ('values', c_double*2)
+]
+
+
+class DIANA_FRAME_MATRIX(Structure):
+    pass
+
+
+DIANA_FRAME_MATRIX._fields_ = [
+    ('values', c_double * 16)
+]
+
+
+class DIANA_FORCE_DIRECTION(Structure):
+    pass
+
+
+DIANA_FORCE_DIRECTION._fields_ = [
+    ('values', c_double * 3)
+]
+
+
+class SRV_NET_ST(Structure):
+    pass
+
+
+SRV_NET_ST._fields_ = [
+    ('ipAddress', c_char * 32),
+    ('SLocHeartbeatPortrvIp', c_ushort),
+    ('LocRobotStatePort', c_ushort),
+    ('LocSrvPort', c_ushort),
+    ('LocRealtimeSrvPort', c_ushort),
+    ('LocPassThroughSrvPort', c_ushort)
+]
+
+
+class DIANA_JOINT_ANGULAR_VEL(Structure):
+    pass
+
+
+DIANA_JOINT_ANGULAR_VEL._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_JOINT_ACC(Structure):
+    pass
+
+
+DIANA_JOINT_ACC._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_JOINT_CURRENT(Structure):
+    pass
+
+
+DIANA_JOINT_CURRENT._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_JOINT_TORQUE(Structure):
+    pass
+
+
+DIANA_JOINT_TORQUE._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_TCP_FORCE(Structure):
+    pass
+
+
+DIANA_TCP_FORCE._fields_ = [
+    ('values', c_double * 6)
+]
+
+
+class DIANA_DEFAULT_TCP(Structure):
+    pass
+
+
+DIANA_DEFAULT_TCP._fields_ = [
+    ('values', c_double * 16)
+]
+
+
+class DIANA_TCP_VECTOR(Structure):
+    pass
+
+
+DIANA_TCP_VECTOR._fields_ = [
+    ('values', c_double * 6)
+]
+
+
+class DIANA_RPY_VECTOR(Structure):
+    pass
+
+
+DIANA_RPY_VECTOR._fields_ = [
+    ('values', c_double * 3)
+]
+
+
+class DIANA_AXIS_VECTOR(Structure):
+    pass
+
+
+DIANA_AXIS_VECTOR._fields_ = [
+    ('values', c_double * 3)
+]
+
+
+class DIANA_JOINT_COLLISION(Structure):
+    pass
+
+
+DIANA_JOINT_COLLISION._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_CART_COLLISION(Structure):
+    pass
+
+
+DIANA_CART_COLLISION._fields_ = [
+    ('values', c_double * 6)
+]
+
+
+class DIANA_JOINT_STIFF(Structure):
+    pass
+
+
+DIANA_JOINT_STIFF._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_JOINT_DAMP(Structure):
+    pass
+
+
+DIANA_JOINT_DAMP._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_CART_STIFF(Structure):
+    pass
+
+
+DIANA_CART_STIFF._fields_ = [
+    ('values', c_double * 6)
+]
+
+
+class DIANA_CART_DAMP(Structure):
+    pass
+
+
+DIANA_CART_DAMP._fields_ = [
+    ('values', c_double * 6)
+]
+
+
+class DIANA_TCP_PAYLOAD(Structure):
+    pass
+
+
+DIANA_TCP_PAYLOAD._fields_ = [
+    ('values', c_double * 10)
+]
+
+
+class StrTrajectoryState(Structure):
+    _pack_ = 1
+    _fields_ = [
+        ('taskId', c_int),
+        ('segCount', c_int),
+        ('segIndex', c_int),
+        ('errorCode', c_int),
+        ('isPaused', c_int),
+        ('isFreeDriving', c_int),
+        ('isZeroSpaceFreeDriving', c_int)
+    ]
+
+
+class StrErrorInfo(Structure):
+    _pack_ = 1
+    _fields_ = [
+        ('errorId', c_int),
+        ('errorType', c_int),
+        ('errorCode', c_int),
+        ('errorMsg', c_char * 64)
+    ]
+
+
+class StrRobotStateInfo(Structure):
+    _pack_ = 1
+    _fields_ = [
+        ('jointPos', c_double * 7),
+        ('jointAngularVel', c_double * 7),
+        ('jointCurrent', c_double * 7),
+        ('jointTorque', c_double * 7),
+        ('tcpPos', c_double * 6),
+        ('tcpExternalForce', c_double),
+        ('bCollision', c_bool),
+        ('bTcpForceValid', c_bool),
+        ('tcpForce', c_double * 6),
+        ('jointForce', c_double * 7),
+        ('trajState', StrTrajectoryState),
+        ('StrErrorInfo', StrErrorInfo)
+    ]
+
+
+class DIANA_DH_A(Structure):
+    pass
+
+
+DIANA_DH_A._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_DH_Alpha(Structure):
+    pass
+
+
+DIANA_DH_Alpha._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_DH_D(Structure):
+    pass
+
+
+DIANA_DH_D._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_DH_Theta(Structure):
+    pass
+
+
+DIANA_DH_Theta._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_JACOBI_MATRIX(Structure):
+    pass
+
+
+DIANA_JACOBI_MATRIX._fields_ = [
+    ('values', c_double * 42)
+]
+
+
+class DIANA_DIGTAL_VALUE_ALL(Structure):
+    pass
+
+
+DIANA_DIGTAL_VALUE_ALL._fields_ = [
+    ('values', c_int * 8)
+]
+
+
+class DIANA_ANALOG_VALUE_ALL(Structure):
+    pass
+
+
+DIANA_ANALOG_VALUE_ALL._fields_ = [
+    ('values', c_double * 2)
+]
+
+
+class DIANA_ANALOG_MODE(Structure):
+    pass
+
+
+DIANA_ANALOG_MODE._fields_ = [
+    ('values', c_int * 2)
+]
+
+
+class DIANA_DH_TCP_MEAS(Structure):
+    pass
+
+
+DIANA_DH_TCP_MEAS._fields_ = [
+    ('values', c_double * 3)
+]
+
+
+class DIANA_DH_JOINT_POS__MEAS(Structure):
+    pass
+
+
+DIANA_DH_JOINT_POS__MEAS._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_DH_R(Structure):
+    pass
+
+
+DIANA_DH_R._fields_ = [
+    ('values', c_double * 28)
+]
+
+
+class DIANA_DH_WRT(Structure):
+    pass
+
+
+DIANA_DH_WRT._fields_ = [
+    ('values', c_double * 6)
+]
+
+
+class DIANA_DH_TRT(Structure):
+    pass
+
+
+DIANA_DH_TRT._fields_ = [
+    ('values', c_double * 3)
+]
+
+
+class DIANA_DH_CONFID(Structure):
+    pass
+
+
+DIANA_DH_CONFID._fields_ = [
+    ('values', c_double * 2)
+]
+
+
+class DIANA_DH_RTw2b(Structure):
+    pass
+
+
+DIANA_DH_RTw2b._fields_ = [
+    ('values', c_double * 6)
+]
+
+
+class DIANA_DH_RTf2t(Structure):
+    pass
+
+
+DIANA_DH_RTf2t._fields_ = [
+    ('values', c_double * 3)
+]
+
+
+class DIANA_KP(Structure):
+    pass
+
+
+DIANA_KP._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_KD(Structure):
+    pass
+
+
+DIANA_KD._fields_ = [
+    ('values', c_double * 7)
+]
+
+
+class DIANA_ACTIVE_TCP(Structure):
+    pass
+
+
+DIANA_ACTIVE_TCP._fields_ = [
+    ('values', c_double * 6)
+]
+
+class DIANA_GRAV_INFO(Structure):
+    pass
+
+
+DIANA_GRAV_INFO._fields_ = [
+    ('values', c_double * 3)
+]
+
+# Structure ends
+
+
+# Callback function starts
+# add callback function here
+FNCERRORCALLBACK = CFUNCTYPE(None, c_int)
+
+FNCSTATECALLBACK = CFUNCTYPE(None, POINTER(StrRobotStateInfo))
+# Callback function ends
+
+
+def message(ret):
+    if(ret >= 0):
+        return True
+    else:
+        errorcode = getLastError()
+        errorMessage = errorCodeMessage.get(errorcode)
+        callerName = 'function ' + sys._getframe().f_back.f_code.co_name + ' fails,'
+        if errorMessage == None:
+            print(callerName + 'Error Code ' + str(errorcode))
+        else:
+            print(callerName + errorMessage)
+        return False
+
+
+def wait_move():
+    time.sleep(0.02)
+    while True:
+        state = getRobotState()
+        if state != 0:
+            break
+        else:
+            time.sleep(0.001)
+    stop()
+
+
+def initSrv(srv_net_st, fnError=None, fnState=None):
+    pinfo = SRV_NET_ST()
+    strIpAddress = srv_net_st[0]
+    pinfo.ipAddress = bytes(strIpAddress.encode('utf-8'))
+    pinfo.SLocHeartbeatPortrvIp = srv_net_st[1]
+    pinfo.LocRobotStatePort = srv_net_st[2]
+    pinfo.LocSrvPort = srv_net_st[3]
+    pinfo.LocRealtimeSrvPort = srv_net_st[4]
+    pinfo.LocPassThroughSrvPort = srv_net_st[5]
+    api_mod.initSrv.argtypes = [FNCERRORCALLBACK,
+                                FNCSTATECALLBACK, POINTER(SRV_NET_ST)]
+    api_mod.initSrv.restype = c_int
+    if fnError == None:
+        fnError = FNCERRORCALLBACK()
+    if fnState == None:
+        fnState = FNCSTATECALLBACK()
+    ret = api_mod.initSrv(fnError, fnState, byref(pinfo))
+    return message(ret)
+
+
+def destroySrv(ipAddress=''):
+    api_mod.destroySrv.argtypes = [c_char_p]
+    api_mod.destroySrv.restype = c_int
+    ret = api_mod.destroySrv(bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def setPushPeriod(period, ipAddress=''):
+    api_mod.setPushPeriod.argtypes = [c_int, c_char_p]
+    api_mod.setPushPeriod.restype = c_int
+    ret = api_mod.setPushPeriod(period, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def moveTCP(d, v, a, ipAddress=''):
+    active_tcp = c_void_p(0)
+    api_mod.moveTCP.argtypes = [c_int, c_double, c_double, c_void_p, c_char_p]
+    api_mod.moveTCP.restype = c_int
+    ret = api_mod.moveTCP(d.value, v, a, active_tcp,
+                          bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+def _MoveTCP(d, v, a, ipAddress=''):
+    active_tcp = c_void_p(0)
+    api_mod.moveTCP.argtypes = [c_int, c_double, c_double, c_void_p, c_char_p]
+    api_mod.moveTCP.restype = c_int
+    api_mod.moveTCP(d.value, v, a, active_tcp,
+                          bytes(ipAddress.encode('utf-8')))
+    # time.sleep(0.02)
+    
+    
+
+
+def rotationTCP(d, v, a, ipAddress=''):
+    active_tcp = c_void_p(0)
+    api_mod.rotationTCP.argtypes = [
+        c_int, c_double, c_double, c_void_p, c_char_p]
+    api_mod.rotationTCP.restype = c_int
+    ret = api_mod.rotationTCP(
+        d.value, v, a, active_tcp, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+def _RotationTCP(d, v, a, ipAddress=''):
+    active_tcp = c_void_p(0)
+    api_mod.rotationTCP.argtypes = [
+        c_int, c_double, c_double, c_void_p, c_char_p]
+    api_mod.rotationTCP.restype = c_int
+    ret = api_mod.rotationTCP(
+        d.value, v, a, active_tcp, bytes(ipAddress.encode('utf-8')))
+    time.sleep(0.02)
+    while True:
+        state = getRobotState()
+        if state != 0:
+            break
+        else:
+            time.sleep(0.001)
+    stop()
+
+
+def moveJoint(d, i, v, a, ipAddress=''):
+    api_mod.moveJoint.argtypes = [c_int, c_int, c_double, c_double, c_char_p]
+    api_mod.moveJoint.restype = c_int
+    ret = api_mod.moveJoint(d.value, i, v, a, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def moveJToTarget(joints, v, a, ipAddress=''):
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    for index in range(0, len(joints)):
+        dianaJointPos.values[index] = joints[index]
+    api_mod.moveJToTarget.argtypes = [
+        POINTER(DIANA_JOINTS_POSITION), c_double, c_double, c_char_p]
+    api_mod.moveJToTarget.restype = c_int
+    ret = api_mod.moveJToTarget(
+        dianaJointPos, v, a, bytes(ipAddress.encode('utf-8')))
+    print("ret = ",ret)
+    
+    return message(ret)
+
+def _MoveJoint(joints,v,a,ipAddress=''):
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    for index in range(0, len(joints)):
+        dianaJointPos.values[index] = joints[index]
+    api_mod.moveJToTarget.argtypes = [
+        POINTER(DIANA_JOINTS_POSITION), c_double, c_double, c_char_p]
+    api_mod.moveJToTarget.restype = c_int
+    api_mod.moveJToTarget(
+        dianaJointPos, v, a, bytes(ipAddress.encode('utf-8')))
+    time.sleep(0.02)
+    while True:
+        state = getRobotState()
+        if state != 0:
+            break
+        else:
+            time.sleep(0.001)
+    # stop()
+
+
+#This fonction is same as _MoveJoint, but its character is for just reading first 7 elements in the list 
+def _MoveJ(joints,v,a,ipAddress=''):
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    for index in range(0, 7):
+        dianaJointPos.values[index] = joints[index]
+    api_mod.moveJToTarget.argtypes = [
+        POINTER(DIANA_JOINTS_POSITION), c_double, c_double, c_char_p]
+    api_mod.moveJToTarget.restype = c_int
+    api_mod.moveJToTarget(
+        dianaJointPos, v, a, bytes(ipAddress.encode('utf-8')))
+    time.sleep(0.02)
+    while True:
+        state = getRobotState()
+        if state != 0:
+            break
+        else:
+            time.sleep(0.001)
+    # stop()
+
+def _MovetoHome(v,a,ipAddress=''):
+    joints = [0, 0, 0, 0, 0, 0, 0]
+    print("let's go home ")
+    _MoveJoint(joints,v,a,ipAddress)
+    print("OK")
+
+def _MoveSpecificJoint(joint_value,joint_index,v,a,ipAddress=''):
+    jointsPosition = []
+    dianaJointsPosition = DIANA_JOINTS_POSITION()
+    dianaJointsPosition.values = (c_double * 7)()
+    api_mod.getJointPos.argtypes = [POINTER(DIANA_JOINTS_POSITION), c_char_p]
+    api_mod.getJointPos.restype = c_int
+    api_mod.getJointPos(
+        byref(dianaJointsPosition), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, 7):
+        jointsPosition.append(dianaJointsPosition.values[index])
+    jointsPosition[joint_index] = joint_value
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    for index in range(0, 7):
+        dianaJointPos.values[index] = jointsPosition[index]
+    api_mod.moveJToTarget.argtypes = [
+        POINTER(DIANA_JOINTS_POSITION), c_double, c_double, c_char_p]
+    api_mod.moveJToTarget.restype = c_int
+    api_mod.moveJToTarget(
+        dianaJointPos, v, a, bytes(ipAddress.encode('utf-8')))
+    time.sleep(0.02)
+    while True:
+        state = getRobotState()
+        if state != 0:
+            break
+        else:
+            time.sleep(0.001)
+    stop()
+
+
+
+def moveJToPose(pose, v, a, ipAddress=''):
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    active_tcp = c_void_p(0)
+    for index in range(0, len(dianaTcpPose.values)):
+        dianaTcpPose.values[index] = pose[index]
+    api_mod.moveJToPose.argtypes = [
+        POINTER(DIANA_TCP_POSE), c_double, c_double, c_void_p, c_char_p]
+    api_mod.moveJToPose.restype = c_int
+    ret = api_mod.moveJToPose(
+        dianaTcpPose, v, a, active_tcp, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def moveLToTarget(joints, v, a, ipAddress=''):
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    for index in range(0, len(joints)):
+        dianaJointPos.values[index] = joints[index]
+    api_mod.moveLToTarget.argtypes = [
+        POINTER(DIANA_JOINTS_POSITION), c_double, c_double, c_char_p]
+    api_mod.moveLToTarget.restype = c_int
+    ret = api_mod.moveLToTarget(
+        dianaJointPos, v, a, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def moveLToPose(pose, v, a, ipAddress=''):
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    active_tcp = c_void_p(0)
+    for index in range(0, len(dianaTcpPose.values)):
+        dianaTcpPose.values[index] = pose[index]
+    api_mod.moveLToPose.argtypes = [
+        POINTER(DIANA_TCP_POSE), c_double, c_double, c_void_p, c_char_p]
+    api_mod.moveLToPose.restype = c_int
+    ret = api_mod.moveLToPose(
+        dianaTcpPose, v, a, active_tcp, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def moveJ(joints, v, a, ipAddress=''):
+    ret = moveJToTarget(joints, v, a, ipAddress)
+    return message(ret)
+
+
+def moveL(pose, v, a, ipAddress=''):
+    ret = moveLToPose(pose, v, a)
+    return message(ret)
+
+
+def speedJ(speed, acc, t=0.0, ipAddress=''):
+    dianaJointsSpeed = DIANA_JOINTS_SPEED()
+    dianaJointsSpeed.values = (c_double * 7)()
+    for index in range(0, len(speed)):
+        dianaJointsSpeed.values[index] = speed[index]
+    api_mod.speedJ.argtypes = [
+        POINTER(DIANA_JOINTS_SPEED), c_double, c_double, c_char_p]
+    api_mod.speedJ.restype = c_int
+    ret = api_mod.speedJ(dianaJointsSpeed, acc, t,
+                         bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def speedL(speed, acc, t=0.0, ipAddress=''):
+    dianaJointsSpeed = DIANA_JOINTS_SPEED_L()
+    dianaJointsSpeed.values = (c_double * 6)()
+    for index in range(0, len(dianaJointsSpeed.values)):
+        dianaJointsSpeed.values[index] = speed[index]
+    dianaJointsAcc = DIANA_JOINTS_ACC()
+    dianaJointsAcc.values = (c_double * 2)()
+    for index in range(0, len(dianaJointsAcc.values)):
+        dianaJointsAcc.values[index] = acc[index]
+    active_tcp = c_void_p(0)
+    api_mod.speedL.argtypes = [POINTER(DIANA_JOINTS_SPEED_L), POINTER(
+        DIANA_JOINTS_ACC), c_double, c_void_p, c_char_p]
+    api_mod.speedL.restype = c_int
+    ret = api_mod.speedL(dianaJointsSpeed, dianaJointsAcc,
+                         t, active_tcp, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def freeDriving(enable, ipAddress=''):
+    api_mod.freeDriving.argtypes = [c_bool, c_char_p]
+    api_mod.freeDriving.restype = c_int
+    ret = api_mod.freeDriving(enable, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def stop(ipAddress=''):
+    api_mod.stop.argtypes = [c_char_p]
+    api_mod.stop.restype = c_int
+    ret = api_mod.stop(bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def forward(joints, pose, ipAddress=''):
+    dianaJointsPosition = DIANA_JOINTS_POSITION()
+    dianaJointsPosition.values = (c_double * 7)()
+    for index in range(0, len(joints)):
+        dianaJointsPosition.values[index] = joints[index]
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    active_tcp = c_void_p(0)
+    api_mod.forward.argtypes = [
+        POINTER(DIANA_JOINTS_POSITION), POINTER(DIANA_TCP_POSE), c_void_p, c_char_p]
+    api_mod.forward.restype = c_int
+    ret = api_mod.forward(dianaJointsPosition, byref(
+        dianaTcpPose), active_tcp, bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(dianaTcpPose.values)):
+        pose[index] = dianaTcpPose.values[index]
+    return message(ret)
+
+
+def inverse(pose, joints, ipAddress=''):
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    for index in range(0, len(dianaTcpPose.values)):
+        dianaTcpPose.values[index] = pose[index]
+    dianaJointsPosition = DIANA_JOINTS_POSITION()
+    dianaJointsPosition.values = (c_double * 7)()
+    active_tcp = c_void_p(0)
+    api_mod.inverse.argtypes = [POINTER(DIANA_TCP_POSE), POINTER(
+        DIANA_JOINTS_POSITION),  c_void_p, c_char_p]
+    api_mod.inverse.restype = c_int
+    ret = api_mod.inverse(dianaTcpPose, byref(
+        dianaJointsPosition), active_tcp, bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(joints)):
+        joints[index] = dianaJointsPosition.values[index]
+    return message(ret)
+
+
+
+def _Getinverse(pose,ipAddress=''):
+    joints = [0,0,0,0,0,0,0]
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    for index in range(0, len(dianaTcpPose.values)):
+        dianaTcpPose.values[index] = pose[index]
+    dianaJointsPosition = DIANA_JOINTS_POSITION()
+    dianaJointsPosition.values = (c_double * 7)()
+    active_tcp = c_void_p(0)
+    api_mod.inverse.argtypes = [POINTER(DIANA_TCP_POSE), POINTER(
+        DIANA_JOINTS_POSITION),  c_void_p, c_char_p]
+    api_mod.inverse.restype = c_int
+    ret = api_mod.inverse(dianaTcpPose, byref(
+        dianaJointsPosition), active_tcp, bytes(ipAddress.encode('utf-8')))
+    for index in range(0, 7):
+        joints[index] = dianaJointsPosition.values[index]
+    return joints
+
+
+
+def getJointPos(jointsPosition, ipAddress=''):
+    dianaJointsPosition = DIANA_JOINTS_POSITION()
+    dianaJointsPosition.values = (c_double * 7)()
+    api_mod.getJointPos.argtypes = [POINTER(DIANA_JOINTS_POSITION), c_char_p]
+    api_mod.getJointPos.restype = c_int
+    ret = api_mod.getJointPos(
+        byref(dianaJointsPosition), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(jointsPosition)):
+        jointsPosition[index] = dianaJointsPosition.values[index]
+    return message(ret)
+
+
+def _GetJointPos(ipAddress=''):
+    jointsPosition = []
+    dianaJointsPosition = DIANA_JOINTS_POSITION()
+    dianaJointsPosition.values = (c_double * 7)()
+    api_mod.getJointPos.argtypes = [POINTER(DIANA_JOINTS_POSITION), c_char_p]
+    api_mod.getJointPos.restype = c_int
+    ret = api_mod.getJointPos(
+        byref(dianaJointsPosition), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, 7):
+        jointsPosition.append(dianaJointsPosition.values[index])
+    #return message(ret)
+    return jointsPosition
+
+
+
+
+def getJointAngularVel(jointAngularVel, ipAddress=''):
+    dianaJointAngularVel = DIANA_JOINT_ANGULAR_VEL()
+    dianaJointAngularVel.values = (c_double * 7)()
+    api_mod.getJointAngularVel.argtypes = [
+        POINTER(DIANA_JOINT_ANGULAR_VEL), c_char_p]
+    api_mod.getJointAngularVel.restype = c_int
+    ret = api_mod.getJointAngularVel(
+        byref(dianaJointAngularVel), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(jointAngularVel)):
+        jointAngularVel[index] = dianaJointAngularVel.values[index]
+    return message(ret)
+
+
+def getJointCurrent(jointCurrent, ipAddress=''):
+    dianaJointCurrent = DIANA_JOINT_CURRENT()
+    dianaJointCurrent.values = (c_double*7)()
+    for index in range(0, len(jointCurrent)):
+        dianaJointCurrent.values[index] = jointCurrent[index]
+    api_mod.getJointCurrent.argtypes = [POINTER(DIANA_JOINT_CURRENT), c_char_p]
+    api_mod.getJointCurrent.restype = c_int
+    ret = api_mod.getJointCurrent(
+        byref(dianaJointCurrent), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(jointCurrent)):
+        jointCurrent[index] = dianaJointCurrent.values[index]
+    return message(ret)
+
+
+def getJointTorque(jointTorque, ipAddress=''):
+    dianaJointTorque = DIANA_JOINT_TORQUE()
+    dianaJointTorque.values = (c_double*7)()
+    for index in range(0, len(jointTorque)):
+        dianaJointTorque.values[index] = jointTorque[index]
+    api_mod.getJointTorque.argtypes = [POINTER(DIANA_JOINT_TORQUE), c_char_p]
+    api_mod.getJointTorque.restype = c_int
+    ret = api_mod.getJointTorque(
+        byref(dianaJointTorque), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(jointTorque)):
+        jointTorque[index] = dianaJointTorque.values[index]
+    return message(ret)
+
+
+def getTcpPos(tcpPose, ipAddress=''):
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    api_mod.getTcpPos.argtypes = [POINTER(DIANA_TCP_POSE), c_char_p]
+    api_mod.getTcpPos.restype = c_int
+    ret = api_mod.getTcpPos(byref(dianaTcpPose),
+                            bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(dianaTcpPose.values)):
+        tcpPose[index] = dianaTcpPose.values[index]
+    return message(ret)
+
+
+def _GetTcpPos(ipAddress=''):
+    tcpPose = [0,0,0,0,0,0]
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    api_mod.getTcpPos.argtypes = [POINTER(DIANA_TCP_POSE), c_char_p]
+    api_mod.getTcpPos.restype = c_int
+    ret = api_mod.getTcpPos(byref(dianaTcpPose),
+                            bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(dianaTcpPose.values)):
+        tcpPose[index] = dianaTcpPose.values[index]
+    return tcpPose
+
+
+def getTcpExternalForce(ipAddress=''):
+    api_mod.getTcpExternalForce.restype = c_double
+    ret = api_mod.getTcpExternalForce(bytes(ipAddress.encode('utf-8')))
+    return ret
+
+
+def releaseBrake(ipAddress=''):
+    api_mod.releaseBrake.argtypes = [c_char_p]
+    api_mod.releaseBrake.restype = c_int
+    ret = api_mod.releaseBrake(bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def holdBrake(ipAddress=''):
+    api_mod.holdBrake.argtypes = [c_char_p]
+    api_mod.holdBrake.restype = c_int
+    ret = api_mod.holdBrake(bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def changeControlMode(m, ipAddress=''):
+    api_mod.changeControlMode.argtypes = [c_int, c_char_p]
+    api_mod.changeControlMode.restype = c_int
+    ret = api_mod.changeControlMode(m.value, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def getLibraryVersion():
+    api_mod.getLibraryVersion.restype = c_uint
+    ret = api_mod.getLibraryVersion()
+    return ret
+
+
+def formatError(e, ipAddress=''):
+    api_mod.formatError.argtypes = [c_int, c_char_p]
+    api_mod.formatError.restype = c_char_p
+    ret = api_mod.formatError(e, bytes(ipAddress.encode('utf-8')))
+    return ret
+
+
+def getLastError(ipAddress=''):
+    api_mod.getLastError.argtypes = [c_char_p]
+    api_mod.getLastError.restype = c_int
+    ret = api_mod.getLastError(bytes(ipAddress.encode('utf-8')))
+    return ret
+
+
+def setLastError(e, ipAddress=''):
+    api_mod.setLastError.argtypes = [c_int, c_char_p]
+    api_mod.setLastError.restype = c_int
+    ret = api_mod.setLastError(e, bytes(ipAddress.encode('utf-8')))
+    return ret
+
+
+def setDefaultActiveTcp(default_tcp, ipAddress=''):
+    defaultTcp = DIANA_DEFAULT_TCP()
+    defaultTcp.values = (c_double*16)()
+    for index in range(0, len(defaultTcp.values)):
+        defaultTcp.values[index] = default_tcp[index]
+    api_mod.setDefaultActiveTcp.argtypes = [
+        POINTER(DIANA_DEFAULT_TCP), c_char_p]
+    api_mod.setDefaultActiveTcp.restype = c_int
+    ret = api_mod.setDefaultActiveTcp(
+        defaultTcp, bytes(ipAddress.encode('utf-8')))
+    if(ret == 0):
+        print("setDefaultActiveTcp succeeds")
+        return True
+    else:
+        print("setDefaultActiveTcp fails")
+        return False
+
+
+def getLinkState(ipAddress=''):
+    api_mod.getLinkState.argtypes = [c_char_p]
+    api_mod.getLinkState.restype = c_int
+    ret = api_mod.getLinkState(bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def getTcpForce(tcpForce, ipAddress=''):
+    dianaTcpForce = DIANA_TCP_FORCE()
+    dianaTcpForce.values = (c_double * 6)()
+    api_mod.getTcpForce.argtypes = [POINTER(DIANA_TCP_FORCE), c_char_p]
+    api_mod.getTcpForce.restype = c_int
+    ret = api_mod.getTcpForce(byref(dianaTcpForce),
+                              bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(dianaTcpForce.values)):
+        tcpForce[index] = dianaTcpForce.values[index]
+    return message(ret)
+
+
+def getJointForce(jointForce, ipAddress=''):
+    dianaJointForce = DIANA_JOINTS_FORCE()
+    dianaJointForce.values = (c_double * 7)()
+    api_mod.getJointForce.argtypes = [POINTER(DIANA_JOINTS_FORCE), c_char_p]
+    api_mod.getJointForce.restype = c_int
+    ret = api_mod.getJointForce(
+        byref(dianaJointForce), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(jointForce)):
+        jointForce[index] = dianaJointForce.values[index]
+    return message(ret)
+
+
+def isCollision(ipAddress=''):
+    api_mod.isCollision.argtypes = [c_char_p]
+    api_mod.isCollision.restype = c_bool
+    ret = api_mod.isCollision(bytes(ipAddress.encode('utf-8')))
+    return ret
+
+
+######################DH参数标定#############################
+
+
+def initDHCali(tcpMeas, jntPosMeas, nrSets, ipAddress=''):
+    DHtcpMeas = DIANA_DH_TCP_MEAS()
+    DHtcpMeas.values = (c_double*3)()
+    DHjntPosMeas = DIANA_DH_JOINT_POS__MEAS()
+    DHjntPosMeas.values = (c_double*7)()
+    for index in range(0, len(DHtcpMeas.values)):
+        DHtcpMeas.values[index] = tcpMeas[index]
+    for index in range(0, len(DHjntPosMeas.values)):
+        DHjntPosMeas.values[index] = jntPosMeas[index]
+    api_mod.initDHCali.restype = c_int
+    api_mod.initDHCali.argtypes = [
+        POINTER(DIANA_DH_TCP_MEAS), POINTER(DIANA_DH_JOINT_POS__MEAS), c_uint, c_char_p]
+    ret = api_mod.initDHCali(byref(DHtcpMeas), byref(
+        DHjntPosMeas), nrSets, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def getDHCaliResult(rDH, wRT, tRT, confid, ipAddress=''):
+    dhR = DIANA_DH_R()
+    dhR.values = (c_double*28)()
+    rtW = DIANA_DH_WRT()
+    rtW.values = (c_double*6)()
+    rtT = DIANA_DH_TRT()
+    rtT.values = (c_double*3)()
+    dhConfid = DIANA_DH_CONFID()
+    dhConfid.values = (c_double*2)()
+    api_mod.getDHCaliResult.restype = c_int
+    api_mod.getDHCaliResult.argtypes = [POINTER(DIANA_DH_R), POINTER(
+        DIANA_DH_WRT), POINTER(DIANA_DH_TRT), POINTER(DIANA_DH_CONFID), c_char_p]
+    ret = api_mod.getDHCaliResult(
+        byref(dhR), byref(rtW), byref(rtT), byref(dhConfid), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(rDH)):
+        rDH[index] = dhR.values[index]
+    for index in range(0, len(wRT)):
+        wRT[index] = rtW.values[index]
+    for index in range(0, len(tRT)):
+        tRT[index] = rtT.values[index]
+    for index in range(0, len(confid)):
+        confid[index] = dhConfid.values[index]
+    return message(ret)
+#_________________________________________________________________________________________#
+
+
+def setDH(a, alpha, d, theta, ipAddress=''):
+    arr_aDH = DIANA_DH_A()
+    arr_aDH.values = (c_double*7)()
+    for index in range(0, len(a)):
+        arr_aDH.values[index] = a[index]
+    arr_alphaDH = DIANA_DH_Alpha()
+    arr_alphaDH.values = (c_double*7)()
+    for index in range(0, len(alpha)):
+        arr_alphaDH.values[index] = alpha[index]
+    arr_dDH = DIANA_DH_D()
+    arr_dDH.values = (c_double*7)()
+    for index in range(0, len(d)):
+        arr_dDH.values[index] = d[index]
+    arr_thetaDH = DIANA_DH_Theta()
+    arr_thetaDH.values = (c_double*7)()
+    for index in range(0, len(theta)):
+        arr_thetaDH.values[index] = theta[index]
+    api_mod.setDH.restype = c_int
+    api_mod.setDH.argtypes = [POINTER(DIANA_DH_A),
+                              POINTER(DIANA_DH_Alpha), POINTER(DIANA_DH_D), POINTER(DIANA_DH_Theta), c_char_p]
+    ret = api_mod.setDH(byref(arr_aDH), byref(arr_alphaDH),
+                        byref(arr_dDH), byref(arr_thetaDH), bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def setWrd2BasRT(RTw2b, ipAddress=''):
+    arr_RTw2b = DIANA_DH_RTw2b()
+    arr_RTw2b.values = (c_double*6)()
+    for index in range(0, len(RTw2b)):
+        arr_RTw2b.values[index] = RTw2b[index]
+    api_mod.setWrd2BasRT.restype = c_int
+    api_mod.setWrd2BasRT.argtypes = [POINTER(DIANA_DH_RTw2b), c_char_p]
+    ret = api_mod.setWrd2BasRT(
+        byref(arr_RTw2b), bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def setFla2TcpRT(RTf2t, ipAddress=''):
+    arr_RTf2t = DIANA_DH_RTf2t()
+    arr_RTf2t.values = (c_double*3)()
+    for index in range(0, len(RTf2t)):
+        arr_RTf2t.values[index] = RTf2t[index]
+    api_mod.setFla2TcpRT.restype = c_int
+    api_mod.setFla2TcpRT.argtypes = [POINTER(DIANA_DH_RTf2t), c_char_p]
+    ret = api_mod.setFla2TcpRT(
+        byref(arr_RTf2t), bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+#########################################################
+
+
+def getRobotState(ipAddress=''):
+    api_mod.getRobotState.argtypes = [c_char_p]
+    api_mod.getRobotState.restype = c_int8
+    ret = api_mod.getRobotState(bytes(ipAddress.encode('utf-8')))
+    return ret
+
+
+##########v2.0##########################
+
+
+def resume(ipAddress=''):
+    api_mod.resume.argtypes = [c_char_p]
+    api_mod.resume.restype = c_int
+    ret = api_mod.resume(bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def setJointCollision(collision, ipAddress=''):
+    jointCollision = DIANA_JOINT_COLLISION()
+    jointCollision.values = (c_double*7)()
+    for index in range(0, len(collision)):
+        jointCollision.values[index] = collision[index]
+    api_mod.setJointCollision.argtypes = [
+        POINTER(DIANA_JOINT_COLLISION), c_char_p]
+    api_mod.setJointCollision.restype = c_int
+    ret = api_mod.setJointCollision(
+        jointCollision, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def setCartCollision(collision, ipAddress=''):
+    cartCollision = DIANA_CART_COLLISION()
+    cartCollision.values = (c_double*6)()
+    for index in range(0, len(cartCollision.values)):
+        cartCollision.values[index] = collision[index]
+    api_mod.setCartCollision.argtypes = [
+        POINTER(DIANA_CART_COLLISION), c_char_p]
+    api_mod.setCartCollision.restype = c_int
+    ret = api_mod.setCartCollision(
+        cartCollision, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def enterForceMode(frame_type, frame_matrix, force_direction, force_value, max_approach_velocity, max_allow_tcp_offset, ipAddress=''):
+    dianaFrameMatrix = DIANA_FRAME_MATRIX()
+    dianaFrameMatrix.values = (c_double * 16)()
+    for index in range(0, len(dianaFrameMatrix.values)):
+        dianaFrameMatrix.values[index] = frame_matrix[index]
+    dianaForceDirection = DIANA_FORCE_DIRECTION()
+    dianaForceDirection.values = (c_double * 3)()
+    for index in range(0, len(dianaForceDirection.values)):
+        dianaForceDirection.values[index] = force_direction[index]
+    api_mod.enterForceMode.argtypes = [c_int, POINTER(DIANA_FRAME_MATRIX), POINTER(
+        DIANA_FORCE_DIRECTION), c_double, c_double, c_double, c_char_p]
+    api_mod.enterForceMode.restype = c_int
+    ret = api_mod.enterForceMode(frame_type, byref(dianaFrameMatrix), byref(
+        dianaForceDirection), force_value, max_approach_velocity, max_allow_tcp_offset, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def leaveForceMode(mode, ipAddress=''):
+    if not isinstance(mode, mode_e):
+        raise TypeError(
+            'mode must be an instance of mode_e Enum')
+    api_mod.leaveForceMode.argtypes = [c_int, c_char_p]
+    api_mod.leaveForceMode.restype = c_int
+    ret = api_mod.leaveForceMode(mode.value, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def setDefaultActiveTcpPose(arrPose, ipAddress=''):
+    tcpPose = DIANA_TCP_VECTOR()
+    tcpPose.values = (c_double*6)()
+    for index in range(0, len(tcpPose.values)):
+        tcpPose.values[index] = arrPose[index]
+    api_mod.setDefaultActiveTcpPose.argtypes = [
+        POINTER(DIANA_TCP_VECTOR), c_char_p]
+    api_mod.setDefaultActiveTcpPose.restype = c_int
+    ret = api_mod.setDefaultActiveTcpPose(
+        tcpPose, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def setResultantCollision(force, ipAddress=''):
+    api_mod.setResultantCollision.argtypes = [c_double, c_char_p]
+    api_mod.setResultantCollision.restype = c_int
+    ret = api_mod.setResultantCollision(
+        force, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def setJointImpedance(arrStiff, arrDamp, ipAddress=''):
+    jointStiff = DIANA_JOINT_STIFF()
+    jointStiff.values = (c_double*7)()
+    for index in range(0, len(arrStiff)):
+        jointStiff.values[index] = arrStiff[index]
+    jointDamp = DIANA_JOINT_DAMP()
+    jointDamp.values = (c_double*7)()
+    for index in range(0, len(arrDamp)):
+        jointDamp.values[index] = arrDamp[index]
+    api_mod.setJointImpedance.argtypes = [
+        POINTER(DIANA_JOINT_STIFF), POINTER(DIANA_JOINT_DAMP), c_char_p]
+    api_mod.setJointImpedance.restype = c_int
+    ret = api_mod.setJointImpedance(
+        jointStiff, jointDamp, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def getJointImpedance(arrStiff, arrDamp, ipAddress=''):
+    jointStiff = DIANA_JOINT_STIFF()
+    jointStiff.values = (c_double*7)()
+    jointDamp = DIANA_JOINT_DAMP()
+    jointDamp.values = (c_double*7)()
+    api_mod.getJointImpedance.argtypes = [
+        POINTER(DIANA_JOINT_STIFF), POINTER(DIANA_JOINT_DAMP), c_char_p]
+    api_mod.getJointImpedance.restype = c_int
+    ret = api_mod.getJointImpedance(byref(jointStiff), byref(
+        jointDamp), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(arrStiff)):
+        arrStiff[index] = jointStiff.values[index]
+    for index in range(0, len(arrDamp)):
+        arrDamp[index] = jointDamp.values[index]
+    return message(ret)
+
+
+def setCartImpedance(arrStiff, arrDamp, ipAddress=''):
+    cartStiff = DIANA_CART_STIFF()
+    cartStiff.values = (c_double*6)()
+    for index in range(0, len(cartStiff.values)):
+        cartStiff.values[index] = arrStiff[index]
+    cartDamp = DIANA_CART_DAMP()
+    cartDamp.values = (c_double*6)()
+    for index in range(0, len(cartDamp.values)):
+        cartDamp.values[index] = arrDamp[index]
+    api_mod.setCartImpedance.argtypes = [
+        POINTER(DIANA_CART_STIFF), POINTER(DIANA_CART_DAMP), c_char_p]
+    api_mod.setCartImpedance.restype = c_int
+    ret = api_mod.setCartImpedance(
+        cartStiff, cartDamp, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def getCartImpedance(arrStiff, arrDamp, ipAddress=''):
+    cartStiff = DIANA_CART_STIFF()
+    cartStiff.values = (c_double*6)()
+    cartDamp = DIANA_CART_DAMP()
+    cartDamp.values = (c_double*6)()
+    api_mod.getCartImpedance.argtypes = [
+        POINTER(DIANA_CART_STIFF), POINTER(DIANA_CART_DAMP), c_char_p]
+    api_mod.getCartImpedance.restype = c_int
+    ret = api_mod.getCartImpedance(byref(cartStiff), byref(
+        cartDamp), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(cartStiff.values)):
+        arrStiff[index] = cartStiff.values[index]
+    for index in range(0, len(cartDamp.values)):
+        arrDamp[index] = cartDamp.values[index]
+    return message(ret)
+
+
+def zeroSpaceFreeDriving(enable, ipAddress=''):
+    api_mod.zeroSpaceFreeDriving.argtypes = [c_bool, c_char_p]
+    api_mod.zeroSpaceFreeDriving.restype = c_int
+    ret = api_mod.zeroSpaceFreeDriving(
+        enable, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def createPath(id_type, ipAddress=''):
+    id_path = c_uint()
+    api_mod.createPath.argtypes = [c_int, POINTER(c_uint), c_char_p]
+    api_mod.createPath.restype = c_int
+    ret = api_mod.createPath(id_type, byref(
+        id_path), bytes(ipAddress.encode('utf-8')))
+    return ret, id_path
+
+
+def _CreatePathbyJoints(ipAddress=''):
+    id_path = c_uint()
+    api_mod.createPath.argtypes = [c_int, POINTER(c_uint), c_char_p]
+    api_mod.createPath.restype = c_int
+    ret = api_mod.createPath(1, byref(id_path), bytes(ipAddress.encode('utf-8')))
+    return ret,id_path
+
+def _CreatePathbyPose(ipAddress=''):
+    id_path = c_uint()
+    api_mod.createPath.argtypes = [c_int, POINTER(c_uint), c_char_p]
+    api_mod.createPath.restype = c_int
+    ret = api_mod.createPath(2, byref(id_path), bytes(ipAddress.encode('utf-8')))
+    return ret,id_path
+
+
+def addMoveL(id_path, joints, vel, acc, blendradius, ipAddress=''):
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    for index in range(0, len(joints)):
+        dianaJointPos.values[index] = joints[index]
+    api_mod.addMoveL.argtypes = [c_uint, POINTER(
+        DIANA_JOINTS_POSITION), c_double, c_double, c_double, c_char_p]
+    api_mod.addMoveL.restype = c_int
+    ret = api_mod.addMoveL(id_path, dianaJointPos, vel,
+                           acc, blendradius, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def addMoveJ(id_path, joints, vel, acc, blendradius, ipAddress=''):
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    for index in range(0, len(joints)):
+        dianaJointPos.values[index] = joints[index]
+    api_mod.addMoveJ.argtypes = [c_uint, POINTER(
+        DIANA_JOINTS_POSITION), c_double, c_double, c_double, c_char_p]
+    api_mod.addMoveJ.restype = c_int
+    ret = api_mod.addMoveJ(id_path, dianaJointPos, vel,
+                           acc, blendradius, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+def _AddMoveJ(id_path, joints, vel, acc, blendradius, ipAddress=''):
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    for index in range(0, 7):
+        dianaJointPos.values[index] = joints[index]
+    api_mod.addMoveJ.argtypes = [c_uint, POINTER(
+        DIANA_JOINTS_POSITION), c_double, c_double, c_double, c_char_p]
+    api_mod.addMoveJ.restype = c_int
+    ret = api_mod.addMoveJ(id_path, dianaJointPos, vel,
+                           acc, blendradius, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def _AddJoint(id_path, joints, vel, acc, blendradius, ipAddress=''):
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    for index in range(0, len(joints)):
+        dianaJointPos.values[index] = joints[index]
+    api_mod.addMoveJ.argtypes = [c_uint, POINTER(
+        DIANA_JOINTS_POSITION), c_double, c_double, c_double, c_char_p]
+    api_mod.addMoveJ.restype = c_int
+    api_mod.addMoveJ(id_path, dianaJointPos, vel,acc, blendradius, bytes(ipAddress.encode('utf-8')))
+  
+
+
+def runPath(id_path, ipAddress=''):
+    api_mod.runPath.argtypes = [c_uint, c_char_p]
+    api_mod.runPath.restype = c_int
+    ret = api_mod.runPath(id_path, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+def _ExecutePath(id_path, ipAddress=''):
+    api_mod.runPath.argtypes = [c_uint, c_char_p]
+    api_mod.runPath.restype = c_int
+    ret = api_mod.runPath(id_path, bytes(ipAddress.encode('utf-8')))
+    time.sleep(0.02)
+    while True:
+        state = getRobotState()
+        if state != 0:
+            break
+        else:
+            time.sleep(0.001)
+    # stop()
+    return message(ret)
+
+
+def destroyPath(id_path, ipAddress=''):
+    api_mod.destroyPath.argtypes = [c_uint, c_char_p]
+    api_mod.destroyPath.restype = c_int
+    ret = api_mod.destroyPath(id_path, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+###################### version 0.7#########################
+
+
+def rpy2Axis(arr):
+    _rpy = DIANA_RPY_VECTOR()
+    _rpy.values = (c_double*3)()
+    for index in range(0, len(_rpy.values)):
+        _rpy.values[index] = arr[index]
+    api_mod.rpy2Axis.argtypes = [POINTER(DIANA_RPY_VECTOR)]
+    api_mod.rpy2Axis.restype = c_int
+    ret = api_mod.rpy2Axis(byref(_rpy))
+    for index in range(0, len(_rpy.values)):
+        arr[index] = _rpy.values[index]
+    return message(ret)
+
+
+def axis2RPY(arr):
+    _axis = DIANA_AXIS_VECTOR()
+    _axis.values = (c_double*3)()
+    for index in range(0, len(_axis.values)):
+        _axis.values[index] = arr[index]
+    api_mod.axis2RPY.argtypes = [POINTER(DIANA_AXIS_VECTOR)]
+    api_mod.axis2RPY.restype = c_int
+    ret = api_mod.axis2RPY(byref(_axis))
+    for index in range(0, len(_axis.values)):
+        arr[index] = _axis.values[index]
+    return message(ret)
+
+
+def homogeneous2Pose(matrix, pose):
+    _matrix = DIANA_FRAME_MATRIX()
+    _matrix.values = (c_double*16)()
+    for index in range(0, len(_matrix.values)):
+        _matrix.values[index] = matrix[index]
+    _pose = DIANA_TCP_POSE()
+    _pose.values = (c_double*6)()
+    api_mod.homogeneous2Pose.argtypes = [
+        POINTER(DIANA_FRAME_MATRIX), POINTER(DIANA_TCP_POSE)]
+    api_mod.homogeneous2Pose.restype = c_int
+    ret = api_mod.homogeneous2Pose(_matrix, byref(_pose))
+    for index in range(0, len(_pose.values)):
+        pose[index] = _pose.values[index]
+    return message(ret)
+
+
+def pose2Homogeneous(pose, matrix):
+    _pose = DIANA_TCP_POSE()
+    _pose.values = (c_double*6)()
+    for index in range(0, len(_pose.values)):
+        _pose.values[index] = pose[index]
+    _matrix = DIANA_FRAME_MATRIX()
+    _matrix.values = (c_double*16)()
+    api_mod.pose2Homogeneous.argtypes = [
+        POINTER(DIANA_TCP_POSE), POINTER(DIANA_FRAME_MATRIX)]
+    api_mod.pose2Homogeneous.restype = c_int
+    ret = api_mod.pose2Homogeneous(_pose, byref(_matrix))
+    for index in range(0, len(_matrix.values)):
+        matrix[index] = _matrix.values[index]
+    return message(ret)
+
+
+def enableTorqueReceiver(bEnable, ipAddress=''):
+    api_mod.enableTorqueReceiver.restype = c_int
+    api_mod.enableTorqueReceiver.argtypes = [c_bool, c_char_p]
+    ret = api_mod.enableTorqueReceiver(
+        bEnable, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def sendTorque_rt(torque, t, ipAddress=''):
+    jnt_torque = DIANA_JOINT_TORQUE()
+    jnt_torque.values = (c_double*7)()
+    for index in range(0, len(torque)):
+        jnt_torque.values[index] = torque[index]
+    api_mod.sendTorque_rt.restype = c_int
+    api_mod.sendTorque_rt.argtypes = [
+        POINTER(DIANA_JOINT_TORQUE), c_double, c_char_p]
+    ret = api_mod.sendTorque_rt(
+        byref(jnt_torque), t, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+###################### their version 0.8#########################
+
+
+def enableCollisionDetection(enable, ipAddress=''):
+    api_mod.enableCollisionDetection.argtypes = [c_bool, c_char_p]
+    api_mod.enableCollisionDetection.restype = c_int
+    ret = api_mod.enableCollisionDetection(
+        enable, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def setActiveTcpPayload(payload, ipAddress=''):
+    tcpPayload = DIANA_TCP_PAYLOAD()
+    tcpPayload.values = (c_double*10)()
+    for index in range(0, len(tcpPayload.values)):
+        tcpPayload.values[index] = payload[index]
+    api_mod.setActiveTcpPayload.argtypes = [
+        POINTER(DIANA_TCP_PAYLOAD), c_char_p]
+    api_mod.setActiveTcpPayload.restype = c_int
+    ret = api_mod.setActiveTcpPayload(
+        tcpPayload, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+def servoJ(joints_pos, t=0.01, ah_t=0.01, gain=300, ipAddress=''):
+    dianaJointsPosition = DIANA_JOINTS_POSITION()
+    dianaJointsPosition.values = (c_double * 7)()
+    for index in range(0, len(joints_pos)):
+        dianaJointsPosition.values[index] = joints_pos[index]
+    api_mod.servoJ.argtypes = [
+        POINTER(DIANA_JOINTS_POSITION), c_double, c_double, c_double, c_char_p]
+    api_mod.servoJ.restype = c_int
+    ret = api_mod.servoJ(dianaJointsPosition, t, ah_t,
+                         gain, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+def _ServoJ(joints_pos, t=0.01, ah_t=0.01, gain=300, ipAddress=''):
+    dianaJointsPosition = DIANA_JOINTS_POSITION()
+    dianaJointsPosition.values = (c_double * 7)()
+    for index in range(0, len(joints_pos)):
+        dianaJointsPosition.values[index] = joints_pos[index]
+    api_mod.servoJ.argtypes = [
+        POINTER(DIANA_JOINTS_POSITION), c_double, c_double, c_double, c_char_p]
+    api_mod.servoJ.restype = c_int
+    ret = api_mod.servoJ(dianaJointsPosition, t, ah_t,
+                         gain, bytes(ipAddress.encode('utf-8')))
+    time.sleep(0.01)
+    while True:
+        state = getRobotState()
+        if state != 0:
+            break
+        else:
+            time.sleep(0.001)
+    stop()
+    return message(ret)
+
+
+def servoL(tcp_pose, t=0.01, ah_t=0.01, gain=300, scale=1000, ipAddress=''):
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    for index in range(0, len(dianaTcpPose.values)):
+        dianaTcpPose.values[index] = tcp_pose[index]
+    active_tcp = c_void_p(0)
+    api_mod.servoL.argtypes = [
+        POINTER(DIANA_TCP_POSE), c_double, c_double, c_double, c_double, c_void_p, c_char_p]
+    api_mod.servoL.restype = c_int
+    ret = api_mod.servoL(dianaTcpPose, t, ah_t, gain, scale,
+                         active_tcp, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+def _servoL(tcp_pose, t=0.01, ah_t=0.03, gain=300, scale=1, ipAddress=''):
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    for index in range(0, len(dianaTcpPose.values)):
+        dianaTcpPose.values[index] = tcp_pose[index]
+    active_tcp = c_void_p(0)
+    api_mod.servoL.argtypes = [
+        POINTER(DIANA_TCP_POSE), c_double, c_double, c_double, c_double, c_void_p, c_char_p]
+    api_mod.servoL.restype = c_int
+    ret = api_mod.servoL(dianaTcpPose, t, ah_t, gain, scale,
+                         active_tcp, bytes(ipAddress.encode('utf-8')))
+    time.sleep(0.02)
+    while True:
+        state = getRobotState()
+        if state != 0:
+            break
+        else:
+            time.sleep(0.1)
+    # stop()
+    return message(ret)
+
+
+def servoJ_ex(joints_pos, t=0.01, ah_t=0.01, gain=300, realiable=False, ipAddress=''):
+    dianaJointsPosition = DIANA_JOINTS_POSITION()
+    dianaJointsPosition.values = (c_double * 7)()
+    for index in range(0, len(joints_pos)):
+        dianaJointsPosition.values[index] = joints_pos[index]
+    api_mod.servoJ_ex.argtypes = [
+        POINTER(DIANA_JOINTS_POSITION), c_double, c_double, c_double, c_bool, c_char_p]
+    api_mod.servoJ_ex.restype = c_int
+    ret = api_mod.servoJ_ex(dianaJointsPosition, t, ah_t,
+                            gain, realiable, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def servoL_ex(tcp_pose, t=0.01, ah_t=0.01, gain=300, scale=1000, realiable=False, ipAddress=''):
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    for index in range(0, len(dianaTcpPose.values)):
+        dianaTcpPose.values[index] = tcp_pose[index]
+    active_tcp = c_void_p(0)
+    api_mod.servoL_ex.argtypes = [POINTER(
+        DIANA_TCP_POSE), c_double, c_double, c_double, c_double, c_void_p, c_bool, c_char_p]
+    api_mod.servoL_ex.restype = c_int
+    ret = api_mod.servoL_ex(dianaTcpPose, t, ah_t, gain,
+                            scale, active_tcp, realiable, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def speedJ_ex(speed, acc, t=0.0, realiable=False, ipAddress=''):
+    dianaJointsSpeed = DIANA_JOINTS_SPEED()
+    dianaJointsSpeed.values = (c_double * 7)()
+    for index in range(0, len(speed)):
+        dianaJointsSpeed.values[index] = speed[index]
+    api_mod.speedJ_ex.argtypes = [
+        POINTER(DIANA_JOINTS_SPEED), c_double, c_double, c_bool, c_char_p]
+    api_mod.speedJ_ex.restype = c_int
+    ret = api_mod.speedJ_ex(dianaJointsSpeed, acc, t,
+                            realiable, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def speedL_ex(speed, acc, t=0.0, realiable=False, ipAddress=''):
+    dianaJointsSpeed = DIANA_JOINTS_SPEED_L()
+    dianaJointsSpeed.values = (c_double * 6)()
+    for index in range(0, len(dianaJointsSpeed.values)):
+        dianaJointsSpeed.values[index] = speed[index]
+    dianaJointsAcc = DIANA_JOINTS_ACC()
+    dianaJointsAcc.values = (c_double * 2)()
+    for index in range(0, len(dianaJointsAcc.values)):
+        dianaJointsAcc.values[index] = acc[index]
+    active_tcp = c_void_p(0)
+    api_mod.speedL_ex.argtypes = [POINTER(DIANA_JOINTS_SPEED_L), POINTER(
+        DIANA_JOINTS_ACC), c_double, c_void_p, c_bool, c_char_p]
+    api_mod.speedL_ex.restype = c_int
+    ret = api_mod.speedL_ex(dianaJointsSpeed, dianaJointsAcc,
+                            t, active_tcp, realiable, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+###################### version 0.9#########################
+
+
+def dumpToUDisk(ipAddress=''):
+    api_mod.dumpToUDisk.argtypes = [c_char_p]
+    api_mod.dumpToUDisk.restype = c_int
+    ret = api_mod.dumpToUDisk(bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def inverse_ext(ref_joints, pose, joints, ipAddress=''):
+    refJointsPosition = DIANA_JOINTS_POSITION()
+    refJointsPosition.values = (c_double * 7)()
+    for index in range(0, len(ref_joints)):
+        refJointsPosition.values[index] = ref_joints[index]
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    for index in range(0, len(dianaTcpPose.values)):
+        dianaTcpPose.values[index] = pose[index]
+    dianaJointsPosition = DIANA_JOINTS_POSITION()
+    dianaJointsPosition.values = (c_double * 7)()
+    active_tcp = c_void_p(0)
+    api_mod.inverse_ext.argtypes = [POINTER(DIANA_JOINTS_POSITION), POINTER(DIANA_TCP_POSE), POINTER(
+        DIANA_JOINTS_POSITION),  c_void_p, c_char_p]
+    api_mod.inverse_ext.restype = c_int
+    ret = api_mod.inverse_ext(refJointsPosition, dianaTcpPose,
+                              byref(dianaJointsPosition), active_tcp, bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(joints)):
+        joints[index] = dianaJointsPosition.values[index]
+    return message(ret)
+
+
+def getJointLinkPos(joints, ipAddress=''):
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double*7)()
+    for index in range(0, len(joints)):
+        dianaJointPos.values[index] = joints[index]
+    api_mod.getJointLinkPos.argtypes = [
+        POINTER(DIANA_JOINTS_POSITION), c_char_p]
+    api_mod.getJointLinkPos.restype = c_int
+    ret = api_mod.getJointLinkPos(
+        byref(dianaJointPos), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(joints)):
+        joints[index] = dianaJointPos.values[index]
+    return message(ret)
+
+
+def createComplexPath(path_type, ipAddress=''):
+    complex_path_id = c_uint()
+    api_mod.createComplexPath.argtypes = [c_int, POINTER(c_uint), c_char_p]
+    api_mod.createComplexPath.restype = c_int
+    ret = api_mod.createComplexPath(path_type.value, byref(
+        complex_path_id), bytes(ipAddress.encode('utf-8')))
+    return ret, complex_path_id
+
+
+def addMoveLSegmentByTarget(complex_path_id, joints, vel, acc, blendradius, ipAddress=''):
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    for index in range(0, len(joints)):
+        dianaJointPos.values[index] = joints[index]
+    api_mod.addMoveLByTarget.argtypes = [c_uint, POINTER(
+        DIANA_JOINTS_POSITION), c_double, c_double, c_double, c_char_p]
+    api_mod.addMoveLByTarget.restype = c_int
+    ret = api_mod.addMoveLByTarget(
+        complex_path_id, dianaJointPos, vel, acc, blendradius, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def addMoveLSegmentByPose(complex_path_id, pose, vel, acc, blendradius, ipAddress=''):
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    for index in range(0, len(dianaTcpPose.values)):
+        dianaTcpPose.values[index] = pose[index]
+    api_mod.addMoveLByPose.argtypes = [c_uint, POINTER(
+        DIANA_TCP_POSE), c_double, c_double, c_double, c_char_p]
+    api_mod.addMoveLByPose.restype = c_int
+    ret = api_mod.addMoveLByPose(
+        complex_path_id, dianaTcpPose, vel, acc, blendradius, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def addMoveJSegmentByTarget(complex_path_id, joints, vel_percent, acc_percent, blendradius_percent, ipAddress=''):
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    for index in range(0, len(joints)):
+        dianaJointPos.values[index] = joints[index]
+    api_mod.addMoveJByTarget.argtypes = [c_uint, POINTER(
+        DIANA_JOINTS_POSITION), c_double, c_double, c_double, c_char_p]
+    api_mod.addMoveJByTarget.restype = c_int
+    ret = api_mod.addMoveJByTarget(
+        complex_path_id, dianaJointPos, vel_percent, acc_percent, blendradius_percent, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def addMoveJSegmentByPose(complex_path_id, pose, vel_percent, acc_percent, blendradius_percent, ipAddress=''):
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    for index in range(0, len(dianaTcpPose.values)):
+        dianaTcpPose.values[index] = pose[index]
+    api_mod.addMoveJByPose.argtypes = [c_uint, POINTER(
+        DIANA_TCP_POSE), c_double, c_double, c_double, c_char_p]
+    api_mod.addMoveJByPose.restype = c_int
+    ret = api_mod.addMoveJByPose(
+        complex_path_id, dianaTcpPose, vel_percent, acc_percent, blendradius_percent, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def addMoveCSegmentByTarget(complex_path_id, pass_joints, target_joints, vel, acc, blendradius, ignore_rotation, ipAddress=''):
+    dianaPassJointPos = DIANA_JOINTS_POSITION()
+    dianaPassJointPos.values = (c_double * 7)()
+    dianaTargetJointPos = DIANA_JOINTS_POSITION()
+    dianaTargetJointPos.values = (c_double * 7)()
+    for index in range(0, len(pass_joints)):
+        dianaPassJointPos.values[index] = pass_joints[index]
+    for index in range(0, len(target_joints)):
+        dianaTargetJointPos.values[index] = target_joints[index]
+    api_mod.addMoveCByTarget.argtypes = [c_uint, POINTER(DIANA_JOINTS_POSITION), POINTER(
+        DIANA_JOINTS_POSITION), c_double, c_double, c_double, c_bool, c_char_p]
+    api_mod.addMoveCByTarget.restype = c_int
+    ret = api_mod.addMoveCByTarget(complex_path_id, dianaPassJointPos,
+                                   dianaTargetJointPos, vel, acc, blendradius, ignore_rotation, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def addMoveCSegmentByPose(complex_path_id, pass_pose, target_pose, vel, acc, blendradius, ignore_rotation, ipAddress=''):
+    dianaPassTcpPose = DIANA_TCP_POSE()
+    dianaPassTcpPose.values = (c_double * 6)()
+    dianaTargetTcpPose = DIANA_TCP_POSE()
+    dianaTargetTcpPose.values = (c_double * 6)()
+    for index in range(0, len(dianaPassTcpPose.values)):
+        dianaPassTcpPose.values[index] = pass_pose[index]
+    for index in range(0, len(dianaTargetTcpPose.values)):
+        dianaTargetTcpPose.values[index] = target_pose[index]
+    api_mod.addMoveCByPose.argtypes = [c_uint, POINTER(DIANA_TCP_POSE), POINTER(
+        DIANA_TCP_POSE), c_double, c_double, c_double, c_bool, c_char_p]
+    api_mod.addMoveCByPose.restype = c_int
+    ret = api_mod.addMoveCByPose(complex_path_id, dianaPassTcpPose,
+                                 dianaTargetTcpPose, vel, acc, blendradius, ignore_rotation, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def runComplexPath(complex_path_id, ipAddress=''):
+    api_mod.runComplexPath.argtypes = [c_uint, c_char_p]
+    api_mod.runComplexPath.restype = c_int
+    ret = api_mod.runComplexPath(
+        complex_path_id, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def destroyComplexPath(complex_path_id, ipAddress=''):
+    api_mod.destroyComplexPath.argtypes = [c_uint, c_char_p]
+    api_mod.destroyComplexPath.restype = c_int
+    ret = api_mod.destroyComplexPath(complex_path_id, bytes(
+        ipAddress.encode('utf-8')), bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def saveEnvironment(ipAddress=''):
+    api_mod.saveEnvironment.argtypes = [c_char_p]
+    api_mod.saveEnvironment.restype = c_int
+    ret = api_mod.saveEnvironment(bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+###################### version 0.10#########################
+
+
+def dumpToUDiskEx(timeout_second, ipAddress=''):
+    api_mod.dumpToUDiskEx.restype = c_int
+    api_mod.dumpToUDiskEx.argtypes = [c_double, c_char_p]
+    ret = api_mod.dumpToUDiskEx(
+        timeout_second, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def enterForceMode_ex(forceDirection, forceValue, maxApproachVelocity, maxAllowTcpOffset, active_tcp=None, ipAddress=''):
+    arr_ForceDirection = DIANA_FORCE_DIRECTION()
+    arr_ForceDirection.values = (c_double*3)()
+    for index in range(0, len(arr_ForceDirection.values)):
+        arr_ForceDirection.values[index] = forceDirection[index]
+    ret = 0
+    if active_tcp==None:
+        use_active_tcp = c_void_p(0)
+        api_mod.enterForceMode_ex.restype = c_int
+        api_mod.enterForceMode_ex.argtypes = [POINTER(
+            DIANA_FORCE_DIRECTION), c_double, c_double, c_double, c_void_p, c_char_p]
+        ret = api_mod.enterForceMode_ex(byref(
+            arr_ForceDirection), forceValue, maxApproachVelocity, maxAllowTcpOffset, use_active_tcp, bytes(ipAddress.encode('utf-8')))
+    else:
+        arr_Active_Tcp = DIANA_ACTIVE_TCP()
+        arr_Active_Tcp.values = (c_double*6)()
+        for index in range(0, len(arr_Active_Tcp.values)):
+            arr_Active_Tcp.values[index] = active_tcp[index]
+        api_mod.enterForceMode_ex.restype = c_int
+        api_mod.enterForceMode_ex.argtypes = [POINTER(
+            DIANA_FORCE_DIRECTION), c_double, c_double, c_double, POINTER(DIANA_ACTIVE_TCP), c_char_p]
+        ret = api_mod.enterForceMode_ex(byref(
+            arr_ForceDirection), forceValue, maxApproachVelocity, maxAllowTcpOffset, byref(arr_Active_Tcp), bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def readDI(group_name, di_name, ipAddress=''):
+    DIValue = c_int()
+    api_mod.readDI.argtypes = [c_char_p, c_char_p, POINTER(c_int), c_char_p]
+    api_mod.readDI.restype = c_int
+    ret = api_mod.readDI(bytes(group_name, encoding="utf-8"),
+                         bytes(di_name, encoding="utf-8"), byref(DIValue), bytes(ipAddress.encode('utf-8')))
+    return ret, DIValue
+
+
+def readAI(group_name, di_name, ipAddress=''):
+    AIValue = c_double()
+    AIMode = c_int()
+    api_mod.readAI.argtypes = [c_char_p, c_char_p,
+                               POINTER(c_int), POINTER(c_double), c_char_p]
+    api_mod.readAI.restype = c_int
+    ret = api_mod.readAI(bytes(group_name, encoding="utf-8"),
+                         bytes(di_name, encoding="utf-8"), byref(AIMode), byref(AIValue), bytes(ipAddress.encode('utf-8')))
+    return ret, AIMode, AIValue
+
+
+def setAIMode(group_name, di_name, mode, ipAddress=''):
+    api_mod.setAIMode.argtypes = [c_char_p, c_char_p, c_int, c_char_p]
+    api_mod.setAIMode.restype = c_int
+    ret = api_mod.setAIMode(
+        bytes(group_name, encoding="utf-8"), bytes(di_name, encoding="utf-8"), mode, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def writeDO(group_name, di_name, value, ipAddress=''):
+    api_mod.writeDO.argtypes = [c_char_p, c_char_p, c_int, c_char_p]
+    api_mod.writeDO.restype = c_int
+    ret = api_mod.writeDO(bytes(group_name, encoding="utf-8"),
+                          bytes(di_name, encoding="utf-8"), value, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def writeAO(group_name, di_name, mode, value, ipAddress=''):
+    api_mod.writeAO.argtypes = [c_char_p, c_char_p, c_int, c_double, c_char_p]
+    api_mod.writeAO.restype = c_int
+    ret = api_mod.writeAO(bytes(group_name, encoding="utf-8"),
+                          bytes(di_name, encoding="utf-8"), mode, value, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def readBusCurrent(ipAddress=''):
+    Current = c_double()
+    api_mod.readBusCurrent.argtypes = [POINTER(c_double), c_char_p]
+    api_mod.readBusCurrent.restype = c_int
+    ret = api_mod.readBusCurrent(byref(Current), bytes(ipAddress.encode('utf-8')))
+    return ret, Current
+
+
+def readBusVoltage(ipAddress=''):
+    Voltage = c_double()
+    api_mod.readBusVoltage.argtypes = [POINTER(c_double), c_char_p]
+    api_mod.readBusVoltage.restype = c_int
+    ret = api_mod.readBusVoltage(byref(Voltage), bytes(ipAddress.encode('utf-8')))
+    return ret, Voltage
+
+###################### version 1.10#########################
+
+
+def getDH(aDH, alphaDH, dDH, thetaDH, ipAddress=''):
+    arr_aDH = DIANA_DH_A()
+    arr_aDH.values = (c_double*7)()
+    arr_alphaDH = DIANA_DH_Alpha()
+    arr_alphaDH.values = (c_double*7)()
+    arr_dDH = DIANA_DH_D()
+    arr_dDH.values = (c_double*7)()
+    arr_thetaDH = DIANA_DH_Theta()
+    arr_thetaDH.values = (c_double*7)()
+    api_mod.getDH.restype = c_int
+    api_mod.getDH.argtypes = [POINTER(DIANA_DH_A),
+                              POINTER(DIANA_DH_Alpha), POINTER(DIANA_DH_D), POINTER(DIANA_DH_Theta), c_char_p]
+    ret = api_mod.getDH(byref(arr_aDH), byref(arr_alphaDH),
+                        byref(arr_dDH), byref(arr_thetaDH), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(aDH)):
+        aDH[index] = arr_aDH.values[index]
+    for index in range(0, len(alphaDH)):
+        alphaDH[index] = arr_alphaDH.values[index]
+    for index in range(0, len(dDH)):
+        dDH[index] = arr_dDH.values[index]
+    for index in range(0, len(thetaDH)):
+        thetaDH[index] = arr_thetaDH.values[index]
+    return message(ret)
+
+
+def getOriginalJointTorque(torques, ipAddress=''):
+    jointTorque = DIANA_JOINT_TORQUE()
+    jointTorque.values = (c_double*7)()
+    api_mod.getOriginalJointTorque.restype = c_int
+    api_mod.getOriginalJointTorque.argtypes = [
+        POINTER(DIANA_JOINT_TORQUE), c_char_p]
+    ret = api_mod.getOriginalJointTorque(
+        byref(jointTorque), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(torques)):
+        torques[index] = jointTorque.values[index]
+    return message(ret)
+
+
+def getJacobiMatrix(matrix_jacobi, ipAddress=''):
+    jacobi_matrix = DIANA_JACOBI_MATRIX()
+    jacobi_matrix.values = (c_double*42)()
+    api_mod.getJacobiMatrix.restype = c_int
+    api_mod.getJacobiMatrix.argtypes = [POINTER(DIANA_JACOBI_MATRIX), c_char_p]
+    ret = api_mod.getJacobiMatrix(
+        byref(jacobi_matrix), bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(matrix_jacobi)):
+        matrix_jacobi[index] = jacobi_matrix.values[index]
+    return message(ret)
+
+###################### version 1.20#########################
+
+
+def resetDH(ipAddress=''):
+    api_mod.resetDH.argtypes = [c_char_p]
+    api_mod.resetDH.restype = c_int
+    ret = api_mod.resetDH(bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+###################### version 1.30#########################
+
+
+def runProgram(name, ipAddress=''):
+    api_mod.runProgram.argtypes = [c_char_p, c_char_p]
+    api_mod.runProgram.restype = c_int
+    ret = api_mod.runProgram(
+        bytes(name, encoding="utf-8"), bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def stopProgram(name, ipAddress=''):
+    api_mod.stopProgram.argtypes = [c_char_p, c_char_p]
+    api_mod.stopProgram.restype = c_int
+    ret = api_mod.stopProgram(
+        bytes(name, encoding="utf-8"), bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def getVariableValue(name, ipAddress=''):
+    api_mod.getVariableValue.argtypes = [c_char_p, POINTER(c_double), c_char_p]
+    api_mod.getVariableValue.restype = c_int
+    value = c_double()
+    ret = api_mod.getVariableValue(
+        bytes(name, encoding="utf-8"), byref(value), bytes(ipAddress.encode('utf-8')))
+    return message(ret), value.value
+
+
+def setVariableValue(name, value, ipAddress=''):
+    val = c_double(value)
+    api_mod.setVariableValue.argtypes = [c_char_p, POINTER(c_double), c_char_p]
+    api_mod.setVariableValue.restype = c_int
+    ret = api_mod.setVariableValue(
+        bytes(name, encoding="utf-8"), byref(val), bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def isTaskRunning(name, ipAddress=''):
+    api_mod.isTaskRunning.argtypes = [c_char_p, c_char_p]
+    api_mod.isTaskRunning.restype = c_int
+    ret = api_mod.isTaskRunning(
+        bytes(name, encoding="utf-8"), bytes(ipAddress.encode('utf-8')))
+    if(ret >= 0):
+        return True
+    if(ret== -1):
+        return False
+    else:
+        errorcode = getLastError()
+        errorMessage = errorCodeMessage.get(errorcode)
+        callerName = 'function ' + sys._getframe().f_back.f_code.co_name + ' fails,'
+        if errorMessage == None:
+            print(callerName + 'Error Code ' + str(errorcode))
+        else:
+            print(callerName + errorMessage)
+        return False
+
+
+def pauseProgram(ipAddress=''):
+    api_mod.stopProgram.argtypes = [c_char_p]
+    api_mod.pauseProgram.restype = c_int
+    ret = api_mod.pauseProgram(bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def resumeProgram(ipAddress=''):
+    api_mod.resumeProgram.argtypes = [c_char_p]
+    api_mod.resumeProgram.restype = c_int
+    ret = api_mod.resumeProgram(bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def stopAllProgram(ipAddress=''):
+    api_mod.stopAllProgram.argtypes = [c_char_p]
+    api_mod.stopAllProgram.restype = c_int
+    ret = api_mod.stopAllProgram(bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def isAnyTaskRunning(ipAddress=''):
+    api_mod.isAnyTaskRunning.argtypes = [c_char_p]
+    api_mod.isAnyTaskRunning.restype = c_int
+    ret = api_mod.isAnyTaskRunning(bytes(ipAddress.encode('utf-8')))
+    if(ret >= 0):
+        return True
+    if(ret== -1):
+        return False
+    else:
+        errorcode = getLastError()
+        errorMessage = errorCodeMessage.get(errorcode)
+        callerName = 'function ' + sys._getframe().f_back.f_code.co_name + ' fails,'
+        if errorMessage == None:
+            print(callerName + 'Error Code ' + str(errorcode))
+        else:
+            print(callerName + errorMessage)
+        return False
+
+###################### version 1.40#########################
+
+
+def cleanErrorInfo(ipAddress=''):
+    api_mod.cleanErrorInfo.argtypes = [c_char_p]
+    api_mod.cleanErrorInfo.restype = c_int
+    ret = api_mod.cleanErrorInfo(bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def setCollisionLevel(level, ipAddress=''):
+    if not isinstance(level, collision_level):
+        raise TypeError('level must be an instance of collision_level Enum')
+    api_mod.setCollisionLevel.argtypes = [c_int, c_char_p]
+    api_mod.setCollisionLevel.restype = c_int
+    ret = api_mod.setCollisionLevel(
+        level.value, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+###################### version 1.50#########################
+
+def getJointCount(ipAddress=''):
+    api_mod.getJointCount.argtypes = [c_char_p]
+    api_mod.getJointCount.restype = c_int
+    count = api_mod.getJointCount(bytes(ipAddress.encode('utf-8')))
+    return count
+
+
+def getWayPoint(waypointName, dblTcppos, dblJoints, ipAddress=''):
+    api_mod.getWayPoint.restype = c_int
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    api_mod.getWayPoint.argtypes = [
+        c_char_p, POINTER(DIANA_TCP_POSE), POINTER(DIANA_JOINTS_POSITION), c_char_p]
+    ret = api_mod.getWayPoint(
+        bytes(waypointName.encode('utf-8')), dianaTcpPose, dianaJointPos, bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(dblTcppos)):
+        dblTcppos[index] = dianaTcpPose.values[index]
+    for index in range(0, len(dblJoints)):
+        dblJoints[index] = dianaJointPos.values[index]
+    return message(ret)
+
+def setWayPoint(waypointName, dblTcppos, dblJoints, ipAddress=''):
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    for index in range(0, len(dblTcppos)):
+        dianaTcpPose.values[index] = dblTcppos[index]
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    for index in range(0, len(dblJoints)):
+        dianaJointPos.values[index] = dblJoints[index]
+    api_mod.setWayPoint.restype = c_int
+    api_mod.setWayPoint.argtypes = [
+        c_char_p, POINTER(DIANA_TCP_POSE), POINTER(DIANA_JOINTS_POSITION), c_char_p]
+    ret = api_mod.setWayPoint(
+        bytes(waypointName.encode('utf-8')), dianaTcpPose, dianaJointPos, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def addWayPoint(waypointName, dblTcppos, dblJoints, ipAddress=''):
+    dianaTcpPose = DIANA_TCP_POSE()
+    dianaTcpPose.values = (c_double * 6)()
+    for index in range(0, len(dblTcppos)):
+        dianaTcpPose.values[index] = dblTcppos[index]
+    dianaJointPos = DIANA_JOINTS_POSITION()
+    dianaJointPos.values = (c_double * 7)()
+    for index in range(0, len(dblJoints)):
+        dianaJointPos.values[index] = dblJoints[index]
+    api_mod.addWayPoint.restype = c_int
+    api_mod.addWayPoint.argtypes = [
+        c_char_p, POINTER(DIANA_TCP_POSE), POINTER(DIANA_JOINTS_POSITION), c_char_p]
+    ret = api_mod.addWayPoint(
+        bytes(waypointName.encode('utf-8')), dianaTcpPose, dianaJointPos, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def deleteWayPoint(waypointName, ipAddress=''):
+    api_mod.deleteWayPoint.argtypes = [c_char_p, c_char_p]
+    api_mod.deleteWayPoint.restype = c_int
+    ret = api_mod.deleteWayPoint(
+        bytes(waypointName.encode('utf-8')), bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+###################### version 1.60#########################
+
+
+def getDefaultActiveTcp(default_tcp, ipAddress=''):
+    defaultTcp = DIANA_DEFAULT_TCP()
+    defaultTcp.values = (c_double*16)()
+    api_mod.getDefaultActiveTcp.argtypes = [
+        POINTER(DIANA_DEFAULT_TCP), c_char_p]
+    api_mod.getDefaultActiveTcp.restype = c_int
+    ret = api_mod.getDefaultActiveTcp(
+        defaultTcp, bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(defaultTcp.values)):
+        default_tcp[index] = defaultTcp.values[index]
+    return message(ret)
+
+
+def getDefaultActiveTcpPose(arrPose, ipAddress=''):
+    pose = DIANA_TCP_POSE()
+    pose.values = (c_double*6)()
+    api_mod.getDefaultActiveTcpPose.argtypes = [
+        POINTER(DIANA_TCP_POSE), c_char_p]
+    api_mod.getDefaultActiveTcpPose.restype = c_int
+    ret = api_mod.getDefaultActiveTcpPose(
+        pose, bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(pose.values)):
+        arrPose[index] = pose.values[index]
+    return message(ret)
+
+
+def getActiveTcpPayload(payload, ipAddress=''):
+    tcpPayload = DIANA_TCP_PAYLOAD()
+    tcpPayload.values = (c_double*10)()
+    api_mod.getActiveTcpPayload.argtypes = [
+        POINTER(DIANA_TCP_PAYLOAD), c_char_p]
+    api_mod.getActiveTcpPayload.restype = c_int
+    ret = api_mod.getActiveTcpPayload(
+        tcpPayload, bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(tcpPayload.values)):
+        payload[index] = tcpPayload.values[index]
+    return message(ret)
+
+
+def zeroSpaceManualMove(direction, dblJointsVel, dblJointAcc, ipAddress=''):
+    if not isinstance(direction, zero_space_move_direction):
+        raise TypeError(
+            'direction must be an instance of zero_space_move_direction Enum')
+    joint_vel = DIANA_JOINT_ANGULAR_VEL()
+    joint_vel.values = (c_double*7)()
+    for index in range(0, len(dblJointsVel)):
+        joint_vel.values[index] = dblJointsVel[index]
+    joint_acc = DIANA_JOINT_ACC()
+    joint_acc.values = (c_double*7)()
+    for index in range(0, len(joint_acc.values)):
+        joint_acc.values[index] = dblJointAcc[index]
+    api_mod.zeroSpaceManualMove.argtypes = [c_int, POINTER(
+        DIANA_JOINT_ANGULAR_VEL), POINTER(DIANA_JOINT_ACC), c_char_p]
+    api_mod.zeroSpaceManualMove.restype = c_int
+    ret = api_mod.zeroSpaceManualMove(
+        direction.value, joint_vel, joint_acc, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def moveTcp_ex(coordinate, direction, velocity, accleartion, ipAddress=''):
+    if not isinstance(coordinate, coordinate_e):
+        raise TypeError(
+            'coordinate must be an instance of coordinate_e Enum')
+    if not isinstance(direction, tcp_direction_e):
+        raise TypeError(
+            'direction must be an instance of tcp_direction_e Enum')
+    api_mod.moveTcp_ex.argtypes = [c_int, c_int, c_double, c_double, c_char_p]
+    api_mod.moveTcp_ex.restype = c_int
+    ret = api_mod.moveTcp_ex(
+        coordinate.value, direction.value, velocity, accleartion, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def setExternalAppendTorCutoffFreq(dblFreq, ipAddress=''):
+    api_mod.setExternalAppendTorCutoffFreq.argtypes = [c_double, c_char_p]
+    api_mod.setExternalAppendTorCutoffFreq.restype = c_int
+    ret = api_mod.setExternalAppendTorCutoffFreq(
+        dblFreq, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+
+def poseTransform(srcPose, srcMatrixPose, dstMartixPose, dstPose):
+  srcTcpPose = DIANA_TCP_POSE()
+  srcTcpPose.values = (c_double * 6)()
+  for index in range(0, len(srcTcpPose.values)):
+    srcTcpPose.values[index] = srcPose[index]
+  srcMatrix = DIANA_TCP_POSE()
+  srcMatrix.values = (c_double * 6)()
+  for index in range(0, len(srcMatrix.values)):
+    srcMatrix.values[index] = srcMatrixPose[index]
+  dstTcpPose = DIANA_TCP_POSE()
+  dstTcpPose.values = (c_double * 6)()
+  for index in range(0, len(dstTcpPose.values)):
+    dstTcpPose.values[index] = dstMartixPose[index]
+  dstTarPose = DIANA_TCP_POSE()
+  dstTarPose.values = (c_double * 6)()
+  for index in range(0, len(dstTarPose.values)):
+    dstPose[index] = -1
+  api_mod.poseTransform.argtypes = [POINTER(DIANA_TCP_POSE), POINTER(
+      DIANA_TCP_POSE), POINTER(DIANA_TCP_POSE), POINTER(DIANA_TCP_POSE)]
+  api_mod.poseTransform.restype = c_int
+  ret = api_mod.poseTransform(byref(srcTcpPose), byref(
+      srcMatrix), byref(dstTcpPose), byref(dstTarPose))
+  for index in range(0, len(dstTarPose.values)):
+      dstPose[index] = dstTarPose.values[index]
+  return message(ret)
+
+def updateForce(forceDirection,forceValue, ipAddress=''):
+    arr_ForceDirection = DIANA_FORCE_DIRECTION()
+    arr_ForceDirection.values = (c_double*3)()
+    for index in range(0, len(arr_ForceDirection.values)):
+        arr_ForceDirection.values[index] = forceDirection[index]
+    api_mod.updateForce.restype = c_int
+    api_mod.updateForce.argtypes = [POINTER(DIANA_FORCE_DIRECTION),c_double, c_char_p]
+    ret = api_mod.updateForce(byref(arr_ForceDirection),forceValue, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+def updateForce_ex(forceDirection,forceValue, active_tcp=None, ipAddress=''):
+    arr_ForceDirection = DIANA_FORCE_DIRECTION()
+    arr_ForceDirection.values = (c_double*3)()
+    for index in range(0, len(arr_ForceDirection.values)):
+        arr_ForceDirection.values[index] = forceDirection[index]
+    ret = 0
+    if active_tcp==None:
+        use_active_tcp = c_void_p(0)
+        api_mod.updateForce_ex.restype = c_int
+        api_mod.updateForce_ex.argtypes = [POINTER(DIANA_FORCE_DIRECTION),c_double,c_void_p, c_char_p]
+        ret = api_mod.updateForce_ex(byref(arr_ForceDirection),forceValue,use_active_tcp, bytes(ipAddress.encode('utf-8')))
+    else:
+        arr_Active_Tcp = DIANA_ACTIVE_TCP()
+        arr_Active_Tcp.values = (c_double*6)()
+        for index in range(0, len(arr_Active_Tcp.values)):
+            arr_Active_Tcp.values[index] = active_tcp[index]
+        api_mod.updateForce_ex.restype = c_int
+        api_mod.updateForce_ex.argtypes = [POINTER(DIANA_FORCE_DIRECTION),c_double,POINTER(DIANA_ACTIVE_TCP), c_char_p]
+        ret = api_mod.updateForce_ex(byref(arr_ForceDirection),forceValue,byref(arr_Active_Tcp), bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+def inverseClosedFull(pose, lock_joint_index, lock_joint_position, ref_joints, active_tcp=None, ipAddress=''):
+    refJointsPosition = DIANA_JOINTS_POSITION()
+    refJointsPosition.values = (c_double * 7)()
+    for index in range(0, len(ref_joints)):
+        refJointsPosition.values[index] = ref_joints[index]
+    dianaPose = DIANA_TCP_POSE()
+    dianaPose.values = (c_double * 6)()
+    for index in range(0, len(pose)):
+        dianaPose.values[index] = pose[index]
+    ret = 0
+    if active_tcp==None:
+        use_active_tcp = c_void_p(0)
+        api_mod.inverseClosedFull.argtypes = [POINTER(DIANA_TCP_POSE),c_int,c_double,POINTER(DIANA_JOINTS_POSITION),c_void_p, c_char_p]
+        api_mod.inverseClosedFull.restype = c_int
+        id = api_mod.inverseClosedFull(byref(dianaPose),lock_joint_index,lock_joint_position,byref(refJointsPosition), use_active_tcp, bytes(ipAddress.encode('utf-8')))
+    else:
+        arrActiveTcp = DIANA_ACTIVE_TCP()
+        arrActiveTcp.values = (c_double*6)()
+        for index in range(0, len(arrActiveTcp.values)):
+            arrActiveTcp.values[index] = active_tcp[index]
+        api_mod.inverseClosedFull.argtypes = [POINTER(DIANA_TCP_POSE),c_int,c_double,POINTER(DIANA_JOINTS_POSITION),POINTER(DIANA_ACTIVE_TCP), c_char_p]
+        api_mod.inverseClosedFull.restype = c_int
+        id = api_mod.inverseClosedFull(byref(dianaPose),lock_joint_index,lock_joint_position,byref(refJointsPosition), byref(arrActiveTcp), bytes(ipAddress.encode('utf-8')))
+    return id
+
+def getInverseClosedResultSize(id, ipAddress=''):
+    api_mod.getInverseClosedResultSize.argtypes = [c_int, c_char_p]
+    api_mod.getInverseClosedResultSize.restype = c_int
+    size = api_mod.getInverseClosedResultSize(id, bytes(ipAddress.encode('utf-8')))
+    return size
+
+def getInverseClosedJoints(id, index, joints, ipAddress=''):
+    dianaJoints = DIANA_JOINTS_POSITION()
+    dianaJoints.values = (c_double * 7)()
+    api_mod.getInverseClosedJoints.argtypes = [c_int, c_int, POINTER(DIANA_JOINTS_POSITION), c_char_p]
+    api_mod.getInverseClosedJoints.restype = c_int
+    size = api_mod.getInverseClosedJoints(id, index, dianaJoints, bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(joints)):
+        joints[index] = dianaJoints.values[index]
+    return size
+
+def destoryInverseClosedItems(id, ipAddress=''):
+    api_mod.destoryInverseClosedItems.argtypes = [c_int, c_char_p]
+    api_mod.destoryInverseClosedItems.restype = c_int
+    ret = api_mod.destoryInverseClosedItems(id, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+def getGravInfo(grav, ipAddress=''):
+    gravInfo = DIANA_GRAV_INFO()
+    gravInfo.values = (c_double * 3)()
+    api_mod.getGravInfo.argtypes = [POINTER(DIANA_GRAV_INFO), c_char_p]
+    api_mod.getGravInfo.restype = c_int
+    ret = api_mod.getGravInfo(gravInfo, bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(grav)):
+        grav[index] = gravInfo.values[index]
+    return message(ret)
+
+def setGravInfo(grav, ipAddress=''):
+    gravInfo = DIANA_GRAV_INFO()
+    gravInfo.values = (c_double * 3)()
+    for index in range(0, len(grav)):
+        gravInfo.values[index] = grav[index]
+    api_mod.setGravInfo.argtypes = [POINTER(DIANA_GRAV_INFO), c_char_p]
+    api_mod.setGravInfo.restype = c_int
+    ret = api_mod.setGravInfo(gravInfo, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+def getGravAxis(grav, ipAddress=''):
+    gravAxis = DIANA_AXIS_VECTOR()
+    gravAxis.values = (c_double * 3)()
+    api_mod.getGravAxis.argtypes = [POINTER(DIANA_AXIS_VECTOR), c_char_p]
+    api_mod.getGravAxis.restype = c_int
+    ret = api_mod.getGravAxis(gravAxis, bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(grav)):
+        grav[index] = gravAxis.values[index]
+    return message(ret)
+
+def setGravAxis(grav, ipAddress=''):
+    gravInfo = DIANA_AXIS_VECTOR()
+    gravInfo.values = (c_double * 3)()
+    for index in range(0, len(grav)):
+        gravInfo.values[index] = grav[index]
+    api_mod.setGravAxis.argtypes = [POINTER(DIANA_AXIS_VECTOR), c_char_p]
+    api_mod.setGravAxis.restype = c_int
+    ret = api_mod.setGravAxis(gravInfo, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+
+def speedLOnTcp(speed, acc, t=0.0, ipAddress=''):
+    dianaJointsSpeed = DIANA_JOINTS_SPEED_L()
+    dianaJointsSpeed.values = (c_double * 6)()
+    for index in range(0, len(dianaJointsSpeed.values)):
+        dianaJointsSpeed.values[index] = speed[index]
+    dianaJointsAcc = DIANA_JOINTS_ACC()
+    dianaJointsAcc.values = (c_double * 2)()
+    for index in range(0, len(dianaJointsAcc.values)):
+        dianaJointsAcc.values[index] = acc[index]
+    active_tcp = c_void_p(0)
+    api_mod.speedLOnTcp.argtypes = [POINTER(DIANA_JOINTS_SPEED_L), POINTER(
+        DIANA_JOINTS_ACC), c_double, c_void_p, c_char_p]
+    api_mod.speedLOnTcp.restype = c_int
+    ret = api_mod.speedLOnTcp(dianaJointsSpeed, dianaJointsAcc,
+                            t, active_tcp, bytes(ipAddress.encode('utf-8')))
+    return message(ret)
+    
+def getTcpForceInToolCoordinate(forces, ipAddress=''):
+    dianaTcpForce = DIANA_TCP_FORCE()
+    dianaTcpForce.values = (c_double * 6)()
+    api_mod.getTcpForceInToolCoordinate.argtypes = [POINTER(DIANA_TCP_FORCE), c_char_p]
+    api_mod.getTcpForceInToolCoordinate.restype = c_int
+    ret = api_mod.getTcpForceInToolCoordinate(byref(dianaTcpForce),
+                              bytes(ipAddress.encode('utf-8')))
+    for index in range(0, len(dianaTcpForce.values)):
+        forces[index] = dianaTcpForce.values[index]
+    return message(ret)
+
+def calculateJacobi(matrixJacobi, joints, ipAddress=''):
+    _joint_count = getJointCount(ipAddress)
+    dianaJoints = DIANA_JOINTS_POSITION()
+    dianaJoints.values = (c_double * 7)()
+    for index in range(0, len(joints)):
+        dianaJoints.values[index] = joints[index]
+    dianaJacobiMatrix = DIANA_JACOBI_MATRIX()
+    dianaJacobiMatrix.values = (c_double * 42)()
+    api_mod.calculateJacobi.argtypes = [POINTER(DIANA_JACOBI_MATRIX), POINTER(DIANA_JOINTS_POSITION), c_int, c_char_p]
+    api_mod.calculateJacobi.restype = c_int
+    ret = api_mod.calculateJacobi(byref(dianaJacobiMatrix), dianaJoints, _joint_count, bytes(ipAddress.encode('utf-8')))
+    if ret < 0:
+        return message(ret)
+    for index in range(0, _joint_count * 6):
+        matrixJacobi[index] = dianaJacobiMatrix.values[index]
+    return message(ret)
+                             
+def calculateJacobiTF(matrixJacobi, joints, toolMatrix, ipAddress=''):
+    _joint_count = getJointCount(ipAddress)
+    dianaJoints = DIANA_JOINTS_POSITION()
+    dianaJoints.values = (c_double * 7)()
+    for index in range(0, len(joints)):
+        dianaJoints.values[index] = joints[index]
+    dianaToolMatrix = DIANA_ACTIVE_TCP()
+    dianaToolMatrix.values = (c_double * 6)()
+    for index in range(0, len(toolMatrix)):
+        dianaToolMatrix.values[index] = toolMatrix[index]
+    dianaJacobiMatrix = DIANA_JACOBI_MATRIX()
+    dianaJacobiMatrix.values = (c_double * 42)()
+    api_mod.calculateJacobiTF.argtypes = [POINTER(DIANA_JACOBI_MATRIX),POINTER(DIANA_JOINTS_POSITION), c_int, POINTER(DIANA_ACTIVE_TCP), c_char_p]
+    api_mod.calculateJacobiTF.restype = c_int
+    ret = api_mod.calculateJacobiTF(byref(dianaJacobiMatrix), dianaJoints, _joint_count, dianaToolMatrix, bytes(ipAddress.encode('utf-8')))
+    if ret < 0 :
+        return message(ret)
+    for index in range(0, _joint_count * 6):
+        matrixJacobi[index] = dianaJacobiMatrix.values[index]
+    return message(ret)
diff --git a/roboimi/diana_driver/diana.py b/roboimi/diana_driver/diana.py
new file mode 100644
index 0000000..806e31f
--- /dev/null
+++ b/roboimi/diana_driver/diana.py
@@ -0,0 +1,117 @@
+#!/usr/bin/env python3
+#coding=utf-8
+#Date: 2024-12-01
+#Author: Zongdao Li
+
+import sys
+
+# def load_api(path : str):
+#     from ctypes import CDLL
+#     # scriptLibraryPath='/home/imi/ros2_ws/src/diana_py/lib/libDianaApi.so'
+#     if sys.version_info < (3, 8):
+#         return  CDLL(path)
+#     else:
+#         return  CDLL(path, winmode=0)
+
+   
+# api_mod = load_api(LIB_PATH)    
+
+import DianaApi_v2 as DA
+import time
+
+class Diana():
+    def __init__(self,ip):
+        self.robot_ip = ip
+        self.netInfo=(self.robot_ip, 0, 0, 0, 0, 0)
+        self.init_srv()
+        print("")
+
+    def init_srv(self):
+        DA.initSrv(self.netInfo)
+
+    def start(self):
+        DA.initSrv(self.netInfo)
+        DA.releaseBrake(self.robot_ip)
+
+    def move_spec_J(self,joint_value,joint_index):
+        v = 0.1
+        a = 0.1
+        DA._MoveSpecificJoint(joint_value,joint_index,v,a,self.robot_ip)
+
+    def moveJ(self,joints,v,a):
+        ret = DA._MoveJ(joints,v,a,self.robot_ip)
+
+    def moveL(self,pose,v,a):
+        ret = DA.moveJToPose(pose,v,a,self.robot_ip)
+
+    def servoJ(self,joints):
+        ret = DA._ServoJ(joints,ipAddress=self.robot_ip)
+        if ret:
+            print("servoJ complete")
+        else:
+            raise Exception(" get servoJ failed")
+        
+    def servoL(self,pose):
+        ret = DA.servoL(pose, t=0.01, ah_t=0.03, gain=300, scale=1,ipAddress=self.robot_ip)
+        if ret:
+            print("servoL complete")
+        else:
+            raise Exception(" get servoL failed")
+
+    def pathPos(self,pos_group,v=0.2,a=0.2):
+        ret,path_id = DA._CreatePathbyJoints(self.robot_ip)
+        times = len(pos_group)
+        if times < 1:
+            raise Exception(" pos group is zero")
+        else:
+            for i in range(times):
+                DA.addMoveL(path_id, pos_group[i], v, a, 0.3,self.robot_ip)
+            ret1 = DA._ExecutePath(path_id,self.robot_ip)
+            if ret1:
+                DA.destroyPath(path_id,self.robot_ip)
+    
+
+    def getRobotState(self):
+        return DA.getRobotState(self.robot_ip)
+             
+    def pathJnts(self,joints_group,v=0.2,a=0.2):
+        ret,path_id = DA._CreatePathbyJoints(self.robot_ip)
+        times = len(joints_group)
+        if times < 1:
+            raise Exception(" joints group is zero")
+        else:
+            for i in range(times):
+                DA.addMoveJ(path_id, joints_group[i], v, a, 0.3,self.robot_ip)
+            DA._ExecutePath(path_id,self.robot_ip)
+            DA.destroyPath(path_id,self.robot_ip)
+        
+    def getJointStates(self):
+        jointsPosition = [0,0,0,0,0,0,0]
+        ret = DA.getJointPos(jointsPosition, self.robot_ip)
+        if ret == True:
+            return jointsPosition
+        else:
+            raise Exception(" get jointsPosition failed")
+        
+    def getTCPpos(self):
+        TCP_pose = DA._GetTcpPos(self.robot_ip)
+        return TCP_pose
+
+    def stop(self):
+        # DA.stop(self.robot_ip)
+        DA.holdBrake(self.robot_ip)
+        DA.destroySrv(self.robot_ip)
+        print("Good Bye !")
+
+if __name__ == '__main__':
+        a = Diana('192.168.10.76')
+        a.start()
+        i = 0
+        while True:
+            i+=1
+            print("run")
+            if i == 5000:
+                a.stop()
+                break
+        print("close")
+            
diff --git a/roboimi/env.yml b/roboimi/env.yml
new file mode 100644
index 0000000..9cf38cc
--- /dev/null
+++ b/roboimi/env.yml
@@ -0,0 +1,209 @@
+name: roboimi_act
+channels:
+  - conda-forge
+dependencies:
+  - _libgcc_mutex=0.1=conda_forge
+  - _openmp_mutex=4.5=2_kmp_llvm
+  - alsa-lib=1.2.9=hd590300_0
+  - aom=3.5.0=h27087fc_0
+  - attr=2.5.1=h166bdaf_1
+  - box2d-py=2.3.8=py310hc6cd4ac_8
+  - brotli=1.1.0=hb9d3cd8_2
+  - brotli-bin=1.1.0=hb9d3cd8_2
+  - bzip2=1.0.8=h4bc722e_7
+  - ca-certificates=2024.8.30=hbcca054_0
+  - cairo=1.16.0=h35add3b_1015
+  - certifi=2024.8.30=pyhd8ed1ab_0
+  - cloudpickle=3.0.0=pyhd8ed1ab_0
+  - contourpy=1.3.0=py310h3788b33_1
+  - cuda-cudart=12.6.68=h5888daf_0
+  - cuda-cudart_linux-64=12.6.68=h3f2d84a_0
+  - cuda-nvrtc=12.6.68=h5888daf_0
+  - cuda-nvtx=12.6.68=h5888daf_0
+  - cuda-version=12.6=h7480c83_3
+  - cudnn=8.9.7.29=h092f7fd_3
+  - cycler=0.12.1=pyhd8ed1ab_0
+  - dav1d=1.2.1=hd590300_0
+  - dbus=1.13.6=h5008d03_3
+  - eigen=3.4.0=h00ab1b0_0
+  - expat=2.6.3=h5888daf_0
+  - farama-notifications=0.0.4=pyhd8ed1ab_0
+  - filelock=3.15.4=pyhd8ed1ab_0
+  - fluidsynth=2.3.3=h71480ea_0
+  - font-ttf-dejavu-sans-mono=2.37=hab24e00_0
+  - font-ttf-inconsolata=3.000=h77eed37_0
+  - font-ttf-source-code-pro=2.038=h77eed37_0
+  - font-ttf-ubuntu=0.83=h77eed37_2
+  - fontconfig=2.14.2=h14ed4e7_0
+  - fonts-conda-ecosystem=1=0
+  - fonts-conda-forge=1=0
+  - fonttools=4.53.1=py310ha75aee5_1
+  - freetype=2.12.1=h267a509_2
+  - fsspec=2024.6.1=pyhff2d567_0
+  - gettext=0.22.5=he02047a_3
+  - gettext-tools=0.22.5=he02047a_3
+  - gmp=6.3.0=hac33072_2
+  - gmpy2=2.1.5=py310hc7909c9_1
+  - graphite2=1.3.13=h59595ed_1003
+  - gym=0.26.1=py310hfdc917e_0
+  - gym-box2d=0.26.1=py310hff52083_0
+  - gym-notices=0.0.8=pyhd8ed1ab_0
+  - gymnasium=0.29.1=py310h17c5347_1
+  - harfbuzz=7.3.0=hdb3a94d_0
+  - icu=72.1=hcb278e6_0
+  - jack=1.9.22=h0e77e87_1
+  - jax-jumpy=1.0.0=pyhd8ed1ab_0
+  - jinja2=3.1.4=pyhd8ed1ab_0
+  - jpeg=9e=h166bdaf_2
+  - lame=3.100=h166bdaf_1003
+  - lcms2=2.15=hfd0df8a_0
+  - ld_impl_linux-64=2.40=hf3520f5_7
+  - lerc=4.0.0=h27087fc_0
+  - libabseil=20240116.2=cxx17_he02047a_1
+  - libasprintf=0.22.5=he8f35ee_3
+  - libasprintf-devel=0.22.5=he8f35ee_3
+  - libavif=0.11.1=h8182462_2
+  - libblas=3.9.0=23_linux64_openblas
+  - libbrotlicommon=1.1.0=hb9d3cd8_2
+  - libbrotlidec=1.1.0=hb9d3cd8_2
+  - libbrotlienc=1.1.0=hb9d3cd8_2
+  - libcap=2.69=h0f662aa_0
+  - libcblas=3.9.0=23_linux64_openblas
+  - libcublas=12.6.1.4=h5888daf_0
+  - libcufft=11.2.6.59=h5888daf_0
+  - libcurand=10.3.7.68=h5888daf_0
+  - libcusolver=11.6.4.69=h5888daf_0
+  - libcusparse=12.5.3.3=h5888daf_0
+  - libdb=6.2.32=h9c3ff4c_0
+  - libdeflate=1.17=h0b41bf4_0
+  - libexpat=2.6.3=h5888daf_0
+  - libffi=3.4.2=h7f98852_5
+  - libflac=1.4.3=h59595ed_0
+  - libgcc=14.1.0=h77fa898_1
+  - libgcc-ng=14.1.0=h69a702a_1
+  - libgcrypt=1.11.0=h4ab18f5_1
+  - libgettextpo=0.22.5=he02047a_3
+  - libgettextpo-devel=0.22.5=he02047a_3
+  - libgfortran=14.1.0=h69a702a_1
+  - libgfortran-ng=14.1.0=h69a702a_1
+  - libgfortran5=14.1.0=hc5f4f2c_1
+  - libglib=2.80.3=h315aac3_2
+  - libgpg-error=1.50=h4f305b6_0
+  - libhwloc=2.9.3=default_h554bfaf_1009
+  - libiconv=1.17=hd590300_2
+  - libjpeg-turbo=2.1.4=h166bdaf_0
+  - liblapack=3.9.0=23_linux64_openblas
+  - libmad=0.15.1b=h0b41bf4_1001
+  - libmagma=2.8.0=h0af6554_0
+  - libmagma_sparse=2.8.0=h0af6554_0
+  - libnsl=2.0.1=hd590300_0
+  - libnvjitlink=12.6.68=h5888daf_0
+  - libogg=1.3.5=h4ab18f5_0
+  - libopenblas=0.3.27=pthreads_hac2b453_1
+  - libopus=1.3.1=h7f98852_1
+  - libpng=1.6.43=h2797004_0
+  - libprotobuf=4.25.3=h08a7969_0
+  - libsndfile=1.2.2=hbc2eb40_0
+  - libsqlite=3.46.0=hde9e2c9_0
+  - libstdcxx=14.1.0=hc0a3c3a_1
+  - libstdcxx-ng=14.1.0=h4852527_1
+  - libsystemd0=256.5=hb6d7363_0
+  - libtiff=4.5.0=h6adf6a1_2
+  - libtorch=2.4.0=cuda120_h2b0da52_301
+  - libuuid=2.38.1=h0b41bf4_0
+  - libuv=1.48.0=hd590300_0
+  - libvorbis=1.3.7=h9c3ff4c_0
+  - libwebp-base=1.4.0=hd590300_0
+  - libxcb=1.13=h7f98852_1004
+  - libxcrypt=4.4.36=hd590300_1
+  - libxml2=2.11.5=h0d562d8_0
+  - libzlib=1.3.1=h4ab18f5_1
+  - llvm-openmp=18.1.8=hf5423f3_1
+  - lz4-c=1.9.4=hcb278e6_0
+  - markupsafe=2.1.5=py310ha75aee5_1
+  - matplotlib-base=3.9.2=py310hf02ac8c_0
+  - mkl=2023.2.0=h84fe81f_50496
+  - mpc=1.3.1=h24ddda3_0
+  - mpfr=4.2.1=h38ae2d0_2
+  - mpg123=1.31.3=hcb278e6_0
+  - mpmath=1.3.0=pyhd8ed1ab_0
+  - munkres=1.1.4=pyh9f0ad1d_0
+  - nccl=2.22.3.1=hbc370b7_1
+  - ncurses=6.5=he02047a_1
+  - networkx=3.3=pyhd8ed1ab_1
+  - numpy=1.26.4=py310hb13e2d6_0
+  - openjpeg=2.5.0=hfec8fc6_2
+  - openssl=3.3.2=hb9d3cd8_0
+  - opusfile=0.12=h3358134_2
+  - orocos-kdl=1.5.1=h5888daf_6
+  - packaging=24.1=pyhd8ed1ab_0
+  - pandas=2.2.2=py310hf9f9076_1
+  - pcre2=10.44=hba22ea6_2
+  - pillow=9.4.0=py310h023d228_1
+  - pip=24.2=pyh8b19718_1
+  - pixman=0.43.2=h59595ed_0
+  - portaudio=19.6.0=h0e77e87_8
+  - portmidi=2.0.4=h0e77e87_1
+  - pthread-stubs=0.4=h36c2ea0_1001
+  - pulseaudio-client=16.1=hb77b528_5
+  - pybind11=2.13.5=py310h3788b33_0
+  - pybind11-global=2.13.5=py310h3788b33_0
+  - pygame=2.1.3=py310h2a1bfa1_0
+  - pyparsing=3.1.4=pyhd8ed1ab_0
+  - python=3.10.14=hd12c33a_0_cpython
+  - python-dateutil=2.9.0=pyhd8ed1ab_0
+  - python-orocos-kdl=1.5.1=py310hf71b8c6_6
+  - python-tzdata=2024.1=pyhd8ed1ab_0
+  - python_abi=3.10=5_cp310
+  - pytorch=2.4.0=cuda120_py310h2c91c31_301
+  - pytz=2024.1=pyhd8ed1ab_0
+  - qhull=2020.2=h434a139_5
+  - readline=8.2=h8228510_1
+  - sdl2=2.26.5=h949db6a_0
+  - sdl2_image=2.6.3=h7b3d2e9_0
+  - sdl2_mixer=2.6.3=h563c3bf_0
+  - sdl2_ttf=2.20.2=h2123e47_1
+  - setuptools=72.2.0=pyhd8ed1ab_0
+  - six=1.16.0=pyh6c4a22f_0
+  - sleef=3.6.1=h1b44611_3
+  - stable-baselines3=2.3.2=pyhd8ed1ab_0
+  - sympy=1.13.2=pypyh2585a3b_103
+  - tbb=2021.11.0=h00ab1b0_1
+  - tk=8.6.13=noxft_h4845f30_101
+  - typing_extensions=4.12.2=pyha770c72_0
+  - tzdata=2024a=h8827d51_1
+  - unicodedata2=15.1.0=py310h2372a71_0
+  - wheel=0.44.0=pyhd8ed1ab_0
+  - xorg-kbproto=1.0.7=h7f98852_1002
+  - xorg-libice=1.1.1=hd590300_0
+  - xorg-libsm=1.2.4=h7391055_0
+  - xorg-libx11=1.8.4=h0b41bf4_0
+  - xorg-libxau=1.0.11=hd590300_0
+  - xorg-libxdmcp=1.1.3=h7f98852_0
+  - xorg-libxext=1.3.4=h0b41bf4_2
+  - xorg-libxrender=0.9.10=h7f98852_1003
+  - xorg-renderproto=0.11.1=h7f98852_1002
+  - xorg-xextproto=7.3.0=h0b41bf4_1003
+  - xorg-xproto=7.0.31=h7f98852_1007
+  - xz=5.2.6=h166bdaf_0
+  - zlib=1.3.1=h4ab18f5_1
+  - zstd=1.5.6=ha6fb4c9_0
+  - pip:
+      - absl-py==2.1.0
+      - etils==1.7.0
+      - glfw==2.7.0
+      - imageio==2.35.1
+      - importlib-resources==6.4.4
+      - kiwisolver==1.4.5
+      - lxml==5.3.0
+      - mujoco==3.2.2
+      - mujoco-python-viewer==0.1.4
+      - opencv-contrib-python==4.10.0.84
+      - pyopengl==3.1.7
+      - pyquaternion==0.9.9
+      - pyyaml==6.0.2
+      - ruckig==0.9.2
+      - scipy==1.14.1
+      - urdf-parser-py==0.0.4
+      - zipp==3.20.1
+prefix: /home/lzd/miniforge3/envs/roboimi
diff --git a/roboimi/envs/diana_real_base.py b/roboimi/envs/diana_real_base.py
new file mode 100644
index 0000000..d44e827
--- /dev/null
+++ b/roboimi/envs/diana_real_base.py
@@ -0,0 +1,64 @@
+# import DianaApi
+
+
+
+# class SingleArmEnv(objects):
+    # def __init__(self,
+    #              robot=None,
+    #              is_render=False,
+    #              control_freq=200,
+    #              is_interpolate=False):
+    #     self.arm_real = self.robot.arm
+    
+class RealArmEnv(MujocoEnv):
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=200,
+                 is_interpolate=False
+                 ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq
+        )
+        self.single_arm_real  = self.robot.arm
+
+
+    def actuate_J(self, q_target, qdot_target, Arm):
+        '''
+        DianaApi interfaces for  joints pos control
+        '''
+        pass
+
+    def preStep(self, action):
+        '''
+        actions = jnt pos
+        '''
+        pass
+
+    def reset(self):
+        '''
+        set init pos for real robot
+        '''
+        pass
+
+    def step(self,action):
+        pass
+
+
+if __name__ == "__main__":
+    try:
+        from roboimi.assets.robots.diana_med import DianaMed
+
+        env = RealArmEnv(
+            robot=DianaMed(),
+            control_freq=200,
+            is_interpolate=True
+        )
+        env.reset()
+
+    except KeyboardInterrupt:
+       print("finish")
\ No newline at end of file
diff --git a/roboimi/envs/double_base.py b/roboimi/envs/double_base.py
new file mode 100644
index 0000000..1b7785b
--- /dev/null
+++ b/roboimi/envs/double_base.py
@@ -0,0 +1,294 @@
+import numpy as np
+import time
+import copy as cp
+from roboimi.envs.mujoco_base import MujocoEnv
+import cv2
+from roboimi.utils.interpolators import OTG
+import mujoco as mj
+import threading
+import collections
+import time
+from roboimi.utils.interpolators import OTG
+
+class DualDianaMed(MujocoEnv):
+    """
+
+    :param is_render: Choose if use the renderer to render the scene or not.
+    :param renderer: Choose official renderer with "viewer",
+            another renderer with "mujoco_viewer"
+    :param control_freq: Upper-layer control frequency.
+            Note that high frequency will cause high time-lag.
+    :param is_interpolate: Use interpolator while stepping.
+    """
+
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=20,
+                 cam_view=None,
+                 is_interpolate=False
+                 ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq
+        )
+        self.arm_left  = self.robot.left_arm
+        self.arm_right = self.robot.right_arm
+        self.base_time = self.control_timestep
+        
+        self.cam = cam_view
+        self.interpolator_left = None
+        self.interpolator_right = None
+        self.compute_qpos = np.array([1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16])
+        if is_interpolate:
+            self._initInterpolator(self.robot.arms)
+
+
+
+        #camera view setting
+        self.r_vis = None
+        self.l_vis = None
+        self.top = None
+        self.angle = None
+        self.obs = None
+        
+        self.rew = None
+
+
+    def actuate_J(self, q_target, qdot_target, Arm):
+        """ Compute desired torque with robot dynamics modeling:
+            > M(q)qdd + C(q, qd)qd + G(q) + tau_F(qd) = tau_ctrl + tau_env
+
+        :param q_target: joint position
+        :param qdot_target: joint velocity
+        """
+        # print(Arm.kdl_solver.NbOfJnt)
+        acc_desire = [
+            (self.robot.kp[i] * (q_target[i] - Arm.arm_qpos[i]) -
+             (self.robot.kd[i] * Arm.arm_qvel[i])) for i in range(Arm.jnt_num)]
+        qM = Arm.kdl_solver.getInertiaMat([Arm.arm_qpos[i] for i in range(len(Arm.joint_index))])
+        tau_target = np.dot(qM, acc_desire) + np.array(
+            [self.mj_data.joint(Arm.joint_index[i]).qfrc_bias[0] for i in range(len(Arm.joint_index))])
+        # Send torque to simulation
+        for i in range(7):
+            self.mj_data.actuator(Arm.actuator_index[i]).ctrl = tau_target[i]    
+        
+        
+    def reset(self):
+        self._setInitPose()
+        mj.mj_step(self.mj_model, self.mj_data)
+        if self.interpolator_left is not None and self.interpolator_right is not None:
+            self.interpolator_left.setOTGParam(self.robot.arms[0].arm_qpos,
+                                        np.zeros(len(self.robot.arms[0].joint_index)))
+            self.interpolator_right.setOTGParam(self.robot.arms[1].arm_qpos,
+                                        np.zeros(len(self.robot.arms[1].joint_index)))
+        
+
+
+    def step(self,action):
+        self.compute_qpos = action  #for observation !
+        self.obs = self._get_obs()
+        if self.interpolator_left is not None and self.interpolator_right is not None:
+            self.interpolator_left.updateInput(action[:7], control_cycle=self.base_time)
+            self.interpolator_right.updateInput(action[7:-2], control_cycle=self.base_time)
+
+        ctrl_cur_time = time.time()
+        for i in range(int(self.control_timestep / self.model_timestep)):
+            if int(self.control_timestep / self.model_timestep) == 0:
+                raise ValueError("Control frequency is too low. Checkout you are not in renderer mode."
+                                 "Current Model-Timestep:{}".format(self.model_timestep))
+
+            super().step(action)
+        self.base_time = time.time() - ctrl_cur_time
+            
+
+    def preStep(self, action):
+        '''
+        action size:
+            left joints: 7 
+            right joints: 7 
+            left gripper left: 1
+            right gripper left: 1
+            total: 16
+        '''
+        if len(action) == 16:
+            action_gripper_left = action[-2]
+            action_gripper_right = action[-1]
+            q_target_l = action[:7], 
+            q_target_r= action[7:-2], 
+            if self.interpolator_left is not None and self.interpolator_right is not None:
+                try:
+                    q_target_l, _ = self.interpolator_left.updateState()
+                    q_target_r, _ = self.interpolator_right.updateState()
+                except ValueError:
+                    print(action)
+            self.actuate_J(q_target_l, np.zeros(7), self.arm_left)
+            self.actuate_J(q_target_r, np.zeros(7), self.arm_right)
+            self.gripper_ctrl(action_gripper_left,self.arm_left)
+            self.gripper_ctrl(action_gripper_right,self.arm_right)
+        else:
+            raise AttributeError
+
+    def gripper_ctrl(self,ctrl,Arm):
+        '''
+        open:  100
+        close: -100
+        '''
+        if -100 <= ctrl <= 100:
+            self.mj_data.actuator(Arm.actuator_index[7]).ctrl = ctrl
+        else:
+            if ctrl>100:
+                self.mj_data.actuator(Arm.actuator_index[7]).ctrl = 100
+            else:
+                self.mj_data.actuator(Arm.actuator_index[7]).ctrl = -100
+            # raise ValueError("the torq should be given between -100 and 100 ")
+
+
+    @property
+    def get_obs_qpos(self):
+        qpos_left = np.zeros(self.arm_left.jnt_num)
+        qpos_right = np.zeros(self.arm_right.jnt_num)
+        for i in range(self.arm_left.jnt_num):
+            qpos_left[i] = cp.deepcopy(self.mj_data.joint(self.arm_left.joint_index[i]).qpos[0])
+        for i in range(self.arm_right.jnt_num):
+            qpos_right[i] = cp.deepcopy(self.mj_data.joint(self.arm_right.joint_index[i]).qpos[0])
+        return np.hstack([qpos_left,self.mj_data.actuator(self.arm_left.actuator_index[7]).ctrl,
+                          qpos_right,self.mj_data.actuator(self.arm_right.actuator_index[7]).ctrl])
+
+
+    def _get_obs(self):
+        obs = collections.OrderedDict()
+        obs['qpos'] = self.get_obs_qpos
+        obs['action'] = self.compute_qpos
+        obs['images'] = dict()
+        obs['images']['top']   = self.top
+        obs['images']['angle'] = self.angle
+        obs['images']['r_vis'] = self.r_vis
+        obs['images']['l_vis'] = self.l_vis
+        return obs
+
+    def _get_image_obs(self):
+        obs = collections.OrderedDict()
+        obs['images'] = dict()
+        obs['images']['top']   = self.top
+        obs['images']['angle'] = self.angle
+        obs['images']['r_vis'] = self.r_vis
+        obs['images']['l_vis'] = self.l_vis
+        return obs
+    
+    def _get_qpos_obs(self):
+        obs = collections.OrderedDict()
+        obs['qpos'] = self.get_obs_qpos
+        return obs
+    
+    def get_env_state(self):
+        raise NotImplementedError
+
+    
+    def _get_reward(self):
+        raise NotImplementedError
+
+
+    @property
+    def cam_view(self):
+        if self.cam == 'top':
+            return self.top
+        elif self.cam == 'angle':
+            return self.angle
+        elif self.cam == 'r_vis':
+            return self.r_vis
+        elif self.cam == 'l_vis':
+            return self.l_vis
+        else:
+            raise AttributeError("please input right name")
+
+
+    def camera_viewer(self):
+        img_renderer = mj.Renderer(self.mj_model,height=480,width=640)
+        cv2.namedWindow('Cam view',cv2.WINDOW_NORMAL)
+        while not self.exit_flag:
+            img_renderer.update_scene(self.mj_data,camera="rs_cam_right")
+            self.r_vis = img_renderer.render()
+            self.r_vis = self.r_vis[:, :, ::-1]
+            img_renderer.update_scene(self.mj_data,camera="rs_cam_left")
+            self.l_vis = img_renderer.render()
+            self.l_vis = self.l_vis[:, :, ::-1]
+            img_renderer.update_scene(self.mj_data,camera="top")
+            self.top = img_renderer.render()
+            self.top = self.top[:, :, ::-1]
+            img_renderer.update_scene(self.mj_data,camera="angle")
+            self.angle = img_renderer.render()
+            self.angle = self.angle[:, :, ::-1]
+            cv2.imshow('Cam view', self.cam_view)
+            cv2.waitKey(1)
+
+
+    def cam_start(self):
+        self.cam_thread = threading.Thread(target=self.camera_viewer,daemon=True)
+        self.cam_thread.start()
+        
+
+    def _initInterpolator(self, Arm):
+        
+        self.interpolator_left = OTG(
+            OTG_Dof=self.robot.left_arm.jnt_num,
+            control_cycle=0.0005,
+            max_velocity=0.05,
+            max_acceleration=0.1,
+            max_jerk=0.2
+        )
+        self.interpolator_left.setOTGParam(Arm[0].arm_qpos, Arm[0].arm_qvel)
+        self.interpolator_right = OTG(
+            OTG_Dof=self.robot.right_arm.jnt_num,
+            control_cycle=0.0005,
+            max_velocity=0.05,
+            max_acceleration=0.1,
+            max_jerk=0.2
+        )
+        self.interpolator_right.setOTGParam(Arm[1].arm_qpos, Arm[1].arm_qvel)
+
+if __name__ == "__main__":
+    from roboimi.assets.robots.diana_med import BiDianaMed
+
+    env = DualDianaMed(
+        robot=BiDianaMed(),
+        is_render=True,
+        control_freq=200,
+        cam_view='top',
+        is_interpolate=True
+    )
+
+    
+    env.reset()
+    
+    for t in range(int(1e6)):
+        action_l = np.array([0.0, 0.0, 0.0, 0.0, 0.0 ,0.0, 0.0])
+        action_r = np.array([0.0, 0.0, 0.0, 0.0, 0.0 ,0.0, 0.0])
+        gripper = np.array([-100.0,-100.0])
+        action = np.hstack((action_l,action_r,gripper))
+        env.step(action)
+        l_q = np.zeros(7)
+        l_q[3] = 0.0
+        r_q = np.zeros(7)
+        r_q[3] = 0.0
+        print("\nkdl fk left =",env.arm_left.kdl_solver.getEEtf(l_q))
+        # print("\n left pos=",env.robot.robot_data.body("left_link7").xpos,"\n")
+        # print("\nleft xmat",env.robot.robot_data.body("left_link7").xmat,"\n")
+
+        print("============================")
+        print("\nkdl fk right =",env.arm_right.kdl_solver.getEEtf(r_q))
+        # print("\n right pos=",env.robot.robot_data.body("right_link7").xpos,"\n")
+        # print("\nright xmat",env.robot.robot_data.body("right_link7").xmat,"\n")
+
+        # quat_left = np.zeros(4)
+        # quat_right = np.zeros(4)
+        # mj._functions.mju_mat2Quat(quat_left, rot_left)
+        # print("quat_left =",quat_left,"\n")
+        # mj._functions.mju_mat2Quat(quat_right, rot_right)
+        # print("quat_right =",quat_right,"\n")
+        if env.is_render:
+            env.render()
+        
\ No newline at end of file
diff --git a/roboimi/envs/double_pos_ctrl_env.py b/roboimi/envs/double_pos_ctrl_env.py
new file mode 100644
index 0000000..4d15e8c
--- /dev/null
+++ b/roboimi/envs/double_pos_ctrl_env.py
@@ -0,0 +1,165 @@
+import numpy as np
+import time
+from roboimi.envs.double_base import DualDianaMed
+# import cv2
+import roboimi.utils.KDL_utils.transform as T
+
+import copy as cp
+
+
+class DualDianaMed_Pos_Ctrl(DualDianaMed):
+    """
+
+    :param is_render: Choose if use the renderer to render the scene or not.
+    :param renderer: Choose official renderer with "viewer",
+            another renderer with "mujoco_viewer"
+    :param control_freq: Upper-layer control frequency.
+            Note that high frequency will cause high time-lag.
+    :param cam_view: Choice of Camera view.
+    """
+
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=200,
+                 is_interpolate=True,
+                 cam_view=None
+                 ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq,
+            is_interpolate=is_interpolate,
+            cam_view=cam_view
+        )
+        
+        self.max_reward = 4
+        
+        self.cam_start()
+
+        
+    def step(self,action=np.zeros(16)):
+        action_left  = self.ik_solve(action[:3],action[3:7],self.arm_left)
+        action_right = self.ik_solve(action[7:10],action[10:14],self.arm_right)
+        action = np.hstack((action_left,action_right,action[14:]))
+        super().step(action)
+        self.rew = self._get_reward()
+        
+    def step_jnt(self,action):
+        super().step(action)
+
+    def ik_solve(self,pos_goal,quat_goal,Arm):
+        pos_bias,mat_bias = Arm.get_Arm_bias_frame()
+        pos_bias = np.array([pos_bias[0],pos_bias[1],pos_bias[2]])
+        mat_bias = np.array([[mat_bias[0],mat_bias[1],mat_bias[2]],
+                            [mat_bias[3],mat_bias[4],mat_bias[5]],
+                            [mat_bias[6],mat_bias[7],mat_bias[8]]])
+        mat_bias = np.linalg.inv(mat_bias)
+        mat_goal = T.quat2Mat(quat_goal)
+        p_goal = mat_bias@(pos_goal-pos_bias)
+        mat_goal = mat_bias@mat_goal
+        return Arm.kdl_solver.ikSolver(p_goal, mat_goal, Arm.arm_qpos)
+
+    def reset(self,box_pos):
+        
+        self.mj_data.joint('red_box_joint').qpos[0] = box_pos[0] 
+        self.mj_data.joint('red_box_joint').qpos[1] = box_pos[1]
+        self.mj_data.joint('red_box_joint').qpos[2] = box_pos[2]
+        self.mj_data.joint('red_box_joint').qpos[3] = 1.0
+        self.mj_data.joint('red_box_joint').qpos[4] = 0.0
+        self.mj_data.joint('red_box_joint').qpos[5] = 0.0
+        self.mj_data.joint('red_box_joint').qpos[6] = 0.0
+        super().reset()
+        self.cam_flage = True
+        t=0
+        while self.cam_flage:
+            if(type(self.top)==type(None) 
+               or type(self.angle)==type(None) 
+               or type(self.r_vis)==type(None)):
+                time.sleep(0.001)
+                t+=1
+            else:
+                self.cam_flage=False
+        
+        
+
+    def preStep(self, action):
+        if isinstance(action,np.ndarray) and len(action)==16:
+            super().preStep(action)
+        else:
+            raise AttributeError("size should be 16")
+
+    def get_env_state(self):
+        box_pose = np.zeros(3)
+        for i in range(3):
+            box_pose[i] = cp.deepcopy(self.mj_data.joint('red_box_joint').qpos[i])
+        return box_pose
+    
+
+    def _get_reward(self):
+        all_contact_pairs = []
+        for collision_num in range(self.mj_data.ncon):
+            geom1 = self.mj_data.contact[collision_num].geom1
+            geom2 = self.mj_data.contact[collision_num].geom2
+            name_geom_1 = self.getID2Name('geom',geom1)
+            name_geom_2 = self.getID2Name('geom',geom2)
+            contact_pair = (name_geom_1, name_geom_2)
+            all_contact_pairs.append(contact_pair)
+
+        touch_table = ("l_fingertip_g0_right", "table") in all_contact_pairs or\
+                      ("l_fingertip_g0_right", "table") in all_contact_pairs
+        box_touch_table = ("red_box", "table") in all_contact_pairs
+        touch_left_gripper = ("red_box", "r_finger_left") in all_contact_pairs or\
+                             ("red_box", "l_finger_left") in all_contact_pairs
+        touch_right_gripper = ("red_box", "r_finger_right") in all_contact_pairs or\
+                              ("red_box", "l_finger_right") in all_contact_pairs
+
+        reward = 0
+        if touch_right_gripper and not touch_table:
+            reward = 1
+        if touch_right_gripper and not box_touch_table: 
+            reward = 2
+        if touch_left_gripper: # attempted transfer
+            reward = 3
+        if touch_left_gripper and not box_touch_table: # successful transfer
+            reward = 4
+        return reward
+        
+
+def make_sim_env(task_name):
+    if 'sim_transfer' in task_name:
+        from roboimi.assets.robots.diana_med import BiDianaMed
+        env = DualDianaMed_Pos_Ctrl(
+            robot=BiDianaMed(),
+            is_render=True,
+            control_freq=30,
+            is_interpolate=True,
+            cam_view='angle'
+        )
+        return env
+    else:
+        raise NotImplementedError
+
+
+
+
+
+if __name__ == "__main__":
+    task_name = 'sim_transfer'
+    env = make_sim_env(task_name)
+    env.reset()
+    action_l = np.array([-0.20,  1.2,  1.1,
+                          1.0, 0.0, 0.0, 0.0])  # 双臂直角
+    action_r = np.array([0.20,  1.2,  1.1,
+                          1.0, 0.0, 0.0, 0.0])
+    action_gripper = np.array([-100,-100])
+    action = np.hstack((action_l,action_r,action_gripper))
+
+    for t in range(int(10000)):
+        # print("main step ", t)
+        env.step(action)
+        if env.is_render:
+            env.render()
+        
\ No newline at end of file
diff --git a/roboimi/envs/mujoco_base.py b/roboimi/envs/mujoco_base.py
new file mode 100644
index 0000000..5c2ad30
--- /dev/null
+++ b/roboimi/envs/mujoco_base.py
@@ -0,0 +1,214 @@
+import sys
+from collections import deque
+import mujoco
+from mujoco import viewer
+import numpy as np
+import time
+
+assert ('linux' in sys.platform)
+
+
+class MujocoEnv(object):
+    """ This environment is the base class.
+
+     :param xml_path(str): Load xml file from xml_path to build the mujoco model.
+     :param is_render(bool): Choose if use the renderer to render the scene or not.
+     :param renderer(str): choose official renderer with "viewer",
+            another renderer with "mujoco_viewer"
+     :param control_freq(int): Upper-layer control frequency.
+            Note that high frequency will cause high time-lag.
+    """
+
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=1000):
+
+        self.robot = robot
+        self.is_render = is_render
+        self.renderer = renderer
+        self.control_freq = control_freq
+
+        self.mj_model = self.robot.robot_model
+        self.mj_data = self.robot.robot_data
+        self.viewer = None
+        self.cur_time = None
+        self.timestep = None
+        self.model_timestep = None
+        self.control_timestep = None
+        self.robot_dof = self.robot.jnt_num
+        self.traj = deque(maxlen=200)
+        self.render_paused = True
+        self.exit_flag = False
+        self._rendererInit()
+        self._initializeTime(control_freq)
+        self.mj_time = time.time()
+        # self._setInitPose()
+
+    def step(self, action):
+        """ 
+        This method will be called with one-step in mujoco
+        :param action: Input action
+        :return: None
+        """
+        self.cur_time += 1
+        mujoco.mj_forward(self.mj_model, self.mj_data)
+        self.preStep(action)
+        mujoco.mj_step(self.mj_model, self.mj_data)
+
+    def render(self):
+        """ render mujoco
+        :return: None
+        """
+        if self.is_render is True and self.viewer is not None:
+            if self.renderer == "mujoco_viewer":
+                if self.viewer.is_alive is True:
+                    self.viewer.render()
+                else:
+                    sys.exit(0)
+            elif self.renderer == "viewer":
+                if self.viewer.is_running() and self.exit_flag is False:
+                    self.viewer : viewer.Handle
+                    self.viewer.sync()
+                else:
+                    self.viewer.close()
+                    # sys.exit(0)
+
+    def _rendererInit(self):
+        """ Initialize renderer, choose official renderer with "viewer"(joined from version 2.3.3),
+            another renderer with "mujoco_viewer"
+        """
+        def key_callback(keycode):
+            if keycode == 32:
+                self.render_paused = not self.render_paused
+            elif keycode == 256:
+                self.exit_flag = not self.exit_flag
+        if self.is_render is True:
+            if self.renderer == "mujoco_viewer":
+                import mujoco_viewer
+                self.viewer = mujoco_viewer.MujocoViewer(self.mj_model, self.mj_data)
+            elif self.renderer == "viewer":
+                self.viewer = viewer.launch_passive(self.mj_model, self.mj_data, key_callback=key_callback,show_left_ui = True, show_right_ui=False)
+
+    def _initializeTime(self, control_freq):
+        """ Initializes the time constants used for simulation.
+
+        :param control_freq (float): Hz rate to run control loop at within the simulation
+        """
+        self.cur_time = 0
+        self.timestep = 0
+        self.model_timestep = 0.0005
+        self.model_timestep = self.mj_model.opt.timestep
+        if self.model_timestep <= 0:
+            raise ValueError("Invalid simulation timestep defined!")
+        self.control_freq = control_freq
+        if control_freq <= 0:
+            raise ValueError("Control frequency {} is invalid".format(control_freq))
+        self.control_timestep = 1.0 / control_freq
+
+    def _setInitPose(self):
+        """ Set or reset init joint position when called env reset func.
+
+        """
+        for i in range(len(self.robot.arms)):
+            for j in range(len(self.robot.arms[i].joint_index)):
+                self.mj_data.joint(self.robot.arms[i].joint_index[j]).qpos = self.robot.arms[i].init_pose[j]
+        mujoco.mj_forward(self.mj_model, self.mj_data)
+
+    def renderTraj(self, pos):
+        """ Render the trajectory from deque above,
+            you can push the cartesian position into this deque.
+
+        :param pos: One of the cartesian position of the trajectory to render.
+        """
+        if self.renderer == "mujoco_viewer" and self.is_render is True:
+            if self.cur_time % 10 == 0:
+                self.traj.append(pos.copy())
+            for point in self.traj:
+                self.viewer.add_marker(pos=point, size=np.array([0.001, 0.001, 0.001]), rgba=np.array([0, 0, 1, 1]),
+                                       type=mujoco.mjtGeom.mjGEOM_SPHERE)
+
+    def preStep(self, action):
+        """ Writes your own codes between mujoco forward and step you want to control.
+
+        :param action: input actions
+        :return: None
+        """
+        raise NotImplementedError
+
+    def getName2ID(self, mj_type : str, name: str):
+        if mj_type == 'geom':
+            input_type = mujoco.mjtObj.mjOBJ_GEOM
+        elif mj_type == 'body':
+            input_type = mujoco.mjtObj.mjOBJ_BODY
+        elif mj_type == 'camera':
+            input_type = mujoco.mjtObj.mjOBJ_CAMERA
+        elif mj_type == 'joint':
+            input_type = mujoco.mjtObj.mjOBJ_JOINT
+        else:
+            raise AttributeError("input geom, body, joint, or camera")
+        return mujoco.mj_name2id(self.mj_model, input_type, name)
+
+    def getID2Name(self, mj_type : str, id : int):
+        if mj_type == 'geom':
+            input_type = mujoco.mjtObj.mjOBJ_GEOM
+        elif mj_type == 'body':
+            input_type = mujoco.mjtObj.mjOBJ_BODY
+        elif mj_type == 'camera':
+            input_type = mujoco.mjtObj.mjOBJ_CAMERA
+        elif mj_type == 'joint':
+            input_type = mujoco.mjtObj.mjOBJ_JOINT
+        else:
+            raise AttributeError("input geom, body, joint, or camera")
+        return mujoco.mj_id2name(self.mj_model,input_type, id)
+
+
+    def getBodyPos(self, name : str):
+        return self.mj_data.body(name).xpos
+    
+    def getBodyMat(self, name : str):
+        return (self.mj_data.body(name).xmat).reshape(3,3)
+    
+    def getBodyQuat(self, name : str):
+        return self.mj_data.body(name).xquat
+
+    def reset(self):
+        """ Reset the simulate environment, in order to execute next episode.
+
+        """
+        mujoco.mj_resetData(self.mj_model, self.mj_data)
+        self._setInitPose()
+        mujoco.mj_step(self.mj_model, self.mj_data)
+
+    
+
+    # def setupMujocoConfig(self):
+    #     """ Setup mujoco global config while using viewer as renderer.
+    #         It should be noted that the render thread need locked.
+    #     """
+    #     with self.viewer.lock():
+    #         self.viewer.opt.flags[mujoco.mjtVisFlag.mjVIS_CONTACTPOINT] = int(self.mj_data.time % 2)
+
+    # def _init_window(self,name='Cam view'):
+    #     '''
+    #     Only support 2D for now 
+    #     '''
+    #     cv2.namedWindow(name,cv2.WINDOW_NORMAL)
+
+    # def camera_render(self,cam=None):
+    #     rgb = self.render_from_camera(cam)
+    #     rgb = cv2.resize(rgb,(1920,1600))
+    #     cv2.imshow('Camera view',rgb)
+    #     cv2.waitKey(1)
+
+    # def render_from_camera(self, cam=None):
+    #     self.img_renderer.update_scene(self.mj_data,camera=cam)
+    #     org = self.img_renderer.render()
+    #     img = org[:, :, ::-1]
+    #     return img
+    
+    # def Cam_close(self):
+    #     if self.viewer.is_running()==False:
+    #         cv2.destroyAllWindows()
+    #     self.viewer.close()
\ No newline at end of file
diff --git a/roboimi/envs/pos_ctrl_env.py b/roboimi/envs/pos_ctrl_env.py
new file mode 100644
index 0000000..1dbcc37
--- /dev/null
+++ b/roboimi/envs/pos_ctrl_env.py
@@ -0,0 +1,90 @@
+import numpy as np
+from roboimi.envs.single_base import SingleArmEnv
+import roboimi.utils.KDL_utils.transform as T
+
+
+class PosCtrlEnv(SingleArmEnv):
+    def __init__(self,
+                 robot=None,
+                 is_render=True,
+                 renderer="mujoco_viewer",
+                 control_freq=200,
+                 is_interpolate=True,
+                 is_pd=False,
+                 ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq,
+            is_interpolate=is_interpolate
+        )
+        self.p_cart = 0.6
+        self.d_cart = 0.05
+        self.p_quat = 0.65
+        self.d_quat = 0.05
+        self.is_pd = is_pd
+        self._vel_des = np.zeros(3)
+
+        _, r_init_m = self.kdl_solver.getEeCurrentPose(self.robot.single_arm.arm_qpos)
+        self.init_rot_quat = T.mat2Quat(r_init_m)
+
+    @property
+    def vel_cur(self):
+        """ Current velocity, consist of 3*1 cartesian and 4*1 quaternion """
+        jac_quat = self.kdl_solver.getJacQuaternion(self.robot.single_arm.arm_qpos)
+        vel_cur = np.dot(jac_quat, self.robot.single_arm.arm_qvel)
+        return vel_cur
+
+    @property
+    def vel_des(self):
+        """ Desired velocity of 3*1 cartesian position"""
+        return self._vel_des
+
+    @vel_des.setter
+    def vel_des(self, value):
+        self._vel_des = value
+
+    def PDControl(self, p_goal, p_cur, r_goal, r_cur, vel_goal=np.zeros(3)):
+        pos_incre = self.p_cart * (p_goal - p_cur) + self.d_cart * (vel_goal - self.vel_cur[:3])
+        quat_incre = self.p_quat * (r_goal - r_cur) - self.d_quat * self.vel_cur[3:]
+        return pos_incre, quat_incre
+
+    def step(self, action):
+        if len(action) != 3 and len(action) != 7:
+            raise ValueError("Fault action length.")
+        if self.is_pd is False:
+            p_goal = action[:3]
+            r_goal = T.quat2Mat(self.init_rot_quat if len(action) == 3 else action[3:])
+        else:
+            p_cur, r_cur_m = self.kdl_solver.getEeCurrentPose(self.robot.single_arm.arm_qpos)
+            r_cur = T.mat2Quat(r_cur_m)
+            r_target = self.init_rot_quat if len(action) == 3 else action[3:]
+            p_incre, r_incre = self.PDControl(p_goal=action[:3], p_cur=p_cur,
+                                              r_goal=r_target, r_cur=r_cur, vel_goal=self.vel_des)
+            p_goal = p_incre + p_cur
+            # r_goal = T.quat2Mat(r_incre + r_cur)
+            r_goal = T.quat2Mat(r_target)
+
+        action = self.kdl_solver.ikSolver(p_goal, r_goal, q_init=self.robot.single_arm.arm_qpos)
+        return super().step(action)
+
+
+if __name__ == "__main__":
+    from roboimi.assets.robots.diana_med import DianaMed
+
+    env = PosCtrlEnv(
+        robot=DianaMed(),
+        # renderer='viewer',
+        is_render=True,
+        control_freq=200,
+        is_interpolate=True,
+        is_pd=False
+    )
+    env.reset()
+    for t in range(int(1e6)):
+        action = np.array([0.63116, -0.09768533, 0.46947228, 1, 0, 0, 0])
+        env.step(action)
+        print(env.robot.robot_data.body("0_link7").xpos,"\n")
+        if env.is_render:
+            env.render()
diff --git a/roboimi/envs/rl_env/gym_wrapper.py b/roboimi/envs/rl_env/gym_wrapper.py
new file mode 100644
index 0000000..e01a631
--- /dev/null
+++ b/roboimi/envs/rl_env/gym_wrapper.py
@@ -0,0 +1,32 @@
+import os
+import sys
+
+dir_path = os.path.dirname(os.getcwd())
+sys.path.append(os.path.dirname(dir_path))
+
+import numpy as np
+import gymnasium
+from gymnasium import spaces
+
+
+class GymWrapper(gymnasium.Env):
+    def __init__(self, env) -> None:
+        super(GymWrapper, self).__init__()
+        self.env = env
+        self.env.cam_start()
+
+        self.action_space = spaces.Box(env.action_low, env.action_high, dtype=np.float32)
+        self.observation_space = spaces.Box(low=env.obs_low, high=env.obs_high, shape=self.env.obs_dim)
+        self.max_episode_steps = env.max_episode_steps
+        self.name = env.name
+
+    def step(self, action):
+        # print(action)
+        return self.env.step(action)
+
+    def reset(self, seed = None):
+
+        return self.env.reset()
+
+    def render(self, mode="human"):
+        self.env.render()
diff --git a/roboimi/envs/rl_env/rl_vs_env.py b/roboimi/envs/rl_env/rl_vs_env.py
new file mode 100644
index 0000000..b865977
--- /dev/null
+++ b/roboimi/envs/rl_env/rl_vs_env.py
@@ -0,0 +1,96 @@
+import numpy as np
+from roboimi.assets.robots.bidiana_med_vs import BiDianaMedVS
+from roboimi.envs.visual_servo.double_vs_base import DualVisualServoEnv
+from scipy.spatial.transform import Rotation as RR
+
+class RLDualVisualServoEnv(DualVisualServoEnv):
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=200,
+                 is_interpolate=False,
+                 ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq,
+            is_interpolate=is_interpolate
+        )
+        self.action_low = -1.0
+        self.action_high = 1.0
+        self.obs_low =  np.concatenate((np.array([-3.1415]*7),
+                                        np.array([-3.0]*7),
+                                        np.array([-10.0]*3),
+                                        np.array([-1.0]*4)))
+        self.obs_high = np.concatenate((np.array([3.1415]*7),
+                                        np.array([3.0]*7),
+                                        np.array([10.0]*3),
+                                        np.array([1.0]*4)))
+        self.obs_dim = (21,)
+        self.max_episode_steps = 1000
+        self.name = "vs_env"
+
+
+    def preStep(self, action):
+        return super().preStep(action)
+
+
+    def step(self,action):
+        super().step(action)
+        done = True
+        info={}
+        return self._get_obs(), self._get_reward(), done, True, info
+
+    # rl env must have
+    def reset(self):
+        super().reset()
+        info = {}
+        return self._get_obs(), info
+    
+
+    def _get_obs(self):
+        '''
+        obs   0~6: arm jnt pos
+        obs  7~13: arm vel pos
+        obs 14~16: arm eef position [x y z]
+        obs 17~20: arm eef quaternion [w qx qy qz]
+        '''
+        obs = np.zeros(21,dtype=np.float32)
+        # arm_qpos = np.asarray(self.arm.arm_qpos)
+        # print(type(arm_qpos[0]),"\n--",type(arm_qpos[1]))
+        obs[:7] = np.asarray(self.arm.arm_qpos,dtype=np.float32)
+        obs[7:14] = np.asarray(self.arm.arm_qvel,dtype=np.float32)
+        obs[14:17] = self.getBodyPos("0_end_effector")
+        obs[17:21] = self.getBodyQuat("0_end_effector")
+        return obs
+        
+        
+    def _get_reward(self):
+        reward = 0.0
+        return reward
+
+
+if __name__ == "__main__":
+    try:
+        from roboimi.assets.robots.bidiana_med_vs import BiDianaMedVS
+        env = RLDualVisualServoEnv(
+            robot=BiDianaMedVS(),
+            is_render=True,
+            control_freq=200,
+            is_interpolate=True,
+        )
+        env.reset()
+        env.cam_start()
+        for t in range(int(1e6)):
+            # action = np.array([0.63116, -0.09768533, 0.46947228, 1, 1, 0, 0.63116, -0.09768533, 0.46947228, 1, 0, 0])
+            # action = np.zeros(12)
+            # action[0] = 1.0
+            # action[6] = 1.0
+            # env.step(action)
+            env.step()
+            if env.is_render:
+                env.render()
+    except:
+        KeyboardInterrupt
\ No newline at end of file
diff --git a/roboimi/envs/rl_env/vs_env.py b/roboimi/envs/rl_env/vs_env.py
new file mode 100644
index 0000000..1aa538f
--- /dev/null
+++ b/roboimi/envs/rl_env/vs_env.py
@@ -0,0 +1,21 @@
+from roboimi.envs.rl_env.gym_wrapper import GymWrapper
+from roboimi.envs.visual_servo.double_vs_base import DualVisualServoEnv
+import gymnasium as gym
+from stable_baselines3 import PPO, SAC, TD3
+from stable_baselines3.common.env_checker import check_env
+from gymnasium.wrappers import TimeLimit
+from roboimi.assets.robots.bidiana_med_vs import BiDianaMedVS
+
+def run_train():
+    env = DualVisualServoEnv(
+        robot=BiDianaMedVS(),
+        is_render=True,
+        control_freq=200,
+        is_interpolate=True
+    )
+    env = GymWrapper(env)
+    env = TimeLimit(env, max_episode_steps=env.max_episode_steps)
+    # check_env(env)
+
+if __name__ == '__main__':
+    run_train()
\ No newline at end of file
diff --git a/roboimi/envs/single_base.py b/roboimi/envs/single_base.py
new file mode 100644
index 0000000..3863168
--- /dev/null
+++ b/roboimi/envs/single_base.py
@@ -0,0 +1,140 @@
+import numpy as np
+import time
+from roboimi.envs.mujoco_base import MujocoEnv
+from roboimi.utils.KDL_utils import KDL_utils
+import mujoco as mj
+
+
+class SingleArmEnv(MujocoEnv):
+    """
+
+    :param xml_path(string): Load xml file from xml_path to build the mujoco model.
+    :param is_render: Choose if use the renderer to render the scene or not.
+    :param renderer: Choose official renderer with "viewer",
+            another renderer with "mujoco_viewer"
+    :param control_freq: Upper-layer control frequency.
+            Note that high frequency will cause high time-lag.
+    :param is_interpolate: Use interpolator while stepping.
+    """
+
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=200,
+                 is_interpolate=False
+                 ):
+
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq
+        )
+        self.kdl_solver = KDL_utils(robot.urdf_path)
+        self.base_time = self.control_timestep
+        self.nv = self.mj_model.nv
+        self.interpolator = None
+        self.pstep = 0
+        self.sstep = 0
+        if is_interpolate:
+            self._initInterpolator(self.robot.single_arm)
+
+    def actuate_base(self, base):
+        for i in range(len(self.robot.base_joint_index)):
+            acc_desire = 100 * (base - self.mj_data.joint(self.robot.base_joint_index[i]).qpos[0]) - \
+                         66 * (self.mj_data.joint(self.robot.base_joint_index[i]).qvel[0])
+
+            tau_target = np.subtract(np.dot(2, acc_desire),
+                                     self.mj_data.joint(self.robot.base_joint_index[i]).qfrc_bias[0])
+            self.mj_data.actuator('base_stand_joint_motor').ctrl = tau_target
+
+    def actuate_J(self, q_target, qdot_target, Arm):
+        """ Compute desired torque with robot dynamics modeling:
+            > M(q)qdd + C(q, qd)qd + G(q) + tau_F(qd) = tau_ctrl + tau_env
+
+        :param q_target: joint position
+        :param qdot_target: joint velocity
+        """
+        # print(Arm.kdl_solver.NbOfJnt)
+        acc_desire = [
+            (self.robot.kp[i] * (q_target[i] - Arm.arm_qpos[i]) -
+             (self.robot.kd[i] * Arm.arm_qvel[i])) for i in range(Arm.jnt_num)]
+        qM = Arm.kdl_solver.getInertiaMat([Arm.arm_qpos[i] for i in range(len(Arm.joint_index))])
+        tau_target = np.dot(qM, acc_desire) + np.array(
+            [self.mj_data.joint(Arm.joint_index[i]).qfrc_bias[0] for i in range(len(Arm.joint_index))])
+        # Send torque to simulation
+        for i in range(7):
+            self.mj_data.actuator(Arm.actuator_index[i]).ctrl = tau_target[i]
+
+    def preStep(self, action):
+        q_target, qdot_target = action, np.zeros(self.robot_dof)
+        self.pstep += 1
+        if self.interpolator is not None:
+            try:
+                q_target, qdot_target = self.interpolator.updateState()
+            except ValueError:
+                print(action)
+        self.actuate_J(q_target, qdot_target, self.robot.single_arm)
+        # for i in range(7):
+        #     self.mj_data.joint(self.robot.single_arm.joint_index[i]).qpos[0] = q_target[i]
+
+    def step(self, action):
+        if self.interpolator is not None:
+            self.interpolator.updateInput(action, control_cycle=self.base_time)
+
+        ctrl_cur_time = time.time()
+        for i in range(int(self.control_timestep / self.model_timestep)):
+            if int(self.control_timestep / self.model_timestep) == 0:
+                raise ValueError("Control frequency is too low. Checkout you are not in renderer mode."
+                                 "Current Model-Timestep:{}".format(self.model_timestep))
+
+            super().step(action)
+        self.base_time = time.time() - ctrl_cur_time
+        self.sstep += 1
+
+    def _initInterpolator(self, Arm):
+        from roboimi.utils.interpolators import OTG
+        self.interpolator = OTG(
+            OTG_Dof=self.robot_dof,
+            control_cycle=0.0005,
+            max_velocity=0.05,
+            max_acceleration=0.1,
+            max_jerk=0.2
+        )
+        self.interpolator.setOTGParam(Arm.arm_qpos, Arm.arm_qvel)
+
+    def reset(self):
+        super().reset()
+        if self.interpolator is not None:
+            self.interpolator.setOTGParam(self.robot.single_arm.arm_qpos,
+                                          np.zeros(self.robot_dof))
+
+
+if __name__ == "__main__":
+    try:
+        from roboimi.assets.robots.diana_med import DianaMed
+
+        env = SingleArmEnv(
+            robot=DianaMed(),
+            is_render=True,
+            control_freq=200,
+            is_interpolate=True
+        )
+        env.reset()
+        for t in range(int(10000)):
+            # if t == 1000:
+                
+            action = np.array([0.0, 0.0, 0.0, 1.57, 0.0, 0.0, 0.0])
+            
+            env.step(action)
+            print(env.robot.robot_data.body("0_link1").xpos,"\n")
+            
+            if env.is_render:
+                env.render()
+        # print("s=",env.sstep)
+        # print("p=",env.pstep)
+    except KeyboardInterrupt:
+        print("finish")
+        # print("s=",env.sstep)
+        # print("p=",env.pstep)
\ No newline at end of file
diff --git a/roboimi/envs/visual_servo/double_cam_aruco_base.py b/roboimi/envs/visual_servo/double_cam_aruco_base.py
new file mode 100644
index 0000000..b78a10c
--- /dev/null
+++ b/roboimi/envs/visual_servo/double_cam_aruco_base.py
@@ -0,0 +1,274 @@
+import numpy as np
+import time, math
+from roboimi.envs.mujoco_base import MujocoEnv
+import cv2
+from roboimi.utils.interpolators import OTG
+import mujoco as mj
+import threading
+from scipy.spatial.transform import Rotation as RR
+
+
+class DualArmCamAruEnv(MujocoEnv):
+    """
+
+    :param is_render: Choose if use the renderer to render the scene or not.
+    :param renderer: Choose official renderer with "viewer",
+            another renderer with "mujoco_viewer"
+    :param control_freq: Upper-layer control frequency.
+            Note that high frequency will cause high time-lag.
+    :param is_interpolate: Use interpolator while stepping.
+    """
+
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=200,
+                 is_interpolate=False
+                 ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq
+        )
+        self.arm = self.robot.left_arm
+        self.aruco_arm = self.robot.aruco_arm
+        self.base_time = self.control_timestep
+        self.nv = self.mj_model.nv
+        if is_interpolate:
+            self._initInterpolator(self.arm)
+            self._initInterpolator(self.aruco_arm)
+        self.marker_size = 0.05
+        self.aruco_dict = 'DICT_4X4_100'
+        self.distCoeffs = np.zeros(5)
+        self.aruco_parameters = cv2.aruco.DetectorParameters()
+        self.cameraMatrix = self.fov2Intrinsic()
+        
+        self.Detected_already = False
+        self.image = None
+
+    def action_size(self):
+        return self.robot.jnt_num
+
+    def fov2Intrinsic(self,fovy=55.0, width=320, height=240):
+        aspect = width * 1.0 / height
+        fovx = math.degrees(2 * math.atan(aspect * math.tan(math.radians(fovy / 2))))
+
+        cx = width / 2.0
+        cy = height / 2.0
+        fx = cx / math.tan(fovx * math.pi / 180 * 0.5)
+        fy = cy / math.tan(fovy * math.pi / 180 * 0.5)
+
+        K = [[fx, 0, cx],
+             [0, fy, cy],
+             [0,  0,  1]]
+        return np.array(K, dtype=float)
+    
+    def camera_viewer(self):
+        img_renderer = mj.Renderer(self.mj_model)
+        cv2.namedWindow('Cam view',cv2.WINDOW_NORMAL)
+        while True:
+            img_renderer.update_scene(self.mj_data, camera="0_cam")
+            org = img_renderer.render()
+            self.image = org[:, :, ::-1]
+            cv2.imshow('Cam view', self.image)
+            cv2.waitKey(1)
+
+    def cam_start(self):
+        cam_thread = threading.Thread(target=self.camera_viewer)
+        cam_thread.daemon = True
+        cam_thread.start()
+
+
+    def actuate_base(self, base):
+        for i in range(len(self.robot.base_joint_index)):
+            acc_desire = 100 * (base - self.mj_data.joint(self.robot.base_joint_index[i]).qpos[0]) - \
+                         66 * (self.mj_data.joint(self.robot.base_joint_index[i]).qvel[0])
+            tau_target = np.subtract(np.dot(2, acc_desire),
+                                     self.mj_data.joint(self.robot.base_joint_index[i]).qfrc_bias[0])
+            self.mj_data.actuator(self.robot.base_actuator_index[i]).ctrl = tau_target
+
+    def actuate_J(self, q_target, qdot_target, Arm):
+        """ Compute desired torque with robot dynamics modeling:
+            > M(q)qdd + C(q, qd)qd + G(q) + tau_F(qd) = tau_ctrl + tau_env
+
+        :param q_target: joint position
+        :param qdot_target: joint velocity
+        """
+        acc_desire = [self.robot.kp[i] * (q_target[i] - Arm.arm_qpos[i]) -
+                      self.robot.kd[i] * Arm.arm_qvel[i] for i in range(len(Arm.joint_index))]
+        qM = Arm.kdl_solver.getInertiaMat([Arm.arm_qpos[i] for i in range(len(Arm.joint_index))])
+        tau_target = np.dot(qM, acc_desire) + np.array([self.mj_data.joint(Arm.joint_index[i]).qfrc_bias[0] for i in
+                                                        range(len(Arm.joint_index))])
+        # Send torque to simulation
+        for i in range(len(Arm.actuator_index)):
+            self.mj_data.actuator(Arm.actuator_index[i]).ctrl = tau_target[i]
+    
+    def aruco_detection(self):
+        try:
+            if self.aruco_dict != "DICT_4X4_100":
+                raise ValueError("Invalid aruco dictionary ID: " + self.aruco_dict)
+        except ValueError as e:
+            print(str(e))
+        dictionary_id = cv2.aruco.__getattribute__(self.aruco_dict)
+        aruco_dictionary = cv2.aruco.getPredefinedDictionary(dictionary_id)
+        R_vec = np.array([0.0, 0.0, 0.0])
+        T_vec = np.array([0.0, 0.0, 0.0])
+        if self.image is not None:
+            corners, marker_ids, _ = cv2.aruco.detectMarkers(self.image,
+                                                             aruco_dictionary, self.cameraMatrix, self.distCoeffs,
+                                                             parameters=self.aruco_parameters)
+            if marker_ids is not None:
+                self.Detected_already = True
+                if cv2.__version__ > '4.0.0':
+                    rvecs, tvecs, _ = cv2.aruco.estimatePoseSingleMarkers(corners,
+                                                                          self.marker_size, self.cameraMatrix,
+                                                                          self.distCoeffs)
+                else:
+                    rvecs, tvecs = cv2.aruco.estimatePoseSingleMarkers(corners,
+                                                                       self.marker_size, self.cameraMatrix,
+                                                                       self.distCoeffs)
+                T_vec = np.array([tvecs[0][0][0], tvecs[0][0][1], tvecs[0][0][2]])
+                R_vec = np.array([rvecs[0][0][0], rvecs[0][0][1], rvecs[0][0][2]])
+            else:
+                self.Detected_already = False
+
+        return R_vec, T_vec
+    
+
+    def mj_aruco_detection(self):
+        try:
+            if self.aruco_dict != "DICT_4X4_100":
+                raise ValueError("Invalid aruco dictionary ID: " + self.aruco_dict)
+        except ValueError as e:
+            print(str(e))
+        dictionary_id = cv2.aruco.__getattribute__(self.aruco_dict)
+        aruco_dictionary = cv2.aruco.getPredefinedDictionary(dictionary_id)
+        rvec = np.zeros(3)
+        tvec = np.zeros(3)
+        # print("llll")
+        if self.image is not None:
+            corners, marker_ids, _ = cv2.aruco.detectMarkers(self.image,
+                                                             aruco_dictionary, self.cameraMatrix, self.distCoeffs,
+                                                             parameters=self.aruco_parameters)
+            
+            if marker_ids is not None:
+                self.Detected_already = True
+                '''
+                create aruco Transformation 
+                w : world frame of mujoco
+                a : aruco frame 
+                c : camera frame 
+                '''
+                t_wa = self.getBodyPos("aruco")
+                R_wa = self.getBodyMat("aruco")
+                T_wa = np.eye(4)
+                T_wa[:3,:3] = R_wa
+                T_wa[:3,3] = t_wa
+
+                t_wc = self.getBodyPos("0_cam")
+                R_wc = self.getBodyMat("0_cam")
+                T_wc = np.eye(4)
+                T_wc[:3,:3] = R_wc
+                T_wc[:3,3] = t_wc
+                T_cw = np.linalg.inv(T_wc)
+                T_ca = T_cw@T_wa
+                R_ca = T_ca[:3,:3]
+                t_ca = T_ca[:3,3]
+                rvec = RR.from_matrix(R_ca).as_rotvec()
+                tvec = t_ca
+
+            else:
+                self.Detected_already = False
+                # rvec = np.zeros(3)
+                # tvec = np.zeros(3)
+
+        return rvec, tvec, self.Detected_already
+
+
+
+    def preStep(self, action):
+        q_target_l = action[1:8]
+        qdot_target_l =  np.zeros(self.arm.jnt_num)
+        q_target_r, qdot_target_r = action[8:15], np.zeros(self.aruco_arm.jnt_num)
+
+        if self.arm.interpolator and self.aruco_arm.interpolator is not None:
+            q_target_l, qdot_target_l = self.arm.interpolator.updateState()
+            q_target_r, qdot_target_r = self.aruco_arm.interpolator.updateState()
+
+        self.actuate_J(q_target_l, qdot_target_l, self.arm)
+        self.actuate_J(q_target_r, qdot_target_r, self.aruco_arm)
+        
+        
+    def step(self, action):
+        '''
+        action : base  1
+                 left  7
+                 right 7
+        '''
+        if self.arm.interpolator and self.aruco_arm.interpolator is not None:
+            self.arm.interpolator.updateInput(action[1:8], control_cycle=self.base_time)
+            self.aruco_arm.interpolator.updateInput(action[8:15], control_cycle=self.base_time)
+
+        ctrl_cur_time = time.time()
+        for i in range(int(self.control_timestep / self.model_timestep)):
+            if int(self.control_timestep / self.model_timestep) == 0:
+                raise ValueError("Control frequency is too low. Checkout you are not in renderer mode."
+                                 "Current Model-Timestep:{}".format(self.model_timestep))
+            super().step(action)
+
+        self.base_time = time.time() - ctrl_cur_time
+    
+
+    def reset(self):
+        self._setInitPose()
+        mj.mj_step(self.mj_model, self.mj_data)
+        
+
+    def _initInterpolator(self, Arm):
+        Arm.interpolator = OTG(
+            OTG_Dof=7,
+            control_cycle=0.0005,
+            max_velocity=0.05,
+            max_acceleration=0.1,
+            max_jerk=0.2
+        )
+        Arm.interpolator.setOTGParam(Arm.init_pose, np.zeros(Arm.jnt_num))
+
+        
+
+# if __name__ == "__main__":
+#     from roboimi.assets.robots.bidiana_med_vs import BiDianaMedVS
+
+#     env = DualArmCamAruEnv(
+#         robot=BiDianaMedVS(),
+#         is_render=True,
+#         control_freq=200,
+#         is_interpolate=True
+#     )
+
+#     env.reset()
+#     env.cam_start()
+#     action_base = np.array([0.0])
+#     # action_L = np.array([0.0, -0.4943951023931953, 0.0, 1.853981633974483, 0.0, 0.7853981633974483, 0.0]) #basic pos
+#     # action_R = np.array([0.0, -0.1943951023931953, 0.0, 2.153981633974483, 0.0, 0.7853981633974483, 0.0]) #basic pos
+#     action_L = np.zeros(7)
+#     action_R = np.zeros(7)
+#     action_L[3] = 1.57
+#     action_R[3] = 1.57
+#     for t in range(int(1e6)):
+#         action_L[3] = action_L[3]  + 0.0000001*t 
+#         action = np.concatenate((action_base, action_L, action_R), axis=0)
+#         # print("pos=",env.mj_data.body("link7").xpos,"\n")
+#         # print("kdl solve p ==",env.arm.kdl_solver.getEEtf(action_L).p,"\n")
+#         # print("mat=\n",env.mj_data.body("link7").xmat[0:3],"\n")
+#         # print("mat=\n",env.mj_data.body("link7").xmat[3:6],"\n")
+#         # print("mat=\n",env.mj_data.body("link7").xmat[6:9],"\n")
+#         # print("kdl solve M ==\n",env.arm.kdl_solver.getEEtf(action_L).M,"\n")
+#         # print("===================================")
+#         print(action_L)
+#         env.step(action)
+#         if env.is_render:
+#             env.render()
+
diff --git a/roboimi/envs/visual_servo/double_vs_base.py b/roboimi/envs/visual_servo/double_vs_base.py
new file mode 100644
index 0000000..ea28482
--- /dev/null
+++ b/roboimi/envs/visual_servo/double_vs_base.py
@@ -0,0 +1,341 @@
+import numpy as np
+from roboimi.assets.robots.bidiana_med_vs import BiDianaMedVS
+from roboimi.envs.visual_servo.double_cam_aruco_base import DualArmCamAruEnv
+import roboimi.utils.KDL_utils.transform as T
+import math
+from scipy.spatial.transform import Rotation as RR
+
+
+
+
+class DualVisualServoEnv(DualArmCamAruEnv):
+    """
+    :param is_render: Choose if use the renderer to render the scene or not.
+    :param renderer: Choose official renderer with "viewer",
+            another renderer with "mujoco_viewer"
+    :param control_freq: Upper-layer control frequency.
+            Note that high frequency will cause high time-lag.
+    :param is_interpolate: Use interpolator while stepping.
+    """
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=200,
+                 is_interpolate=False,
+                 ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq,
+            is_interpolate=is_interpolate
+        )
+        self.t_ec = np.array([0.065054, 0.00068038, -0.013835]) #from XML (note: ec = description of cam pos vector based on end-effector)
+        self.quat_ec = np.array([-2.59734e-06, 0.707105, 0.707108, -2.59735e-06])
+        self.R_ec = RR.from_quat([0.707105, 0.707108, -2.59735e-06, -2.59734e-06]).as_matrix() #from XML (note: w x y z in XML but x y z w in RR)
+        self.arm_base_pos,self.arm_base_mat = self.arm.CartPoseComp()
+        self.aruco_base_pos,self.aruco_base_mat = self.aruco_arm.CartPoseComp()
+        self.rvec = None
+        self.tvec = None
+        self.rv = None
+        self.tv = None
+        self.dt = 0.01
+        self.prev_err = np.zeros(6)
+        self.detect_buf = []
+        self.is_detect = True
+        # self.object_to_desire_camera = np.array([[ 0.999612, -0.010182,  0.02593, -0.022], 
+        #                                          [-0.009818, -1.000338, -0.01413,  0.002],
+        #                                          [  0.02607,   0.01387, -1.00005,  0.167],
+        #                                          [        0,         0,        0,      1]])
+        # self.kp = 1
+        
+        
+        # rvec = np.array([-2.16881568 , 2.16116001 , 0.09872025])
+        rvec = np.array([0.0,0.0,1.5708])
+        # tvec = np.array([0.00480954, -0.02087546,  0.23213283])
+        tvec = np.array([0.0,0.0,0.3])
+        # tvec = np.array([0.00480954, -0.12087546,  0.23213283])
+        
+        rmat = RR.from_rotvec(rvec).as_matrix()
+        self.T_cam_aruco = np.eye(4)
+        self.T_cam_aruco[:3,:3] = rmat
+        self.T_cam_aruco[:3,3] = tvec
+        T_aruco_cam = np.linalg.inv(self.T_cam_aruco)
+        self.object_to_desire_camera = T_aruco_cam
+        self.T_acd = T_aruco_cam
+        
+
+    def getEEVel(self,Arm):
+        current_qpos = Arm.arm_qpos
+        current_qvel = Arm.arm_qvel
+        current_q_states = Arm.kdl_solver.setJntArrayVel(current_qpos,current_qvel)
+        twist = Arm.kdl_solver.fkSolverVel(current_q_states)
+        return twist
+
+    def Vel2qpos(self,cart_vel,Arm):
+        '''
+        frame world : w
+        frame cam   : c
+        cart vel    : V_wc (v_wc, w_wc) 
+        '''
+        _,mat_bias = Arm.get_Arm_bias_frame() #R_wb
+        mat_bias = np.array([[mat_bias[0],mat_bias[1],mat_bias[2]],
+                             [mat_bias[3],mat_bias[4],mat_bias[5]],
+                             [mat_bias[6],mat_bias[7],mat_bias[8]]])
+        mat_bias = np.linalg.inv(mat_bias) #R_bw
+        current_qpos = Arm.arm_qpos
+        cart_vel[:3] = mat_bias@cart_vel[:3] #v_bc = R_bw@v_wc
+        cart_vel[3:] = mat_bias@cart_vel[3:] #w_bc = R_bw@w_wc
+        qvel = Arm.kdl_solver.diffikSolver(current_qpos,cart_vel)
+        qpos = qvel*self.dt + current_qpos
+        return qpos
+
+    def ik_solve(self,pos_goal : np.ndarray, quat_goal : np.ndarray, Arm):
+        pos_bias,mat_bias = Arm.get_Arm_bias_frame()
+        pos_bias = np.array([pos_bias[0],pos_bias[1],pos_bias[2]])
+        mat_bias = np.array([[mat_bias[0],mat_bias[1],mat_bias[2]],
+                             [mat_bias[3],mat_bias[4],mat_bias[5]],
+                             [mat_bias[6],mat_bias[7],mat_bias[8]]])
+        mat_bias = np.linalg.inv(mat_bias)
+        mat_goal = T.quat2Mat(quat_goal)
+        p_goal = mat_bias@(pos_goal-pos_bias)
+        mat_goal = mat_bias@mat_goal
+        return Arm.kdl_solver.ikSolver(p_goal, mat_goal, Arm.arm_qpos)
+
+    def error_derivation(self,current_err):
+        dot = np.array([0.0,0.0,0.0,0.0,0.0,0.0])
+        for i in range(6):
+            dot[i] = (current_err[i] - self.prev_err[i])/self.dt
+        return dot[:3],dot[3:]
+    # def pbvs_controller(self, aruco_to_cam_r, aruco_to_cam_p):
+    #     t_acd = self.desire_p
+    #     # print(aruco_to_cam_r)
+    #     t_ca = aruco_to_cam_p
+    #     R_ca = RR.from_rotvec(aruco_to_cam_r).as_matrix()
+    #     t_ac = np.linalg.inv(R_ca)@t_ca.reshape(3, 1)
+    #     R_acd = RR.from_quat(self.desire_r).as_matrix()
+    #     R_ccd = R_ca@R_acd
+    #     thu = RR.from_matrix(R_ccd).as_rotvec()
+    #     T_ca_s = np.array([[       0,  -t_ca[2],   t_ca[1]],
+    #                        [ t_ca[2],         0,  -t_ca[0]],
+    #                        [-t_ca[1],   t_ca[0],         0]])
+    #     w_cam = thu.reshape(3, 1)
+    #     w_cam = np.zeros(3).reshape(3,1)
+    #     v_cam = -(R_ca@(t_acd - t_ac)+ T_ca_s@w_cam)
+
+    #     error = np.concatenate([v_cam,w_cam],axis=0)
+    #     R_bc = self.getBodyMat("0_end_effector")@self.R_ec
+    #     # R_bc = np.eye(3)
+    #     Rv = np.vstack((np.hstack((R_bc, np.zeros((3, 3)))),
+    #                     np.hstack((np.zeros((3, 3)), R_bc))))
+    #     V_camera = np.matmul(Rv, error)
+    #     return V_camera
+    
+
+    def pbvs_controller_origin(self, gain, kp, aruco_to_cam_r, aruco_to_cam_p):
+        # gain = 1E-02
+        var_lambda = kp
+        t_ca = aruco_to_cam_p
+        r_ca = aruco_to_cam_r
+        R_ca = RR.from_rotvec(r_ca).as_matrix()
+        T_ca = np.eye(4)
+        T_ca[:3,:3] = R_ca
+        T_ca[:3,3] = t_ca
+        T_ccd = T_ca@self.T_acd
+        R_ccd = T_ccd[:3,:3]
+        T_cdc = np.linalg.inv(T_ccd) #formulation needed
+        
+        t_cdc = T_cdc[:3,3]
+        R_cdc = T_cdc[:3,:3]
+        thu = RR.from_matrix(R_cdc).as_rotvec()
+        err_v = R_ccd@t_cdc
+        error = np.concatenate([err_v,thu])
+        if np.linalg.norm(error) > gain:
+            Lin_v = -var_lambda*err_v
+            Ang_v = -var_lambda*thu
+            Vcam = np.concatenate([Lin_v,Ang_v])
+            R_wc = self.getBodyMat("0_cam")
+            Rv = np.vstack((np.hstack((R_wc, np.zeros((3, 3)))),
+                            np.hstack((np.zeros((3, 3)), R_wc))))
+            output = np.matmul(Rv,Vcam)
+            print("cam vel=",output)
+            return output
+        else:
+            print("err don't exist ")
+            return np.zeros(6)
+        
+    def pbvs_controller_PD(self, gain, kp, kd, aruco_to_cam_r, aruco_to_cam_p):
+        var_lambda = kp
+        t_ca = aruco_to_cam_p
+        r_ca = aruco_to_cam_r
+        R_ca = RR.from_rotvec(r_ca).as_matrix()
+        T_ca = np.eye(4)
+        T_ca[:3,:3] = R_ca
+        T_ca[:3,3] = t_ca
+        T_ccd = T_ca@self.T_acd
+        R_ccd = T_ccd[:3,:3]
+        T_cdc = np.linalg.inv(T_ccd) #formulation needed
+        
+        t_cdc = T_cdc[:3,3]
+        R_cdc = T_cdc[:3,:3]
+        # print("here")
+        thu = RR.from_matrix(R_cdc).as_rotvec()
+        err_t = R_ccd@t_cdc
+        error = np.concatenate([err_t,thu])
+        err_v,err_w = self.error_derivation(error)
+        if np.linalg.norm(error) > gain:
+            Lin_v = -(var_lambda*err_t + kd*err_v)
+            Ang_v = -(var_lambda*thu + kd*err_w)
+            self.prev_err = error
+            Vcam = np.concatenate([Lin_v,Ang_v])
+            R_wc = self.getBodyMat("0_cam")
+            Rv = np.vstack((np.hstack((R_wc, np.zeros((3, 3)))),
+                            np.hstack((np.zeros((3, 3)), R_wc))))
+            output = np.matmul(Rv,Vcam)
+            print("cam vel=",output)
+            return output
+        else:
+            print("err don't exist ")
+            return np.zeros(6)
+
+    # def quat_to_axis_angle(self,q):
+    #     a, b, c, d = q
+    #     v = np.array([a, b, c])
+    #     angle = 2 * np.arccos(d)
+    #     if angle == 0:
+    #         axis = np.array([1, 0, 0])
+    #     else:
+    #         axis = v / np.linalg.norm(v)
+    #         axis *= np.sin(angle / 2)
+    #     return axis, angle
+
+    # def pbvs_controller_PD(self,aruco_to_cam_r, aruco_to_cam_p):
+    #     t_acd = self.object_to_desire_camera[:3,3]
+    #     # R_acd = RR.from_quat(self.desire_quat).as_matrix()
+    #     R_acd = self.object_to_desire_camera[:3,:3]
+    #     T_acd = np.eye(4)
+    #     T_acd[:3,:3] = R_acd
+    #     T_acd[:3,3] = t_acd.reshape(1,3)
+    #     t_ca = aruco_to_cam_p
+    #     R_ca = RR.from_rotvec(aruco_to_cam_r).as_matrix()
+    #     T_ca = np.eye(4)
+    #     T_ca[:3,:3] = R_ca
+    #     T_ca[:3,3] = t_ca
+    #     T_ac = np.linalg.inv(T_ca)
+    #     T_ccd = T_ca@T_acd
+
+    #     R_ccd = T_ccd[:3,:3] # for test
+    #     T_cdc = np.linalg.inv(T_ccd)
+    #     R_cdc = T_cdc[:3,:3]
+    #     t_cdc = T_cdc[:3,3]
+        
+    #     gain = 1E-04
+    #     t_ac = T_ac[:3,3]
+    #     t_ac_s = np.array([[       0,  -t_ac[2],   t_ac[1]],
+    #                        [ t_ac[2],         0,  -t_ac[0]],
+    #                        [-t_ac[1],   t_ac[0],         0]])
+    #     s_x = -t_cdc[0]
+    #     s_y = -t_cdc[1]
+    #     s_z = -t_cdc[2]
+    #     q = RR.from_matrix(R_cdc).as_quat()
+    #     # q = RR.from_matrix(R_ccd).as_quat()
+    #     rotvec = RR.from_quat(q).as_rotvec()
+    #     axis, angle = self.quat_to_axis_angle(q)
+    #     axis_s = np.array([[       0, -axis[2],  axis[1]],
+    #                        [ axis[2],        0, -axis[0]],
+    #                        [-axis[1],  axis[0],        0]])
+    #     L_theta_u = np.eye(3) - angle/2 * axis_s + (1 - np.sinc(angle)/(np.sinc(angle/2)*np.sinc(angle/2))) * np.dot(axis_s,axis_s)
+
+    #     Le_inv = np.vstack((     np.hstack((-np.eye(3),  np.dot(t_ac_s,np.linalg.inv(L_theta_u)))),
+    #                         np.hstack((np.zeros((3,3)),                np.linalg.inv(L_theta_u)))))
+    #     error = np.array([s_x, s_y, s_z, rotvec[0], rotvec[1], rotvec[2]])
+    #     # error = np.array([s_x, s_y, s_z, 0.0,0.0,0.0])
+    #     # print(error)
+
+    #     u = self.kp * error
+
+    #     R_bc = self.getBodyMat("0_end_effector")@self.R_ec
+    #     R_cb = np.linalg.inv(R_bc)
+
+    #     if np.linalg.norm(error) < gain :
+    #         return np.zeros(6)
+    #     else:
+    #         print("has error")
+    #         v = - np.dot(Le_inv , u)
+    #         Rv = np.vstack((np.hstack((R_cb, np.zeros((3,3)))),
+    #                         np.hstack((np.zeros((3,3)), R_cb))))
+    #         v = np.dot(Rv,v)
+    #         # v[3] = 0
+    #         # v[4] = 0
+    #         # v[5] = 0
+
+    #         v[0] = 0
+    #         v[1] = 0
+    #         v[2] = 0
+
+    #         return v
+        
+    def reset(self):
+        self.is_detect = True
+        self.detect_buf = []
+        super().reset()
+
+
+    def step(self,actions):
+        # self.rvec,self.tvec = self.aruco_detection() 
+        self.rv,self.tv, detect_res = self.mj_aruco_detection() #from cam frame, coordinate refered to aruco
+        self.detect_buf.append(detect_res)
+        if len(self.detect_buf) == 300:
+            if not any(self.detect_buf) :
+                self.is_detect = False
+            else:
+                self.is_detect = True
+            self.detect_buf = []
+
+
+
+        # print("in step self.tv=",self.tv)
+        # print("in step self.rv=",self.rv)
+        if self.Detected_already:
+            vel = self.pbvs_controller_origin(1E-04, actions, self.rv,self.tv)
+            # vel = actions from PPO
+            # vel = self.pbvs_controller_PD(1E-04, 0.9, 0.01,self.rv,self.tv)
+            action_cam = self.Vel2qpos(vel,self.arm)
+            
+        else:
+            action_cam = np.array([0.0,0.0,0.0,1.5708,0.0,0.0,0.0])
+        action_aruco = np.array([0.0,0.0,0.0,1.5708,0.0,0.0,0.0])
+        action = np.concatenate(([0.0], action_cam, action_aruco), axis=0)
+       
+        print("if detected==", self.Detected_already)
+        # action = np.array([0.0,
+        #                    0.0,0.0,0.0,1.67,0.0,0.0,0.0,
+        #                    0.0,0.0,0.0,1.57,0.0,0.05,0.0])
+        
+        super().step(action)
+      
+    
+if __name__ == "__main__":
+    try:
+        from roboimi.assets.robots.bidiana_med_vs import BiDianaMedVS
+        env = DualVisualServoEnv(
+            robot=BiDianaMedVS(),
+            is_render=True,
+            control_freq=200,
+            is_interpolate=True,
+        )
+        env.reset()
+        env.cam_start()
+        
+        for t in range(int(1e6)):
+            # action = np.array([0.63116, -0.09768533, 0.46947228, 1, 1, 0, 0.63116, -0.09768533, 0.46947228, 1, 0, 0])
+            # action = np.zeros(12)
+            # action[0] = 1.0
+            # action[6] = 1.0
+            # env.step(action)
+            env.step()
+            if env.is_render:
+                env.render()
+    except:
+        KeyboardInterrupt
\ No newline at end of file
diff --git a/roboimi/envs/visual_servo/double_vs_ros.py b/roboimi/envs/visual_servo/double_vs_ros.py
new file mode 100644
index 0000000..67df09f
--- /dev/null
+++ b/roboimi/envs/visual_servo/double_vs_ros.py
@@ -0,0 +1,207 @@
+import numpy as np
+from roboimi.assets.robots.bidiana_med_vs import BiDianaMedVS
+from roboimi.envs.visual_servo.double_vs_base import DualVisualServoEnv
+import roboimi.utils.KDL_utils.transform as T
+import cv2
+from scipy.spatial.transform import Rotation as RR
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import PoseArray, Pose
+from tf2_ros import TransformBroadcaster,StaticTransformBroadcaster
+from geometry_msgs.msg import TransformStamped
+
+
+class DualVisualServoRosEnv(DualVisualServoEnv):
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=200,
+                 is_interpolate=False,
+                 ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq,
+            is_interpolate=is_interpolate
+        )
+        rclpy.init()
+        self.node = Node('visual_servo_tf_node')
+        self.tf_broadcaster_aruco_detect = TransformBroadcaster(self.node)
+        self.tf_broadcaster_ee = TransformBroadcaster(self.node)
+        self.tf_broadcaster_aruco_ee = TransformBroadcaster(self.node)
+        self.tf_broadcaster_mj_cam = TransformBroadcaster(self.node)
+
+        self.tf_broadcaster_base = StaticTransformBroadcaster(self.node)
+        self.tf_broadcaster_aruco_base = StaticTransformBroadcaster(self.node)
+        self.tf_broadcaster_cam = StaticTransformBroadcaster(self.node)
+        self.tf_broadcaster_cam_desire = StaticTransformBroadcaster(self.node)
+        
+        
+    def step(self):
+        super().step()
+        
+        #-----------------------------------------------------------
+        t_base = TransformStamped()
+        t_base.header.stamp = self.node.get_clock().now().to_msg()
+        t_base.header.frame_id = 'world'
+        t_base.child_frame_id = 'base_link'
+        pos_bs = self.getBodyPos("base_link")
+        quat_bs = self.getBodyQuat("base_link")
+
+        t_base.transform.translation.x = pos_bs[0]
+        t_base.transform.translation.y = pos_bs[1]
+        t_base.transform.translation.z = pos_bs[2]
+
+        t_base.transform.rotation.x = quat_bs[1]
+        t_base.transform.rotation.y = quat_bs[2]
+        t_base.transform.rotation.z = quat_bs[3]
+        t_base.transform.rotation.w = quat_bs[0]
+        self.tf_broadcaster_base.sendTransform(t_base)
+
+        #-------------------------------------------------------------
+        t_base_a = TransformStamped()
+        t_base_a.header.stamp = self.node.get_clock().now().to_msg()
+        t_base_a.header.frame_id = 'world'
+        t_base_a.child_frame_id = 'aruco_base_link'
+        pos_bs_a = self.getBodyPos("base_link_aruco")
+        quat_bs_a = self.getBodyQuat("base_link_aruco")
+
+        t_base_a.transform.translation.x = pos_bs_a[0]
+        t_base_a.transform.translation.y = pos_bs_a[1]
+        t_base_a.transform.translation.z = pos_bs_a[2]
+
+        t_base_a.transform.rotation.x = quat_bs_a[1]
+        t_base_a.transform.rotation.y = quat_bs_a[2]
+        t_base_a.transform.rotation.z = quat_bs_a[3]
+        t_base_a.transform.rotation.w = quat_bs_a[0]
+        self.tf_broadcaster_aruco_base.sendTransform(t_base_a)
+
+        #--------------------------------------------------------------
+        t_aruco_ee = TransformStamped()
+        t_aruco_ee.header.stamp = self.node.get_clock().now().to_msg()
+        t_aruco_ee.header.frame_id = 'world'
+        t_aruco_ee.child_frame_id = 'aruco_ee_link'
+        pos_aruco_ee = self.getBodyPos("aruco")
+        quat_aruco_ee = self.getBodyQuat("aruco")
+
+        t_aruco_ee.transform.translation.x = pos_aruco_ee[0]
+        t_aruco_ee.transform.translation.y = pos_aruco_ee[1]
+        t_aruco_ee.transform.translation.z = pos_aruco_ee[2]
+        t_aruco_ee.transform.rotation.x = quat_aruco_ee[1]
+        t_aruco_ee.transform.rotation.y = quat_aruco_ee[2]
+        t_aruco_ee.transform.rotation.z = quat_aruco_ee[3]
+        t_aruco_ee.transform.rotation.w = quat_aruco_ee[0]
+        self.tf_broadcaster_aruco_ee.sendTransform(t_aruco_ee)
+
+        #-------------------------------------------------------------
+        t_robot = TransformStamped()
+        t_robot.header.stamp = self.node.get_clock().now().to_msg()
+        t_robot.header.frame_id = 'world'
+        t_robot.child_frame_id = 'ee_link'
+        pos_ee = self.getBodyPos("0_end_effector")
+        quat_ee = self.getBodyQuat("0_end_effector")
+
+        t_robot.transform.translation.x = pos_ee[0]
+        t_robot.transform.translation.y = pos_ee[1]
+        t_robot.transform.translation.z = pos_ee[2]
+
+        t_robot.transform.rotation.x = quat_ee[1]
+        t_robot.transform.rotation.y = quat_ee[2]
+        t_robot.transform.rotation.z = quat_ee[3]
+        t_robot.transform.rotation.w = quat_ee[0]
+        self.tf_broadcaster_ee.sendTransform(t_robot)
+
+        t_mj_cam = TransformStamped()
+        t_mj_cam.header.stamp = self.node.get_clock().now().to_msg()
+        t_mj_cam.header.frame_id = 'base_link'
+        t_mj_cam.child_frame_id = 'mj_cam_link'
+        pos_mj_cam = self.getBodyPos("0_cam")
+        quat_mj_cam = self.getBodyQuat("0_cam")
+
+        t_mj_cam.transform.translation.x = pos_mj_cam[0]
+        t_mj_cam.transform.translation.y = pos_mj_cam[1]
+        t_mj_cam.transform.translation.z = pos_mj_cam[2]
+        t_mj_cam.transform.rotation.x = quat_mj_cam[1]
+        t_mj_cam.transform.rotation.y = quat_mj_cam[2]
+        t_mj_cam.transform.rotation.z = quat_mj_cam[3]
+        t_mj_cam.transform.rotation.w = quat_mj_cam[0]
+        self.tf_broadcaster_mj_cam.sendTransform(t_mj_cam)
+
+        # #---------------------------------------------------
+        t_cam = TransformStamped()
+        t_cam.header.stamp = self.node.get_clock().now().to_msg()
+        t_cam.header.frame_id = 'ee_link'
+        t_cam.child_frame_id = 'cam_link'
+        t_cam.transform.translation.x = self.t_ec[0]
+        t_cam.transform.translation.y = self.t_ec[1]
+        t_cam.transform.translation.z = self.t_ec[2]
+
+        t_cam.transform.rotation.x = self.quat_ec[1]
+        t_cam.transform.rotation.y = self.quat_ec[2]
+        t_cam.transform.rotation.z = self.quat_ec[3]
+        t_cam.transform.rotation.w = self.quat_ec[0]
+        self.tf_broadcaster_cam.sendTransform(t_cam)
+        
+        # #---------------------------------------------------
+        if self.Detected_already:
+            t_aruco = TransformStamped()
+            t_aruco.header.stamp = self.node.get_clock().now().to_msg()
+            t_aruco.header.frame_id = 'cam_link'
+            t_aruco.child_frame_id = 'aruco_link'
+            # rot_matrix = np.eye(3)
+            # rot_matrix = cv2.Rodrigues(np.array(self.rvec))[0]
+            # quat = RR.from_matrix(rot_matrix).as_quat()
+            quat = RR.from_rotvec(self.rv).as_quat()
+            
+            t_aruco.transform.translation.x = self.tv[0]
+            t_aruco.transform.translation.y = self.tv[1]
+            t_aruco.transform.translation.z = self.tv[2]
+            # print("self.tv=",self.tv)
+            # print("self.rv=",self.rv)
+            t_aruco.transform.rotation.x = quat[0]
+            t_aruco.transform.rotation.y = quat[1]
+            t_aruco.transform.rotation.z = quat[2]
+            t_aruco.transform.rotation.w = quat[3]
+            self.tf_broadcaster_aruco_detect.sendTransform(t_aruco)
+
+        # #----------------------------------------------------
+            t_cam_des = TransformStamped()
+            t_cam_des.header.stamp = self.node.get_clock().now().to_msg()
+            t_cam_des.header.frame_id = 'aruco_link'
+            t_cam_des.child_frame_id = 'cam_des_link'
+            # desire_p = self.desire_p.reshape(1,3)
+            desire_p = self.T_acd[:3,3]
+            desire_mat = self.T_acd[:3,:3]
+            # print("T_acd =",self.T_acd)
+            desire_quat = RR.from_matrix(desire_mat).as_quat()
+            t_cam_des.transform.translation.x = desire_p[0]
+            t_cam_des.transform.translation.y = desire_p[1]
+            t_cam_des.transform.translation.z = desire_p[2]
+
+            t_cam_des.transform.rotation.x = desire_quat[0]
+            t_cam_des.transform.rotation.y = desire_quat[1]
+            t_cam_des.transform.rotation.z = desire_quat[2]
+            t_cam_des.transform.rotation.w = desire_quat[3]
+            self.tf_broadcaster_cam_desire.sendTransform(t_cam_des)
+
+        
+if __name__ == "__main__":
+    try:
+        
+        env = DualVisualServoRosEnv(
+            robot=BiDianaMedVS(),
+            is_render=True,
+            control_freq=200,
+            is_interpolate=True,
+        )
+       
+        env.reset()
+        env.cam_start()
+        for t in range(int(1e6)):
+            env.step()
+            if env.is_render:
+                env.render()
+    except:
+        KeyboardInterrupt
\ No newline at end of file
diff --git a/roboimi/envs/vs_rl_task/config/base_config.py b/roboimi/envs/vs_rl_task/config/base_config.py
new file mode 100644
index 0000000..424adc9
--- /dev/null
+++ b/roboimi/envs/vs_rl_task/config/base_config.py
@@ -0,0 +1,55 @@
+# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause
+# 
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+# list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# Copyright (c) 2021 ETH Zurich, Nikita Rudin
+
+import inspect
+
+class BaseConfig:
+    def __init__(self) -> None:
+        """ Initializes all member classes recursively. Ignores all namse starting with '__' (buit-in methods)."""
+        self.init_member_classes(self)
+    
+    @staticmethod
+    def init_member_classes(obj):
+        # iterate over all attributes names
+        for key in dir(obj):
+            # disregard builtin attributes
+            # if key.startswith("__"):
+            if key=="__class__":
+                continue
+            # get the corresponding attribute object
+            var =  getattr(obj, key)
+            # check if it the attribute is a class
+            if inspect.isclass(var):
+                # instantate the class
+                i_var = var()
+                # set the attribute to the instance instead of the type
+                setattr(obj, key, i_var)
+                # recursively init members of the attribute
+                BaseConfig.init_member_classes(i_var)
\ No newline at end of file
diff --git a/roboimi/envs/vs_rl_task/config/vs_robot_config.py b/roboimi/envs/vs_rl_task/config/vs_robot_config.py
new file mode 100644
index 0000000..fdef869
--- /dev/null
+++ b/roboimi/envs/vs_rl_task/config/vs_robot_config.py
@@ -0,0 +1,178 @@
+# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause
+# 
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+# list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# Copyright (c) 2021 ETH Zurich, Nikita Rudin
+
+from .base_config import BaseConfig
+
+class VSRobotCfg(BaseConfig):
+    class env:
+        num_envs = 1
+        num_observations = 10
+        num_privileged_obs = None # if not None a priviledge_obs_buf will be returned by step() (critic obs for assymetric training). None is returned otherwise 
+        num_actions = 2 #using
+        env_spacing = 3.  # not used with heightfields/trimeshes 
+        send_timeouts = True # send time out information to the algorithm
+        episode_length_s = 20 # episode length in seconds
+
+    # class terrain:
+    #     mesh_type = 'trimesh' # "heightfield" # none, plane, heightfield or trimesh
+    #     horizontal_scale = 0.1 # [m]
+    #     vertical_scale = 0.005 # [m]
+    #     border_size = 25 # [m]
+    #     curriculum = True
+    #     static_friction = 1.0
+    #     dynamic_friction = 1.0
+    #     restitution = 0.
+    #     # rough terrain only:
+    #     measure_heights = True
+    #     measured_points_x = [-0.8, -0.7, -0.6, -0.5, -0.4, -0.3, -0.2, -0.1, 0., 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8] # 1mx1.6m rectangle (without center line)
+    #     measured_points_y = [-0.5, -0.4, -0.3, -0.2, -0.1, 0., 0.1, 0.2, 0.3, 0.4, 0.5]
+    #     selected = False # select a unique terrain type and pass all arguments
+    #     terrain_kwargs = None # Dict of arguments for selected terrain
+    #     max_init_terrain_level = 5 # starting curriculum state
+    #     terrain_length = 8.
+    #     terrain_width = 8.
+    #     num_rows= 10 # number of terrain rows (levels)
+    #     num_cols = 20 # number of terrain cols (types)
+    #     # terrain types: [smooth slope, rough slope, stairs up, stairs down, discrete]
+    #     terrain_proportions = [0.1, 0.1, 0.35, 0.25, 0.2]
+    #     # trimesh only:
+    #     slope_treshold = 0.75 # slopes above this threshold will be corrected to vertical surfaces
+
+    # class commands:
+    #     curriculum = False
+    #     max_curriculum = 1.
+    #     num_commands = 4 # default: lin_vel_x, lin_vel_y, ang_vel_yaw, heading (in heading mode ang_vel_yaw is recomputed from heading error)
+    #     resampling_time = 10. # time before command are changed[s]
+    #     heading_command = True # if true: compute ang vel command from heading error
+    #     class ranges:
+    #         lin_vel_x = [-1.0, 1.0] # min max [m/s]
+    #         lin_vel_y = [-1.0, 1.0]   # min max [m/s]
+    #         ang_vel_yaw = [-1, 1]    # min max [rad/s]
+    #         heading = [-3.14, 3.14]
+
+
+    class control:
+        # control_type = 'P' # P: position, V: velocity, T: torques
+        # # PD Drive parameters:
+        # stiffness = {'joint_a': 10.0, 'joint_b': 15.}  # [N*m/rad]
+        # damping = {'joint_a': 1.0, 'joint_b': 1.5}     # [N*m*s/rad]
+        # action scale: target angle = actionScale * action + defaultAngle
+        action_scale = 0.5
+        # decimation: Number of control action updates @ sim DT per policy DT
+        decimation = 20
+
+   
+
+    # class domain_rand:
+    #     randomize_friction = True
+    #     friction_range = [0.5, 1.25]
+    #     randomize_base_mass = False
+    #     added_mass_range = [-1., 1.]
+    #     push_robots = True
+    #     push_interval_s = 15
+    #     max_push_vel_xy = 1.
+
+    class rewards:
+        class scales:
+            # termination = -0.0
+            lin_vel_xyz = -2.0
+            action_rate = -0.01
+            
+
+        only_positive_rewards = True # if true negative total rewards are clipped at zero (avoids early termination problems)
+        # tracking_sigma = 0.25 # tracking reward = exp(-error^2/sigma)
+     
+    class normalization:
+        class obs_scales:
+            lin_vel = 2.0
+            ang_vel = 0.25
+            dof_pos = 1.0
+            dof_vel = 0.05
+            height_measurements = 5.0
+        clip_observations = 100.
+        clip_actions = 100.
+
+    # class noise:
+    #     add_noise = True
+    #     noise_level = 1.0 # scales other values
+    #     class noise_scales:
+    #         dof_pos = 0.01
+    #         dof_vel = 1.5
+    #         lin_vel = 0.1
+    #         ang_vel = 0.2
+    #         gravity = 0.05
+    #         height_measurements = 0.1
+
+ 
+           
+
+class VSRobotCfgPPO(BaseConfig):
+    seed = 1
+    runner_class_name = 'OnPolicyRunner'
+    class policy:
+        init_noise_std = 1.0
+        actor_hidden_dims = [512, 256, 128]
+        critic_hidden_dims = [512, 256, 128]
+        activation = 'elu' # can be elu, relu, selu, crelu, lrelu, tanh, sigmoid
+        # only for 'ActorCriticRecurrent':
+        rnn_type = 'lstm'
+        rnn_hidden_size = 512
+        rnn_num_layers = 1
+        
+    class algorithm:
+        # training params
+        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 # mini batch size = num_envs*nsteps / nminibatches
+        learning_rate = 1.e-3 #5.e-4
+        schedule = 'adaptive' # could be adaptive, fixed
+        gamma = 0.99
+        lam = 0.95
+        desired_kl = 0.01
+        max_grad_norm = 1.
+
+    class runner:
+        policy_class_name = 'ActorCritic'
+        algorithm_class_name = 'PPO'
+        num_steps_per_env = 24 # per iteration
+        max_iterations = 1500 # number of policy updates
+
+        # logging
+        save_interval = 50 # check for potential saves every this many iterations
+        experiment_name = 'test'
+        run_name = ''
+        # load and resume
+        resume = False
+        load_run = -1 # -1 = last run
+        checkpoint = -1 # -1 = last saved model
+        resume_path = None # updated from load_run and chkpt
\ No newline at end of file
diff --git a/roboimi/envs/vs_rl_task/task/vs_base_task.py b/roboimi/envs/vs_rl_task/task/vs_base_task.py
new file mode 100644
index 0000000..4e9cf0c
--- /dev/null
+++ b/roboimi/envs/vs_rl_task/task/vs_base_task.py
@@ -0,0 +1,59 @@
+import numpy as np
+import torch
+import sys
+from roboimi.assets.robots.bidiana_med_vs import BiDianaMedVS
+from roboimi.envs.visual_servo.double_vs_base import DualVisualServoEnv
+
+#base_task
+class VisualServo_BaseTask(DualVisualServoEnv):
+    def __init__(self, cfg, device, headless):
+        self.headless = headless
+        super().__init__(
+            robot=BiDianaMedVS(),
+            is_render=self.headless,
+            renderer="viewer",
+            control_freq=200
+        )
+        if device == 'cpu' or device == 'cuda:0':
+            self.device = device
+        self.num_envs = 1
+        self.num_obs = cfg.env.num_observations
+        self.num_privileged_obs = cfg.env.num_privileged_obs
+        self.num_actions = cfg.env.num_actions
+        torch._C._jit_set_profiling_mode(False)
+        torch._C._jit_set_profiling_executor(False)
+        self.obs_buf = torch.zeros(self.num_envs, self.num_obs, device=self.device, dtype=torch.float)
+        self.rew_buf = torch.zeros(self.num_envs, device=self.device, dtype=torch.float)
+        self.reset_buf = torch.ones(self.num_envs, device=self.device, dtype=torch.long)
+        self.episode_length_buf = torch.zeros(self.num_envs, device=self.device, dtype=torch.long)
+        self.time_out_buf = torch.zeros(self.num_envs, device=self.device, dtype=torch.bool)
+        if self.num_privileged_obs is not None:
+            self.privileged_obs_buf = torch.zeros(self.num_envs, self.num_privileged_obs, device=self.device, dtype=torch.float)
+        else: 
+            self.privileged_obs_buf = None
+            # self.num_privileged_obs = self.num_obs
+
+        # self.extras = {}
+        
+    def get_observations(self):
+        return self.obs_buf
+    
+    def get_privileged_observations(self):
+        return self.privileged_obs_buf
+
+    def reset_idx(self, env_ids):
+        """Reset selected robots"""
+        pass
+
+    def reset(self):
+        """ Reset all robots"""
+        self.reset_idx(torch.arange(self.num_envs, device=self.device))
+        obs, privileged_obs, _, _, _ = self.step(torch.zeros(self.num_envs, self.num_actions, device=self.device, requires_grad=False))
+        return obs, privileged_obs
+
+    def step(self, actions):
+        print("PPO actions =",actions)
+        actions = 0.5
+        super().step(actions)
+
+  
\ No newline at end of file
diff --git a/roboimi/envs/vs_rl_task/task/vs_robot.py b/roboimi/envs/vs_rl_task/task/vs_robot.py
new file mode 100644
index 0000000..9b6e516
--- /dev/null
+++ b/roboimi/envs/vs_rl_task/task/vs_robot.py
@@ -0,0 +1,249 @@
+# from roboimi.envs.vs_rl_task.task.vs_base_task import VisualServo_BaseTask
+from .vs_base_task import VisualServo_BaseTask
+import numpy as np
+import os
+import torch
+from torch import Tensor
+from typing import Tuple, Dict
+
+class VisualServoDualArmRobot(VisualServo_BaseTask):
+    def __init__(self, cfg, device, headless):
+        """ 
+        Args:
+            cfg (Dict): Task Environment config file
+            device (string): 'cuda:0' or 'cpu'
+            headless (bool): Run without rendering if True
+        """
+        self.cfg = cfg
+        self.height_samples = None
+        self.debug_viz = False
+        self.init_done = False
+        self._parse_cfg(self.cfg)
+        self.mj_dt = 0.001          #attention
+        super().__init__(self.cfg, device, headless)
+        self._init_buffers()
+        self._prepare_reward_function()
+        self.is_timeout = False
+        self.is_reset = True
+        self.reset_buf = torch.zeros(self.num_envs)
+        # self.init_done = True
+
+
+
+    def reset(self):
+        if  not self.is_reset:
+            return
+        else:
+            '''
+            env_ids = []
+            '''
+            self._resample_commands()
+            super().reset()
+            #only one env for now!
+            self.last_actions[0] = 0.
+            self.episode_length_buf[0] = 0.
+            self.is_timeout = False
+            self.reset_buf[0] = True # 0 /1 
+            self.extras["episode"] = {}
+            for key in self.episode_sums.keys():
+                self.extras["episode"]['rew_' + key] = torch.mean(self.episode_sums[key][0]) / self.max_episode_length_s
+                self.episode_sums[key][0] = 0.
+            if self.cfg.env.send_timeouts:
+                self.extras["time_outs"] = self.is_timeout
+           
+        
+            
+
+
+    def check_termination(self):
+        if self.common_step_counter >= self.max_episode_length:
+            self.is_timeout = True
+        else: #self.is_timeout = False
+            self.is_timeout = False
+            
+        if self.is_detect and (not self.is_timeout):
+            self.is_reset = False
+        else:
+            self.is_reset = True
+        self.reset_buf[0] = self.is_reset
+
+        
+
+    def step(self,actions):
+
+        clip_actions = self.cfg.normalization.clip_actions
+        self.actions = torch.clip(actions, -clip_actions, clip_actions).to(self.device)
+        #---------------------------------------------------------------------------------
+        actions_scaled = actions * self.cfg.control.action_scale #adjust action upper/lower limits   
+        actions_adj = actions_scaled*actions  
+        super().step(actions_adj)
+        # super().step(actions)  
+        self.episode_length_buf += 1
+        self.common_step_counter += 1
+        self.check_termination()
+        self.compute_reward()
+        self.reset()
+        self.compute_observations()
+        self.last_actions[:] = self.actions[:]
+        #---------------------------------------------------------------------------------
+        clip_obs = self.cfg.normalization.clip_observations
+        self.obs_buf = torch.clip(self.obs_buf, -clip_obs, clip_obs)
+        if self.privileged_obs_buf is not None:
+            self.privileged_obs_buf = torch.clip(self.privileged_obs_buf, -clip_obs, clip_obs)
+
+        self.last_actions[:] = self.actions[:]
+        return self.obs_buf, self.privileged_obs_buf, self.rew_buf, self.reset_buf, self.extras
+
+    def _parse_cfg(self, cfg):
+        self.dt = self.cfg.control.decimation * self.mj_dt
+        self.obs_scales = self.cfg.normalization.obs_scales
+        self.reward_scales = self.class_to_dict(self.cfg.rewards.scales)
+        self.command_ranges = self.class_to_dict(self.cfg.commands.ranges)
+        self.max_episode_length_s = self.cfg.env.episode_length_s
+        self.max_episode_length = np.ceil(self.max_episode_length_s / self.dt)
+
+       
+
+    def _init_buffers(self):
+        """ Initialize torch tensors which will contain simulation states and processed quantities
+        """
+         # get gym GPU state tensors
+
+        # actor_root_state = self.gym.acquire_actor_root_state_tensor(self.sim)
+        # dof_state_tensor = self.gym.acquire_dof_state_tensor(self.sim)
+        # net_contact_forces = self.gym.acquire_net_contact_force_tensor(self.sim)
+        # self.gym.refresh_dof_state_tensor(self.sim)
+        # self.gym.refresh_actor_root_state_tensor(self.sim)
+        # self.gym.refresh_net_contact_force_tensor(self.sim)
+
+        # initialize some data used later on
+        self.common_step_counter = 0
+        self.extras = {}
+        self.noise_scale_vec = self._get_noise_scale_vec(self.cfg)
+        self.actions = torch.zeros(self.num_envs, self.num_actions, dtype=torch.float, device=self.device, requires_grad=False)
+        self.last_actions = torch.zeros(self.num_envs, self.num_actions, dtype=torch.float, device=self.device, requires_grad=False)
+        
+
+    def _prepare_reward_function(self):
+        """ Prepares a list of reward functions, whcih will be called to compute the total reward.
+            Looks for self._reward_<REWARD_NAME>, where <REWARD_NAME> are names of all non zero reward scales in the cfg.
+        """
+        # remove zero scales + multiply non-zero ones by dt
+        for key in list(self.reward_scales.keys()):
+            scale = self.reward_scales[key]
+            if scale==0:
+                self.reward_scales.pop(key) 
+            else:
+                self.reward_scales[key] *= self.dt
+        # prepare list of functions
+        self.reward_functions = []
+        self.reward_names = []
+        for name, scale in self.reward_scales.items():
+            if name=="termination":
+                continue
+            self.reward_names.append(name)
+            name = '_reward_' + name
+            self.reward_functions.append(getattr(self, name))
+
+        # reward episode sums
+        self.episode_sums = {name: torch.zeros(self.num_envs, dtype=torch.float, device=self.device, requires_grad=False)
+                             for name in self.reward_scales.keys()}
+
+
+    # def _get_noise_scale_vec(self, cfg):
+    #     """ Sets a vector used to scale the noise added to the observations.
+    #         [NOTE]: Must be adapted when changing the observations structure
+
+    #     Args:
+    #         cfg (Dict): Environment config file
+
+    #     Returns:
+    #         [torch.Tensor]: Vector of scales used to multiply a uniform distribution in [-1, 1]
+    #     """
+    #     noise_vec = torch.zeros_like(self.obs_buf[0])
+    #     self.add_noise = self.cfg.noise.add_noise
+    #     noise_scales = self.cfg.noise.noise_scales
+    #     noise_level = self.cfg.noise.noise_level
+    #     noise_vec[:3] = noise_scales.lin_vel * noise_level * self.obs_scales.lin_vel
+    #     noise_vec[3:6] = noise_scales.ang_vel * noise_level * self.obs_scales.ang_vel
+    #     noise_vec[6:9] = noise_scales.gravity * noise_level
+    #     noise_vec[9:12] = 0. # commands
+    #     noise_vec[12:24] = noise_scales.dof_pos * noise_level * self.obs_scales.dof_pos
+    #     noise_vec[24:36] = noise_scales.dof_vel * noise_level * self.obs_scales.dof_vel
+    #     noise_vec[36:48] = 0. # previous actions
+    #     if self.cfg.terrain.measure_heights:
+    #         noise_vec[48:235] = noise_scales.height_measurements* noise_level * self.obs_scales.height_measurements
+    #     return noise_vec
+    
+
+    def _resample_commands(self):
+        """ Randommly select commands of some environments
+
+        Args:
+            env_ids (List[int]): Environments ids for which new commands are needed
+        """
+        pass
+
+
+    def compute_reward(self):
+        """ Compute rewards
+            
+        """
+        self.rew_buf[:] = 0.
+        for i in range(len(self.reward_functions)):
+            name = self.reward_names[i]
+            rew = self.reward_functions[i]() * self.reward_scales[name]
+            self.rew_buf += rew
+            self.episode_sums[name] += rew
+        if self.cfg.rewards.only_positive_rewards:
+            self.rew_buf[:] = torch.clip(self.rew_buf[:], min=0.)
+        # add termination reward after clipping
+        # if "termination" in self.reward_scales:
+        #     rew = self._reward_termination() * self.reward_scales["termination"]
+        #     self.rew_buf += rew
+        #     self.episode_sums["termination"] += rew
+    
+    def compute_observations(self):
+        """ Computes observations
+        """
+        # self.obs_buf = torch.cat((  self.base_lin_vel * self.obs_scales.lin_vel,
+        #                             self.base_ang_vel  * self.obs_scales.ang_vel,
+        #                             self.projected_gravity,
+        #                             self.commands[:, :3] * self.commands_scale,
+        #                             (self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos,
+        #                             self.dof_vel * self.obs_scales.dof_vel,
+        #                             self.actions
+        #                             ),dim=-1)
+        self.obs_buf = torch.zeros(1,10)
+        # add perceptive inputs if not blind
+        # add noise if needed
+        # if self.add_noise:
+        #     self.obs_buf += (2 * torch.rand_like(self.obs_buf) - 1) * self.noise_scale_vec
+
+
+    def class_to_dict(self,obj) -> dict:
+        if not  hasattr(obj,"__dict__"):
+            return obj
+        result = {}
+        for key in dir(obj):
+            if key.startswith("_"):
+                continue
+            element = []
+            val = getattr(obj, key)
+            if isinstance(val, list):
+                for item in val:
+                    element.append(self.class_to_dict(item))
+            else:
+                element = self.class_to_dict(val)
+            result[key] = element
+        return result
+
+
+    # cfg 中必须和_reward_ 后面的部分写的一样
+    def _reward_action_rate(self):
+        # Penalize changes in actions
+        return torch.sum(torch.square(self.last_actions - self.actions), dim=1)
+    
+    def _reward_lin_vel_xyz(self):
+        return torch.zeros(1,1)
+        # return torch.square(self.ee_lin_vel[:, 3])
\ No newline at end of file
diff --git a/roboimi/envs/vs_rl_task/task/vs_task_registry.py b/roboimi/envs/vs_rl_task/task/vs_task_registry.py
new file mode 100644
index 0000000..eb967d8
--- /dev/null
+++ b/roboimi/envs/vs_rl_task/task/vs_task_registry.py
@@ -0,0 +1,252 @@
+import os
+# from datetime import datetime
+# from typing import Tuple
+import torch
+import numpy as np
+import random
+# from rsl_rl.env import VecEnv
+# from roboimi.rsl_rl.runners import OnPolicyRunner
+from roboimi.rsl_rl.rsl_rl.runners.on_policy_runner import OnPolicyRunner
+from roboimi.rsl_rl.rsl_rl.env import VecEnv
+
+# from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
+from roboimi.envs.vs_rl_task.config.vs_robot_config import VSRobotCfg, VSRobotCfgPPO
+from .vs_robot import VisualServoDualArmRobot
+
+
+
+
+class VS_TaskRegistry():
+    def __init__(self):
+        self.task_classes = {}
+        self.task_ = None
+        self.env_cfgs = {}
+        self.env_cfg = None
+        self.train_cfgs = {}
+        self.train_cfg = None
+
+    # name fixed
+    def register(self, name="vs_robot", task_class=VisualServoDualArmRobot, env_cfg=VSRobotCfg, train_cfg=VSRobotCfgPPO):
+        self.task_classes[name] = task_class
+        self.task_ = task_class
+        self.env_cfg = env_cfg
+        self.train_cfg = train_cfg
+        self.env_cfgs[name] = env_cfg
+        self.train_cfgs[name] = train_cfg
+
+    # def get_task_class(self, name: str) -> VecEnv:
+    #     return self.task_classes[name]
+
+    def get_task(self):
+        return self.task_
+    
+    def get_cfgs(self, name='vs_robot'):
+        # train_cfg = self.train_cfgs[name]
+        # env_cfg = self.env_cfgs[name]
+        # copy seed
+        train_cfg = self.train_cfg
+        env_cfg = self.env_cfg
+        env_cfg.seed = self.train_cfg.seed
+        return env_cfg, train_cfg
+    
+    def make_vs_env(self,name='vs_robot', device='cuda:0',headless=True):
+        task_class = self.get_task()
+        env_cfg, _ = self.get_cfgs(name)
+        self.set_seed(env_cfg.seed)
+        env = task_class(cfg=env_cfg, device=device, headless=headless)
+        return env, env_cfg
+    
+    def make_vs_alg_runner(self, env, name='vs_robot'):
+        _, train_cfg = self.get_cfgs(name)
+        train_cfg_dict = env.class_to_dict(train_cfg)
+        log_dir = None
+        runner = OnPolicyRunner(env, train_cfg_dict, log_dir, device='cuda:0')
+        resume = train_cfg.runner.resume
+        if resume:
+            # load previously trained model
+            resume_path = self.get_load_path(log_dir, load_run=train_cfg.runner.load_run, checkpoint=train_cfg.runner.checkpoint)
+            print(f"Loading model from: {resume_path}")
+            runner.load(resume_path)
+        return runner, train_cfg
+    
+    def set_seed(seed):
+        if seed == -1:
+            seed = np.random.randint(0, 10000)
+        print("Setting seed: {}".format(seed))
+
+        random.seed(seed)
+        np.random.seed(seed)
+        torch.manual_seed(seed)
+        os.environ['PYTHONHASHSEED'] = str(seed)
+        torch.cuda.manual_seed(seed)
+        torch.cuda.manual_seed_all(seed)
+
+    def get_load_path(root, load_run=-1, checkpoint=-1):
+        try:
+            runs = os.listdir(root)
+            #TODO sort by date to handle change of month
+            runs.sort()
+            if 'exported' in runs: runs.remove('exported')
+            last_run = os.path.join(root, runs[-1])
+        except:
+            raise ValueError("No runs in this directory: " + root)
+        if load_run==-1:
+            load_run = last_run
+        else:
+            load_run = os.path.join(root, load_run)
+
+        if checkpoint==-1:
+            models = [file for file in os.listdir(load_run) if 'model' in file]
+            models.sort(key=lambda m: '{0:0>15}'.format(m))
+            model = models[-1]
+        else:
+            model = "model_{}.pt".format(checkpoint) 
+
+        load_path = os.path.join(load_run, model)
+        return load_path
+
+    # def make_env(self, name='vs_robot', env_cfg=None):
+    #     """ Creates an environment either from a registered namme or from the provided config file.
+
+    #     Args:
+    #         name (string): Name of a registered env.
+    #         args (Args, optional): Isaac Gym comand line arguments. If None get_args() will be called. Defaults to None.
+    #         env_cfg (Dict, optional): Environment config file used to override the registered config. Defaults to None.
+
+    #     Raises:
+    #         ValueError: Error if no registered env corresponds to 'name' 
+
+    #     Returns:
+    #         isaacgym.VecTaskPython: The created environment
+    #         Dict: the corresponding config file
+    #     """
+    #     # if no args passed get command line arguments
+    #     # if args is None:
+    #     #     pass
+    #     #     # args = self.get_args()
+    #     # # check if there is a registered env with that name
+    #     # if name in self.task_classes:
+    #     #     # task_class = self.get_task_class(name)
+    #     #     task_class = self.get_task()
+    #     # else:
+    #     #     raise ValueError(f"Task with name: {name} was not registered")
+    #     task_class = self.get_task()
+    #     # if env_cfg is None:
+    #         # load config files
+    #     env_cfg, _ = self.get_cfgs(name)
+    #     # override cfg from args (if specified)
+    #     # env_cfg, _ = update_cfg_from_args(env_cfg, None, args)
+    #     self.set_seed(env_cfg.seed)
+    #     #task_class = VisualServoDualArmRobot
+    #     env = task_class(cfg=env_cfg,device='cuda:0',headless=True)
+    #     return env, env_cfg
+    
+
+    # def make_alg_runner(self, env, name=None, args=None, train_cfg=None, log_root="default") -> Tuple[OnPolicyRunner, LeggedRobotCfgPPO]:
+    #     """ Creates the training algorithm  either from a registered namme or from the provided config file.
+
+    #     Args:
+    #         env (isaacgym.VecTaskPython): The environment to train (TODO: remove from within the algorithm)
+    #         name (string, optional): Name of a registered env. If None, the config file will be used instead. Defaults to None.
+    #         args (Args, optional): Isaac Gym comand line arguments. If None get_args() will be called. Defaults to None.
+    #         train_cfg (Dict, optional): Training config file. If None 'name' will be used to get the config file. Defaults to None.
+    #         log_root (str, optional): Logging directory for Tensorboard. Set to 'None' to avoid logging (at test time for example). 
+    #                                 Logs will be saved in <log_root>/<date_time>_<run_name>. Defaults to "default"=<path_to_LEGGED_GYM>/logs/<experiment_name>.
+
+    #     Raises:
+    #         ValueError: Error if neither 'name' or 'train_cfg' are provided
+    #         Warning: If both 'name' or 'train_cfg' are provided 'name' is ignored
+
+    #     Returns:
+    #         PPO: The created algorithm
+    #         Dict: the corresponding config file
+    #     """
+    #     # if no args passed get command line arguments
+    #     if args is None:
+    #         args = get_args()
+    #     # if config files are passed use them, otherwise load from the name
+    #     if train_cfg is None:
+    #         if name is None:
+    #             raise ValueError("Either 'name' or 'train_cfg' must be not None")
+    #         # load config files
+    #         _, train_cfg = self.get_cfgs(name)
+    #     else:
+    #         if name is not None:
+    #             print(f"'train_cfg' provided -> Ignoring 'name={name}'")
+    #     # override cfg from args (if specified)
+    #     _, train_cfg = update_cfg_from_args(None, train_cfg, args)
+
+    #     if log_root=="default":
+    #         log_root = os.path.join(LEGGED_GYM_ROOT_DIR, 'logs', train_cfg.runner.experiment_name)
+    #         log_dir = os.path.join(log_root, datetime.now().strftime('%b%d_%H-%M-%S') + '_' + train_cfg.runner.run_name)
+    #     elif log_root is None:
+    #         log_dir = None
+    #     else:
+    #         log_dir = os.path.join(log_root, datetime.now().strftime('%b%d_%H-%M-%S') + '_' + train_cfg.runner.run_name)
+        
+    #     train_cfg_dict = class_to_dict(train_cfg)
+    #     runner = OnPolicyRunner(env, train_cfg_dict, log_dir, device=args.rl_device)
+    #     #save resume path before creating a new log_dir
+    #     resume = train_cfg.runner.resume
+    #     if resume:
+    #         # load previously trained model
+    #         resume_path = get_load_path(log_root, load_run=train_cfg.runner.load_run, checkpoint=train_cfg.runner.checkpoint)
+    #         print(f"Loading model from: {resume_path}")
+    #         runner.load(resume_path)
+    #     return runner, train_cfg
+    
+
+
+
+    # def get_args():
+    #     custom_parameters = [
+    #         {"name": "--task", "type": str, "default": "anymal_c_flat", "help": "Resume training or start testing from a checkpoint. Overrides config file if provided."},
+    #         {"name": "--resume", "action": "store_true", "default": False,  "help": "Resume training from a checkpoint"},
+    #         {"name": "--experiment_name", "type": str,  "help": "Name of the experiment to run or load. Overrides config file if provided."},
+    #         {"name": "--run_name", "type": str,  "help": "Name of the run. Overrides config file if provided."},
+    #         {"name": "--load_run", "type": str,  "help": "Name of the run to load when resume=True. If -1: will load the last run. Overrides config file if provided."},
+    #         {"name": "--checkpoint", "type": int,  "help": "Saved model checkpoint number. If -1: will load the last checkpoint. Overrides config file if provided."},
+
+    #         {"name": "--headless", "action": "store_true", "default": False, "help": "Force display off at all times"},
+    #         {"name": "--horovod", "action": "store_true", "default": False, "help": "Use horovod for multi-gpu training"},
+    #         {"name": "--rl_device", "type": str, "default": "cuda:0", "help": 'Device used by the RL algorithm, (cpu, gpu, cuda:0, cuda:1 etc..)'},
+    #         {"name": "--num_envs", "type": int, "help": "Number of environments to create. Overrides config file if provided."},
+    #         {"name": "--seed", "type": int, "help": "Random seed. Overrides config file if provided."},
+    #         {"name": "--max_iterations", "type": int, "help": "Maximum number of training iterations. Overrides config file if provided."},
+    #     ]
+    #     # parse arguments
+    #     args = gymutil.parse_arguments(
+    #         description="RL Policy",
+    #         custom_parameters=custom_parameters)
+
+    #     # name allignment
+    #     args.sim_device_id = args.compute_device_id
+    #     args.sim_device = args.sim_device_type
+    #     if args.sim_device=='cuda':
+    #         args.sim_device += f":{args.sim_device_id}"
+    #     return args
+
+    # def update_cfg_from_args(env_cfg, cfg_train, args):
+    #     # seed
+    #     if env_cfg is not None:
+    #         # num envs
+    #         if args.num_envs is not None:
+    #             env_cfg.env.num_envs = args.num_envs
+    #     if cfg_train is not None:
+    #         if args.seed is not None:
+    #             cfg_train.seed = args.seed
+    #         # alg runner parameters
+    #         if args.max_iterations is not None:
+    #             cfg_train.runner.max_iterations = args.max_iterations
+    #         if args.resume:
+    #             cfg_train.runner.resume = args.resume
+    #         if args.experiment_name is not None:
+    #             cfg_train.runner.experiment_name = args.experiment_name
+    #         if args.run_name is not None:
+    #             cfg_train.runner.run_name = args.run_name
+    #         if args.load_run is not None:
+    #             cfg_train.runner.load_run = args.load_run
+    #         if args.checkpoint is not None:
+    #             cfg_train.runner.checkpoint = args.checkpoint
+
+    #     return env_cfg, cfg_train
\ No newline at end of file
diff --git a/roboimi/envs/vs_rl_task/vs_train.py b/roboimi/envs/vs_rl_task/vs_train.py
new file mode 100644
index 0000000..5a1b228
--- /dev/null
+++ b/roboimi/envs/vs_rl_task/vs_train.py
@@ -0,0 +1,21 @@
+import numpy as np
+import os
+from datetime import datetime
+# from .vs_task_registry import VS_TaskRegistry
+from roboimi.envs.vs_rl_task.task.vs_task_registry import VS_TaskRegistry
+import wandb
+
+ENVS_DIR = ''
+task_registry = VS_TaskRegistry()
+
+def train():
+    wandb.init(project='vs_robot', name='vs_robot', entity="zfu")
+    wandb.save(ENVS_DIR + "/h1/h1_config.py", policy="now")
+    wandb.save(ENVS_DIR + "/h1/h1.py", policy="now")
+
+    env, env_cfg = task_registry.make_vs_env()
+    ppo_runner, train_cfg = task_registry.make_vs_alg_runner(env=env, name='vs_robot')
+    ppo_runner.learn(num_learning_iterations=train_cfg.runner.max_iterations, init_at_random_ep_len=True)
+
+if __name__ == '__main__':
+    train()
\ No newline at end of file
diff --git a/roboimi/envs/vx300s_ee.py b/roboimi/envs/vx300s_ee.py
new file mode 100644
index 0000000..23b6930
--- /dev/null
+++ b/roboimi/envs/vx300s_ee.py
@@ -0,0 +1,244 @@
+import numpy as np
+import time
+from roboimi.envs.vx300s_ee_base import DualVX300S_EE_base
+import cv2
+from roboimi.utils.interpolators import OTG
+import mujoco as mj
+import threading
+from pyquaternion import Quaternion
+from roboimi.utils.constants import PUPPET_GRIPPER_POSITION_NORMALIZE_FN
+from roboimi.utils.constants import PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN
+from roboimi.utils.constants import PUPPET_GRIPPER_POSITION_CLOSE 
+from roboimi.utils.act_ex_utils import sample_insertion_pose
+import copy as cp
+
+
+
+class DualVX300S_EE_Insert(DualVX300S_EE_base):
+    """
+
+    :param is_render: Choose if use the renderer to render the scene or not.
+    :param renderer: Choose official renderer with "viewer",
+            another renderer with "mujoco_viewer"
+    :param control_freq: Upper-layer control frequency.
+            Note that high frequency will cause high time-lag.
+    :param cam_view: Choice of Camera view.
+    """
+
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=200,
+                 cam_view=None
+                 ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq,
+            cam_view=cam_view
+        )
+        self.obs = None
+        self.rew = None
+        self.max_reward = 4
+        self.num = 0
+        
+    def step(self,action=np.zeros(16)):
+        self.obs = self._get_obs()
+        self.rew = self._get_reward()
+        super().step(action)
+
+    def reset(self):
+        peg_pose, socket_pose = sample_insertion_pose()
+        self.mj_data.joint('red_peg_joint').qpos[0]=peg_pose[0]
+        self.mj_data.joint('red_peg_joint').qpos[1]=peg_pose[1]
+        self.mj_data.joint('red_peg_joint').qpos[2]=peg_pose[2]
+        self.mj_data.joint('red_peg_joint').qpos[3]=1.0
+        self.mj_data.joint('red_peg_joint').qpos[4]=0.0
+        self.mj_data.joint('red_peg_joint').qpos[5]=0.0
+        self.mj_data.joint('red_peg_joint').qpos[6]=0.0
+        self.mj_data.joint('blue_socket_joint').qpos[0] = socket_pose[0]
+        self.mj_data.joint('blue_socket_joint').qpos[1] = socket_pose[1]
+        self.mj_data.joint('blue_socket_joint').qpos[2] = socket_pose[2]
+        self.mj_data.joint('blue_socket_joint').qpos[3] = 1.0
+        self.mj_data.joint('blue_socket_joint').qpos[4] = 0.0
+        self.mj_data.joint('blue_socket_joint').qpos[5] = 0.0
+        self.mj_data.joint('blue_socket_joint').qpos[6] = 0.0
+        super().reset()
+
+    def preStep(self, action):
+        if isinstance(action,np.ndarray) and len(action)==16:
+            act_grip = action[-2:]
+            act_cart = action[:-2]
+            g_left_ctrl = PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(act_grip[0])
+            g_right_ctrl = PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(act_grip[1])
+            
+            act_grip = np.array([g_left_ctrl, -g_left_ctrl, g_right_ctrl, -g_right_ctrl])
+            action = np.hstack((act_cart,act_grip))
+            super().preStep(action)
+            self.num += 1
+        else:
+            raise AttributeError("size should be 16")
+         
+    def get_env_state(self):
+        box_pose = np.zeros(6)
+        for i in range(3):
+            box_pose[i] = cp.deepcopy(self.mj_data.joint('red_peg_joint').qpos[i])
+            box_pose[3+i] = cp.deepcopy(self.mj_data.joint('blue_socket_joint').qpos[i])
+        return box_pose
+    
+    def _get_reward(self):
+        all_contact_pairs = []
+        for collision_num in range(self.mj_data.ncon):
+            geom1 = self.mj_data.contact[collision_num].geom1
+            geom2 = self.mj_data.contact[collision_num].geom2
+            name_geom_1 = self.getID2Name('geom',geom1)
+            name_geom_2 = self.getID2Name('geom',geom2)
+            contact_pair = (name_geom_1, name_geom_2)
+            all_contact_pairs.append(contact_pair)
+
+        touch_right_gripper = ("red_peg", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
+        touch_left_gripper = ("socket-1", "vx300s_left/10_left_gripper_finger") in all_contact_pairs or \
+                             ("socket-2", "vx300s_left/10_left_gripper_finger") in all_contact_pairs or \
+                             ("socket-3", "vx300s_left/10_left_gripper_finger") in all_contact_pairs or \
+                             ("socket-4", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
+
+        peg_touch_table = ("red_peg", "table") in all_contact_pairs
+        socket_touch_table = ("socket-1", "table") in all_contact_pairs or \
+                             ("socket-2", "table") in all_contact_pairs or \
+                             ("socket-3", "table") in all_contact_pairs or \
+                             ("socket-4", "table") in all_contact_pairs
+        peg_touch_socket = ("red_peg", "socket-1") in all_contact_pairs or \
+                           ("red_peg", "socket-2") in all_contact_pairs or \
+                           ("red_peg", "socket-3") in all_contact_pairs or \
+                           ("red_peg", "socket-4") in all_contact_pairs
+        pin_touched = ("red_peg", "pin") in all_contact_pairs
+
+        reward = 0
+        if touch_left_gripper and touch_right_gripper: # touch both
+            reward = 1
+        if touch_left_gripper and touch_right_gripper and (not peg_touch_table) and (not socket_touch_table): # grasp both
+            reward = 2
+        if peg_touch_socket and (not peg_touch_table) and (not socket_touch_table): # peg and socket touching
+            reward = 3
+        if pin_touched: # successful insertion
+            reward = 4
+        return reward
+        
+
+    
+
+
+class DualVX300S_EE_Transfer(DualVX300S_EE_base):
+    """
+
+    :param is_render: Choose if use the renderer to render the scene or not.
+    :param renderer: Choose official renderer with "viewer",
+            another renderer with "mujoco_viewer"
+    :param control_freq: Upper-layer control frequency.
+            Note that high frequency will cause high time-lag.
+    :param cam_view: Choice of Camera view.
+    """
+
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=200,
+                 cam_view=None
+                 ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq,
+            cam_view=cam_view
+        )
+        self.obs = None
+        self.rew = None
+        self.max_reward = 4
+        
+    def step(self,action=np.zeros(14)):
+        self.obs = self._get_obs()
+        self.rew = self._get_reward()
+        super().step(action)
+        
+
+
+    def reset(self):
+        super().reset()
+
+    def preStep(self, action):
+        pass
+
+    def get_env_state(self):
+        return self.mj_data.qpos.copy()[16:]
+
+    def _get_reward(self):
+        all_contact_pairs = []
+        for collision_num in range(self.mj_data.ncon):
+            geom1 = self.mj_data.contact[collision_num].geom1
+            geom2 = self.mj_data.contact[collision_num].geom2
+            name_geom_1 = self.getID2Name('geom',geom1)
+            name_geom_2 = self.getID2Name('geom',geom2)
+            contact_pair = (name_geom_1, name_geom_2)
+            all_contact_pairs.append(contact_pair)
+
+        touch_left_gripper = ("red_box", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
+        touch_right_gripper = ("red_box", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
+        touch_table = ("red_box", "table") in all_contact_pairs
+
+        reward = 0
+        if touch_right_gripper:
+            reward = 1
+        if touch_right_gripper and not touch_table: # lifted
+            reward = 2
+        if touch_left_gripper: # attempted transfer
+            reward = 3
+        if touch_left_gripper and not touch_table: # successful transfer
+            reward = 4
+        return reward
+        
+
+def make_ee_sim_env(task_name):
+    if 'sim_transfer_cube' in task_name:
+        from roboimi.assets.robots.vx300s import VX300s_transfer_ee
+        env = DualVX300S_EE_Transfer(
+            robot=VX300s_transfer_ee(),
+            is_render=True,
+            control_freq=200,
+            cam_view='top'
+        )
+    elif 'sim_insertion' in task_name:
+        from roboimi.assets.robots.vx300s import VX300s_insert_ee
+        env = DualVX300S_EE_Insert(
+            robot=VX300s_insert_ee(),
+            is_render=False,
+            control_freq=30,
+            cam_view='top'
+        )
+    else:
+        raise NotImplementedError
+    return env
+
+
+if __name__ == "__main__":
+    task_name = 'sim_insertion'
+    env = make_ee_sim_env(task_name)
+    env.reset()
+    action_l = np.array([-0.0,0.1,0.3,
+                         1.0,0.0,0.0,0.0])
+    action_r = np.array([0.1,-0.1,0.1,
+                         1.0,0.0,0.0,0.0])
+    action_gripper = np.array([1.0,-0.3])
+    action = np.hstack((action_l,action_r,action_gripper))
+    time=0
+    for t in range(int(100)):
+        print("main step ", t)
+        env.step(action)
+        print("obs=",env.obs['gripper_ctrl'])
+        time +=1
+        if env.is_render:
+            env.render()
+        
\ No newline at end of file
diff --git a/roboimi/envs/vx300s_ee_base.py b/roboimi/envs/vx300s_ee_base.py
new file mode 100644
index 0000000..2464e80
--- /dev/null
+++ b/roboimi/envs/vx300s_ee_base.py
@@ -0,0 +1,212 @@
+import numpy as np
+import time
+from roboimi.envs.mujoco_base import MujocoEnv
+import cv2
+from roboimi.utils.interpolators import OTG
+import mujoco as mj
+import threading
+import collections
+import time
+from roboimi.utils.constants import PUPPET_GRIPPER_POSITION_CLOSE
+from roboimi.utils.constants import PUPPET_GRIPPER_POSITION_NORMALIZE_FN,PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN
+CLOSE_GRIPPER = np.array([
+                            -0.0409,
+                            0.0409,
+                            PUPPET_GRIPPER_POSITION_CLOSE,
+                            -PUPPET_GRIPPER_POSITION_CLOSE,
+                        ])
+
+
+class DualVX300S_EE_base(MujocoEnv):
+    """
+
+    :param is_render: Choose if use the renderer to render the scene or not.
+    :param renderer: Choose official renderer with "viewer",
+            another renderer with "mujoco_viewer"
+    :param control_freq: Upper-layer control frequency.
+            Note that high frequency will cause high time-lag.
+    :param is_interpolate: Use interpolator while stepping.
+    """
+
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=20,
+                 cam_view=None
+                 ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq
+        )
+        self.arm_left  = self.robot.left_arm
+        self.arm_right = self.robot.right_arm
+        self.base_time = self.control_timestep
+        self.cam = cam_view
+        # np.copyto(physics.data.ctrl, close_gripper_control)
+
+        #camera view setting
+        self.vis = None
+        self.top = None
+        self.angle = None
+        # self.cam_start()
+        
+        
+    def reset(self):
+        self._setInitPose()
+        mj.mj_step(self.mj_model, self.mj_data)
+        # super().reset()
+
+
+    def step(self,action=np.zeros(6)):
+        for i in range(int(self.control_timestep / self.model_timestep)):
+            if int(self.control_timestep / self.model_timestep) == 0:
+                raise ValueError("Control frequency is too low. Checkout you are not in renderer mode."
+                                 "Current Model-Timestep:{}".format(self.model_timestep))
+            super().step(action)
+            
+
+    def preStep(self, action):
+        if len(action) == 18:
+            action_gripper = action[-4:]
+            action_cart = action[:14]
+            pos_l = action_cart[:3]
+            quat_l = action_cart[3:7]
+            pos_r = action_cart[7:10]
+            quat_r = action_cart[10:14]
+            self.motion_Cap(pos_l,quat_l,self.arm_left)
+            self.motion_Cap(pos_r,quat_r,self.arm_right)
+            self.gripper_ctrl(action_gripper)
+        else:
+            raise AttributeError
+        
+        
+    def motion_Cap(self,pos : np.ndarray, quat : np.ndarray, Arm):
+        self.mj_data.mocap_pos[Arm.ee_mocap] = pos
+        self.mj_data.mocap_quat[Arm.ee_mocap] = quat
+
+
+    def gripper_ctrl(self,ctrl=CLOSE_GRIPPER):
+        if len(ctrl)==4:
+            self.mj_data.actuator(self.arm_left.actuator_index[0]).ctrl = ctrl[0]
+            self.mj_data.actuator(self.arm_left.actuator_index[1]).ctrl = ctrl[1]
+            self.mj_data.actuator(self.arm_right.actuator_index[0]).ctrl = ctrl[2]
+            self.mj_data.actuator(self.arm_right.actuator_index[1]).ctrl = ctrl[3]
+        else:
+            raise AttributeError("length of gripper ctrl vector should be 4 ")
+
+
+    @property
+    def get_obs_qpos(self):
+        qpos_left = np.zeros(self.arm_left.jnt_num)
+        qpos_right = np.zeros(self.arm_right.jnt_num)
+        for i in range(self.arm_left.jnt_num):
+            qpos_left[i] = self.mj_data.joint(self.arm_left.joint_index[i]).qpos
+        for i in range(self.arm_right.jnt_num):
+            qpos_right[i] = self.mj_data.joint(self.arm_right.joint_index[i]).qpos
+        left_gripper_qpos = self.mj_data.joint(self.arm_left.gripper_index[0]).qpos
+        right_gripper_qpos = self.mj_data.joint(self.arm_right.gripper_index[0]).qpos
+        return np.hstack([qpos_left,left_gripper_qpos,qpos_right,right_gripper_qpos])
+
+
+    @property
+    def get_obs_qvel(self):
+        qvel_left = np.zeros(self.arm_left.jnt_num)
+        qvel_right = np.zeros(self.arm_right.jnt_num)
+        for i in range(self.arm_left.jnt_num):
+            qvel_left[i] = self.mj_data.joint(self.arm_left.joint_index[i]).qvel
+        for i in range(self.arm_right.jnt_num):
+            qvel_right[i] = self.mj_data.joint(self.arm_right.joint_index[i]).qvel
+        left_gripper_qvel = PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN(self.mj_data.joint(self.arm_left.gripper_index[0]).qvel)
+        right_gripper_qvel = PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN(self.mj_data.joint(self.arm_right.gripper_index[0]).qvel)
+        return np.hstack([qvel_left,left_gripper_qvel,qvel_right,right_gripper_qvel])
+
+
+    def _get_obs(self):
+        obs = collections.OrderedDict()
+        obs['qpos'] = self.get_obs_qpos
+        obs['qvel'] = self.get_obs_qvel
+        obs['env_state'] = self.get_env_state()
+        obs['images'] = dict()
+        obs['images']['top']   = self.top
+        obs['images']['angle'] = self.angle
+        obs['images']['vis']   = self.vis
+        #used in scripted policy to obtain starting pose
+        obs['mocap_pose_left'] = np.concatenate([self.mj_data.mocap_pos[0], self.mj_data.mocap_quat[0]]).copy()
+        obs['mocap_pose_right'] = np.concatenate([self.mj_data.mocap_pos[1], self.mj_data.mocap_quat[1]]).copy()
+        obs['gripper_ctrl'] = self.mj_data.ctrl.copy()
+        return obs
+
+
+    def get_env_state(self):
+        raise NotImplementedError
+
+    
+    def _get_reward(self):
+        raise NotImplementedError
+
+
+    @property
+    def cam_view(self):
+        if self.cam == 'top':
+            return self.top
+        elif self.cam == 'angle':
+            return self.angle
+        elif self.cam == 'vis':
+            return self.vis
+        else:
+            raise AttributeError("please input right name")
+
+
+    def camera_viewer(self):
+        img_renderer = mj.Renderer(self.mj_model,height=480,width=640)
+        cv2.namedWindow('Cam view',cv2.WINDOW_NORMAL)
+        while True:
+            img_renderer.update_scene(self.mj_data,camera="front_close")
+            self.vis = img_renderer.render()
+            img_renderer.update_scene(self.mj_data,camera="top")
+            self.top = img_renderer.render()
+            img_renderer.update_scene(self.mj_data,camera="angle")
+            self.angle = img_renderer.render()
+            # org = img_renderer.render()
+            # self.image = org[:, :, ::-1]
+            cv2.imshow('Cam view', self.cam_view)
+            cv2.waitKey(1)
+
+
+    def cam_start(self):
+        cam_thread = threading.Thread(target=self.camera_viewer)
+        cam_thread.daemon = True
+        cam_thread.start()
+
+
+
+# if __name__ == "__main__":
+#     from roboimi.assets.robots.vx300s import VX300s_insert_ee,VX300s_transfer_ee
+
+#     env = DualVX300S_EE_base(
+#         robot=VX300s_insert_ee(),
+#         is_render=True,
+#         control_freq=200,
+#         cam_view='top'
+#     )
+
+    
+
+#     env.reset()
+#     action_l = np.array([-0.2,0.3,0.3,
+#                          1.0,0.0,0.0,0.0])
+#     # action_r = np.array([0.3,0.1,0.3,
+#     #                      1.0,0.0,0.0,0.0])
+#     action_r = np.array([0.2,0.3,0.3,
+#                          1.0,0.0,0.0,0.0])
+#     gripper = np.array([0.0,0.0,0.0,0.0])
+#     action = np.hstack((action_l,action_r,gripper))
+    
+#     for t in range(int(1e6)):
+#         env.step(action)
+#         if env.is_render:
+#             env.render()
+        
\ No newline at end of file
diff --git a/roboimi/envs/vx300s_jnt.py b/roboimi/envs/vx300s_jnt.py
new file mode 100644
index 0000000..6cddfa8
--- /dev/null
+++ b/roboimi/envs/vx300s_jnt.py
@@ -0,0 +1,259 @@
+import numpy as np
+import time
+from roboimi.envs.vx300s_jnt_base import DualVX300S_Jnt_base
+import cv2
+from roboimi.utils.interpolators import OTG
+import mujoco as mj
+import threading
+from pyquaternion import Quaternion
+import copy
+
+
+
+class DualVX300S_Jnt_Insert(DualVX300S_Jnt_base):
+    """
+
+    :param is_render: Choose if use the renderer to render the scene or not.
+    :param renderer: Choose official renderer with "viewer",
+            another renderer with "mujoco_viewer"
+    :param control_freq: Upper-layer control frequency.
+            Note that high frequency will cause high time-lag.
+    :param cam_view: Choice of Camera view.
+    """
+
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=200,
+                 cam_view=None
+                 ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq,
+            cam_view=cam_view
+        )
+        self.obs = None
+        self.rew = None
+        self.max_reward = 4
+        self.box_pose = None
+        self.num = 0
+        
+        self.cam_start()
+        
+
+
+    def step(self,action=np.zeros(14)):
+        self.obs = self._get_obs()
+        self.rew = self._get_reward()
+        super().step(action)
+
+
+    def reset(self,box_pose):
+        self.mj_data.joint('red_peg_joint').qpos[0] = box_pose[0]
+        self.mj_data.joint('red_peg_joint').qpos[1] = box_pose[1]
+        self.mj_data.joint('red_peg_joint').qpos[2] = box_pose[2]
+        self.mj_data.joint('red_peg_joint').qpos[3] = 1.0
+        self.mj_data.joint('red_peg_joint').qpos[4] = 0.0
+        self.mj_data.joint('red_peg_joint').qpos[5] = 0.0
+        self.mj_data.joint('red_peg_joint').qpos[6] = 0.0
+
+        self.mj_data.joint('blue_socket_joint').qpos[0] = box_pose[3]
+        self.mj_data.joint('blue_socket_joint').qpos[1] = box_pose[4]
+        self.mj_data.joint('blue_socket_joint').qpos[2] = box_pose[5]
+        self.mj_data.joint('blue_socket_joint').qpos[3] = 1.0
+        self.mj_data.joint('blue_socket_joint').qpos[4] = 0.0
+        self.mj_data.joint('blue_socket_joint').qpos[5] = 0.0
+        self.mj_data.joint('blue_socket_joint').qpos[6] = 0.0
+        super().reset()
+       
+        self.cam_flage = True
+        t=0
+        while self.cam_flage:
+            if(type(self.top)==type(None)):
+                time.sleep(0.01)
+                # self.obs = self._get_obs()
+                t+=1
+            else:
+                self.cam_flage=False
+                print("\nsleep time=",0.01*t)
+        self.obs = self._get_obs()
+
+
+    def preStep(self, action=np.zeros(14)):
+        action_left = action[:self.arm_left.jnt_num]
+        action_right = action[self.arm_right.jnt_num+1:-1]
+        if self.num >= 15000:
+            action_grip = np.array([action[self.arm_left.jnt_num]*0.6,-action[self.arm_left.jnt_num]*0.6,action[-1]*0.4,-action[-1]*0.4])
+            # if self.num >=27000:
+            #     action_grip = np.array([action[self.arm_left.jnt_num]*0.4,-action[self.arm_left.jnt_num]*0.4,action[-1]*0.3,-action[-1]*0.3])
+
+        else:
+            action_grip = np.array([action[self.arm_left.jnt_num],-action[self.arm_left.jnt_num],action[-1],-action[-1]])
+        action_jnt_base = np.hstack((action_left,action_right,action_grip))
+        super().preStep(action_jnt_base)
+        self.num += 1
+        
+
+        
+         
+    def get_env_state(self):
+        return self.mj_data.qpos.copy()[16:]
+    
+    def _get_reward(self):
+        all_contact_pairs = []
+        for collision_num in range(self.mj_data.ncon):
+            geom1 = self.mj_data.contact[collision_num].geom1
+            geom2 = self.mj_data.contact[collision_num].geom2
+            name_geom_1 = self.getID2Name('geom',geom1)
+            name_geom_2 = self.getID2Name('geom',geom2)
+            contact_pair = (name_geom_1, name_geom_2)
+            all_contact_pairs.append(contact_pair)
+
+        touch_right_gripper = ("red_peg", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
+        touch_left_gripper = ("socket-1", "vx300s_left/10_left_gripper_finger") in all_contact_pairs or \
+                             ("socket-2", "vx300s_left/10_left_gripper_finger") in all_contact_pairs or \
+                             ("socket-3", "vx300s_left/10_left_gripper_finger") in all_contact_pairs or \
+                             ("socket-4", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
+
+        peg_touch_table = ("red_peg", "table") in all_contact_pairs
+        socket_touch_table = ("socket-1", "table") in all_contact_pairs or \
+                             ("socket-2", "table") in all_contact_pairs or \
+                             ("socket-3", "table") in all_contact_pairs or \
+                             ("socket-4", "table") in all_contact_pairs
+        peg_touch_socket = ("red_peg", "socket-1") in all_contact_pairs or \
+                           ("red_peg", "socket-2") in all_contact_pairs or \
+                           ("red_peg", "socket-3") in all_contact_pairs or \
+                           ("red_peg", "socket-4") in all_contact_pairs
+        pin_touched = ("red_peg", "pin") in all_contact_pairs
+
+        reward = 0
+        if touch_left_gripper and touch_right_gripper: # touch both
+            reward = 1
+        if touch_left_gripper and touch_right_gripper and (not peg_touch_table) and (not socket_touch_table): # grasp both
+            reward = 2
+        if peg_touch_socket and (not peg_touch_table) and (not socket_touch_table): # peg and socket touching
+            reward = 3
+        if pin_touched: # successful insertion
+            reward = 4
+        return reward
+        
+
+
+
+# class DualVX300S_Jnt_Transfer(DualVX300S_Jnt_base):
+#     """
+
+#     :param is_render: Choose if use the renderer to render the scene or not.
+#     :param renderer: Choose official renderer with "viewer",
+#             another renderer with "mujoco_viewer"
+#     :param control_freq: Upper-layer control frequency.
+#             Note that high frequency will cause high time-lag.
+#     :param cam_view: Choice of Camera view.
+#     """
+
+#     def __init__(self,
+#                  robot=None,
+#                  is_render=False,
+#                  renderer="viewer",
+#                  control_freq=200,
+#                  cam_view=None
+#                  ):
+#         super().__init__(
+#             robot=robot,
+#             is_render=is_render,
+#             renderer=renderer,
+#             control_freq=control_freq,
+#             cam_view=cam_view
+#         )
+#         self.obs = None
+#         self.rew = None
+#         self.max_reward = 4
+        
+#     def step(self,action=np.zeros(14)):
+#         self.obs = self._get_obs()
+#         self.rew = self._get_reward()
+#         super().step(action)
+        
+
+
+#     def reset(self):
+#         super().reset()
+
+#     def preStep(self, action):
+#         pass
+
+#     def get_env_state(self):
+#         return self.mj_data.qpos.copy()[16:]
+
+#     def _get_reward(self):
+#         all_contact_pairs = []
+#         for collision_num in range(self.mj_data.ncon):
+#             geom1 = self.mj_data.contact[collision_num].geom1
+#             geom2 = self.mj_data.contact[collision_num].geom2
+#             name_geom_1 = self.getID2Name('geom',geom1)
+#             name_geom_2 = self.getID2Name('geom',geom2)
+#             contact_pair = (name_geom_1, name_geom_2)
+#             all_contact_pairs.append(contact_pair)
+
+#         touch_left_gripper = ("red_box", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
+#         touch_right_gripper = ("red_box", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
+#         touch_table = ("red_box", "table") in all_contact_pairs
+
+#         reward = 0
+#         if touch_right_gripper:
+#             reward = 1
+#         if touch_right_gripper and not touch_table: # lifted
+#             reward = 2
+#         if touch_left_gripper: # attempted transfer
+#             reward = 3
+#         if touch_left_gripper and not touch_table: # successful transfer
+#             reward = 4
+#         return reward
+        
+
+def make_sim_env(task_name):
+    # if 'sim_transfer_cube' in task_name:
+    #     from roboimi.assets.robots.vx300s import VX300s_transfer_jnt
+    #     env = DualVX300S_Jnt_Transfer(
+    #         robot=VX300s_transfer_jnt(),
+    #         is_render=True,
+    #         control_freq=30,
+    #         cam_view='top'
+    #     )
+    if 'sim_insertion' in task_name:
+        from roboimi.assets.robots.vx300s import VX300s_insert_jnt
+        env = DualVX300S_Jnt_Insert(
+            robot=VX300s_insert_jnt(),
+            is_render=True,
+            control_freq=30,
+            cam_view='top'
+        )
+    else:
+        raise NotImplementedError
+    return env
+
+
+if __name__ == "__main__":
+    task_name = 'sim_insertion'
+    env = make_sim_env(task_name)
+    box = np.array([0.0,0.5,1.05,-0.2,-0.8,0.05])
+    env.reset(box)
+    action_l = np.array([-0.0,-0.0,-0.5,
+                         0.0,0.0,0.0])
+    action_r = np.array([-0.5,0.0,0.0,
+                         0.0,0.0,0.0])
+    action_grip = np.array([-0.1,-0.1])
+    action = np.hstack((action_l,action_r,action_grip))
+    ti=0
+    for t in range(int(1e6)):
+        env.step(action)
+        ti +=1
+        print("ti==",ti)
+        if env.is_render:
+            env.render()
+        # if time == 1000:
+        #     env.reset()
+        #     time= 0
\ No newline at end of file
diff --git a/roboimi/envs/vx300s_jnt_base.py b/roboimi/envs/vx300s_jnt_base.py
new file mode 100644
index 0000000..7d2f646
--- /dev/null
+++ b/roboimi/envs/vx300s_jnt_base.py
@@ -0,0 +1,222 @@
+import numpy as np
+import time
+from roboimi.envs.mujoco_base import MujocoEnv
+import cv2
+from roboimi.utils.interpolators import OTG
+import mujoco as mj
+import threading
+from threading import Event
+import collections
+from roboimi.utils.constants import PUPPET_GRIPPER_POSITION_NORMALIZE_FN
+
+class DualVX300S_Jnt_base(MujocoEnv):
+    """
+
+    :param is_render: Choose if use the renderer to render the scene or not.
+    :param renderer: Choose official renderer with "viewer",
+            another renderer with "mujoco_viewer"
+    :param control_freq: Upper-layer control frequency.
+            Note that high frequency will cause high time-lag.
+    :param is_interpolate: Use interpolator while stepping.
+    """
+
+    def __init__(self,
+                 robot=None,
+                 is_render=False,
+                 renderer="viewer",
+                 control_freq=20,
+                 cam_view=None
+                 ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq
+        )
+        self.arm_left  = self.robot.left_arm
+        self.arm_right = self.robot.right_arm
+        self.base_time = self.control_timestep
+        self.cam = cam_view
+        #camera view setting
+        self.vis = None
+        self.top = None
+        self.angle = None
+        self.cam_is_open = False
+        self.event = None
+        # self.cam_start()
+
+        
+    def reset(self):
+        # self.event = Event()
+        # self.event.clear()
+        # self.img_renderer = mj.Renderer(self.mj_model,height=480,width=640)
+        self._setInitPose()
+        mj.mj_step(self.mj_model, self.mj_data)
+        
+
+    def step(self,action=np.zeros(6)):
+        for i in range(int(self.control_timestep / self.model_timestep)):
+            if int(self.control_timestep / self.model_timestep) == 0:
+                raise ValueError("Control frequency is too low. Checkout you are not in renderer mode."
+                                 "Current Model-Timestep:{}".format(self.model_timestep))
+            super().step(action)
+
+
+    def preStep(self, action):
+        if len(action) == self.robot.jnt_num + 4 and action is not None:
+            action_l = action[:self.arm_left.jnt_num]
+            action_r = action[self.arm_left.jnt_num:-4]
+            self.move_J(action_l,self.arm_left)
+            self.move_J(action_r,self.arm_right)
+            grasp_ctrl = action[-4:]
+            self.gripper_ctrl(grasp_ctrl)
+        else:
+            raise AttributeError
+        
+
+    def move_J(self, jnt : np.ndarray, Arm):
+        if len(jnt) == Arm.jnt_num:
+            for i in range(Arm.jnt_num):
+                self.mj_data.actuator(Arm.actuator_index[i]).ctrl = jnt[i]
+        else:
+            raise AttributeError
+        
+
+    def gripper_ctrl(self, ctrl : np.ndarray):
+        if len(ctrl) == 4:
+            self.mj_data.actuator(self.arm_left.actuator_index[6]).ctrl = ctrl[0]
+            self.mj_data.actuator(self.arm_left.actuator_index[7]).ctrl = ctrl[1]
+            self.mj_data.actuator(self.arm_right.actuator_index[6]).ctrl = ctrl[2]
+            self.mj_data.actuator(self.arm_right.actuator_index[7]).ctrl = ctrl[3]
+        else:
+            raise AttributeError
+        
+
+    @property
+    def get_obs_qpos(self):
+        qpos_left = np.zeros(self.arm_left.jnt_num)
+        qpos_right = np.zeros(self.arm_right.jnt_num)
+        for i in range(self.arm_left.jnt_num):
+            qpos_left[i] = self.mj_data.joint(self.arm_left.joint_index[i]).qpos
+        for i in range(self.arm_right.jnt_num):
+            qpos_right[i] = self.mj_data.joint(self.arm_right.joint_index[i]).qpos
+        left_gripper_qpos = self.mj_data.joint(self.arm_left.gripper_index[0]).qpos
+        right_gripper_qpos = self.mj_data.joint(self.arm_right.gripper_index[0]).qpos
+        return np.hstack([qpos_left,left_gripper_qpos,qpos_right,right_gripper_qpos])
+    
+
+    def _get_obs(self):
+        obs = collections.OrderedDict()
+        obs['qpos'] = self.get_obs_qpos
+        obs['qvel'] = self.mj_data.qvel
+        obs['env_state'] = self.get_env_state()
+        obs['images'] = dict()
+        obs['images']['top']   = self.top
+        obs['images']['angle'] = self.angle
+        obs['images']['vis']   = self.vis
+        return obs
+
+
+    def get_env_state(self):
+        raise NotImplementedError
+
+    
+    def _get_reward(self):
+        raise NotImplementedError
+
+    @property
+    def cam_view(self):
+        if self.cam == 'top':
+            return self.top
+        elif self.cam == 'angle':
+            return self.angle
+        elif self.cam == 'vis':
+            return self.vis
+        else:
+            raise AttributeError("please input right name")
+
+    def camera_viewer_test(self):
+            self.img_renderer = mj.Renderer(self.mj_model,height=480,width=640)
+            self.img_renderer.update_scene(self.mj_data,camera="front_close")
+            self.vis = self.img_renderer.render()
+            self.vis = self.vis[:, :, ::-1]
+            self.img_renderer.update_scene(self.mj_data,camera="top")
+            self.top = self.img_renderer.render()
+            self.top =self.top[:, :, ::-1]
+            self.img_renderer.update_scene(self.mj_data,camera="angle")
+            self.angle = self.img_renderer.render()
+            self.angle = self.angle[:, :, ::-1]
+            
+
+    def camera_viewer(self):
+        img_renderer = mj.Renderer(self.mj_model,height=480,width=640)
+        print("delay ========",time.time()-self.mj_time)
+        # cv2.namedWindow('Cam view',cv2.WINDOW_NORMAL)
+        while True:
+            # print("init win")
+            # if self.event.isSet():
+            #     cv2.destroyAllWindows()
+            #     print("event is set")
+            #     break
+            
+            img_renderer.update_scene(self.mj_data,camera="front_close")
+            self.vis = img_renderer.render()
+            self.vis = self.vis[:, :, ::-1]
+            img_renderer.update_scene(self.mj_data,camera="top")
+            self.top = img_renderer.render()
+            self.top =self.top[:, :, ::-1]
+            img_renderer.update_scene(self.mj_data,camera="angle")
+            self.angle = img_renderer.render()
+            self.angle = self.angle[:, :, ::-1]
+            
+            
+            # cv2.imshow('Cam view', self.top)
+            # cv2.waitKey(1)
+            
+
+
+
+    def cam_start(self):
+        
+        self.cam_thread = threading.Thread(target=self.camera_viewer)
+        self.cam_thread.daemon = True
+        self.cam_thread.start()
+        
+
+
+
+
+
+
+if __name__ == "__main__":
+    from roboimi.assets.robots.vx300s import VX300s_insert_jnt,VX300s_transfer_jnt
+
+    env = DualVX300S_Jnt_base(
+        robot=VX300s_insert_jnt(),
+        is_render=True,
+        control_freq=200,
+        cam_view='top'
+    )
+
+    # env = DualVX300S_EE_base(
+    #     robot=VX300s_transfer(),
+    #     is_render=True,
+    #     control_freq=200,
+    #     cam_view='top'
+    # )
+
+    # env = transfer
+    env.reset()
+    # env.cam_start()
+    action_l = np.zeros(6)
+    action_l[0]=0.9
+    action_r = np.zeros(6)
+    action_r[0] = -0.0
+    gripper_ctrl = np.array([0.0,-0,0.0,0.0])
+    action = np.hstack((action_l,action_r,gripper_ctrl))
+    # action = np.array([1,2,3,4,5,6,7,8,9,10,11,12])
+    for t in range(int(1e6)):
+        env.step(action)
+        if env.is_render:
+            env.render()
+        
\ No newline at end of file
diff --git a/roboimi/scripts/diana.py b/roboimi/scripts/diana.py
new file mode 100644
index 0000000..49c29cd
--- /dev/null
+++ b/roboimi/scripts/diana.py
@@ -0,0 +1,185 @@
+import numpy as np
+from roboimi.envs.single_base import SingleArmEnv
+import threading,lcm,rclpy,copy,mujoco,os,time
+from roboimi.scripts.lcm_interfaces.diana_joint_states_t import diana_joint_states_t
+from std_msgs.msg import Float32MultiArray
+from rclpy.node import Node
+from rclpy.executors import SingleThreadedExecutor
+
+# 遥操位置控制，即运动学控制时，要关闭xml的重力，即 gravity="disable"
+class Diana_Teleop():
+    def __init__(self, xml_path):
+        self.model = mujoco.MjModel.from_xml_path(xml_path)
+        self.data  = mujoco.MjData(self.model)
+        self.control_freq = 200
+        self.sim_freq = 2000
+        self.freq = int(np.floor(self.sim_freq/self.control_freq))
+        self.target_qpos = np.array([0.0, 0.0, 0.0, 2.17, 0.0, -0.9, 0.0])
+
+        # keyboard flag
+        self.render_paused = True
+        self.exit_flag = False
+        self.is_render = False
+        self.renderer = None
+        self.time_interval = 0.005
+        self.shared_resource_lock = threading.Lock()
+
+        self.sub = LCM_sub("diana_joint_state")
+        self.lcm_thread = threading.Thread(target=self.sub.lcm_spin)
+        self.robot_jnt = ["0_j1","0_j2","0_j3","0_j4","0_j5","0_j6","0_j7"]
+        self.initRender(True, 'viewer')
+
+        self.arm = np.zeros(7)
+        self.node = Node("diana_sim_publisher")
+        self.publisher = self.node.create_publisher(Float32MultiArray, 'mj_joint_states', 10)
+        self.ros2_thread = threading.Thread(target=self.ros2_publisher)
+
+        # self.timer = self.node.create_timer(0.001, self.timer_callback)  # 每1毫秒调用一次回调
+        # self.exe = SingleThreadedExecutor()
+        # self.exe.add_node(self.node)
+
+
+    
+    def initRender(self,is_render : bool, viewer : str):
+        self.is_render = is_render
+        if self.is_render:
+            if viewer == "viewer":
+                def key_callback(keycode):
+                    if keycode == 32: #space
+                        self.render_paused = not self.render_paused
+                    elif keycode == 256: #escape
+                        self.exit_flag = not self.exit_flag
+
+                self.viewer = mujoco.viewer.launch_passive(self.model, self.data,
+                                                key_callback=key_callback, show_left_ui=False, show_right_ui=False)
+                self.viewer.cam.lookat = np.array([0.4, 0, 0.5])
+                self.viewer.cam.azimuth -= 0.005
+                with self.viewer.lock():
+                    self.viewer.opt.flags[mujoco.mjtVisFlag.mjVIS_CONTACTPOINT] = int(self.data.time % 2)
+                print("mujoco viewer init !") 
+            else:
+                raise ValueError('renderer init failed for some reason.')
+        
+        else:
+            print("No asking for render simulation")
+    
+
+    def setArmPos(self,q : np.ndarray):
+        for i in range(7):
+            self.target_qpos[i] = q[i]
+  
+
+    def getArmPos(self):
+        q = np.zeros(7)
+        for i in range(7):
+            q[i] = self.data.joint(self.robot_jnt[i]).qpos[0]
+        return q
+
+    def publish_joint_angles(self, angles):
+        angles = [float(x) for x in angles]
+        msg = Float32MultiArray()
+        msg.data = angles
+        self.publisher.publish(msg)
+        # self.node.get_logger().info(f'Publishing joint angles: {msg.data}')
+    
+    def timer_callback(self): # ros2线程管理
+        self.publish_joint_angles(self.arm)
+
+
+    def ros2_publisher(self): # thread线程管理
+        while True:
+            self.publish_joint_angles(self.arm)
+            time.sleep(0.001)
+
+
+    def mj_run(self):
+        num = 0
+        while True:
+            for unit_interval in range(self.freq):
+                if self.sub.flag:
+                    self.setArmPos(self.sub.diana_arm)    
+                    for i in range(7):
+                        self.data.joint(self.robot_jnt[i]).qpos[0] = self.target_qpos[i]
+                    self.sub.flag = False         
+                else:
+                    for i in range(7):
+                        self.data.joint(self.robot_jnt[i]).qpos[0] = self.target_qpos[i]
+                mujoco.mj_forward(self.model, self.data)
+                mujoco.mj_step(self.model, self.data)
+                self.arm  = self.getArmPos()
+                # self.publish_joint_angles(self.arm)
+            if self.is_render:
+                self.shared_resource_lock.acquire()
+                if self.viewer is not None and self.render_paused is True:
+                    if self.viewer.is_running() and self.exit_flag is False:
+                        self.viewer: mujoco.viewer.Handle
+                        self.viewer.sync()
+                    else:
+                        self.viewer.close() 
+                self.shared_resource_lock.release()
+            else:
+                pass
+
+    
+class LCM_sub(object):
+    def __init__(self,name : str):
+        self.lc = lcm.LCM()
+        self.sub_ = self.lc.subscribe(name, self.lcm_handler)
+        self.msg = None
+        self.diana_arm = np.array([0.0, 0.0, 0.0, 2.17, 0.0, -0.9, 0.0])
+        self.pre_diana_arm = np.array([0.0, 0.0, 0.0, 2.17, 0.0, -0.9, 0.0])
+        # self.diana_arm = np.array([0.0, 0.0, 0.0, 1.57, 0.0, 0.0, 0.0])
+        # self.pre_diana_arm = np.array([0.0, 0.0, 0.0, 1.57, 0.0, 0.0, 0.0])
+        self.temp = np.zeros(7)
+        self.ulim = np.array([ 2.56,  1.57,  2.56, 3.05,  3.05, 0.523,  3.05])
+        self.llim = np.array([-2.56, -1.57, -2.56,  0.0, -3.05, -3.05, -3.05])
+        self.flag = False
+        
+    def lcm_handler(self,channel, data):
+        self.msg = diana_joint_states_t.decode(data)
+        if self.msg.enabled:
+            self.flag = True
+            for i in range(7):
+                self.diana_arm[i]  = np.maximum(self.llim[i],np.minimum(self.msg.jntpos[i],self.ulim[i]))     
+                self.temp[i] = self.diana_arm[i]
+                # if self.diana_arm[i]-self.pre_diana_arm[i] > 0.003:
+                #     self.diana_arm[i] = self.pre_diana_arm[i]+0.003
+                # elif self.diana_arm[i]-self.pre_diana_arm[i] < -0.003:
+                #     self.diana_arm[i] = self.pre_diana_arm[i]-0.003
+                # else:
+                #     pass
+            # print("connected!!! \n")
+        else:
+            pass
+
+    def lcm_spin(self):
+        try:
+            while True:
+                self.lc.handle()
+        except KeyboardInterrupt:
+            self.lc.unsubscribe(self.sub_)
+            print("KeyboardInterrupt !")
+        
+def main(args=None):
+    rclpy.init(args=args)
+    CURRENT = os.getcwd()
+    scence = CURRENT + '/assets/singlediana.xml'
+    print(scence)
+    env = Diana_Teleop(scence)
+    # 收发线程放在控制线程前
+    try:
+        env.lcm_thread.start()
+        # env.exe.spin()
+        env.ros2_thread.start()
+        env.mj_run() 
+    except KeyboardInterrupt:
+        print("\nbye")
+    finally:
+        rclpy.try_shutdown()
+
+
+
+if __name__ == '__main__':
+    main()
+    
+
diff --git a/roboimi/scripts/lcm_interfaces/diana_joint_states_t.py b/roboimi/scripts/lcm_interfaces/diana_joint_states_t.py
new file mode 100644
index 0000000..44062d2
--- /dev/null
+++ b/roboimi/scripts/lcm_interfaces/diana_joint_states_t.py
@@ -0,0 +1,80 @@
+"""LCM type definitions
+This file automatically generated by lcm.
+DO NOT MODIFY BY HAND!!!!
+"""
+
+try:
+    import cStringIO.StringIO as BytesIO
+except ImportError:
+    from io import BytesIO
+import struct
+
+class diana_joint_states_t(object):
+    __slots__ = ["timestamp", "jntpos", "num", "name", "enabled"]
+
+    __typenames__ = ["int64_t", "double", "int32_t", "string", "boolean"]
+
+    __dimensions__ = [None, [7], None, None, None]
+
+    def __init__(self):
+        self.timestamp = 0
+        self.jntpos = [ 0.0 for dim0 in range(7) ]
+        self.num = 0
+        self.name = ""
+        self.enabled = False
+
+    def encode(self):
+        buf = BytesIO()
+        buf.write(diana_joint_states_t._get_packed_fingerprint())
+        self._encode_one(buf)
+        return buf.getvalue()
+
+    def _encode_one(self, buf):
+        buf.write(struct.pack(">q", self.timestamp))
+        buf.write(struct.pack('>7d', *self.jntpos[:7]))
+        buf.write(struct.pack(">i", self.num))
+        __name_encoded = self.name.encode('utf-8')
+        buf.write(struct.pack('>I', len(__name_encoded)+1))
+        buf.write(__name_encoded)
+        buf.write(b"\0")
+        buf.write(struct.pack(">b", self.enabled))
+
+    def decode(data):
+        if hasattr(data, 'read'):
+            buf = data
+        else:
+            buf = BytesIO(data)
+        if buf.read(8) != diana_joint_states_t._get_packed_fingerprint():
+            raise ValueError("Decode error")
+        return diana_joint_states_t._decode_one(buf)
+    decode = staticmethod(decode)
+
+    def _decode_one(buf):
+        self = diana_joint_states_t()
+        self.timestamp = struct.unpack(">q", buf.read(8))[0]
+        self.jntpos = struct.unpack('>7d', buf.read(56))
+        self.num = struct.unpack(">i", buf.read(4))[0]
+        __name_len = struct.unpack('>I', buf.read(4))[0]
+        self.name = buf.read(__name_len)[:-1].decode('utf-8', 'replace')
+        self.enabled = bool(struct.unpack('b', buf.read(1))[0])
+        return self
+    _decode_one = staticmethod(_decode_one)
+
+    def _get_hash_recursive(parents):
+        if diana_joint_states_t in parents: return 0
+        tmphash = (0xb623cd9515080fd9) & 0xffffffffffffffff
+        tmphash  = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
+        return tmphash
+    _get_hash_recursive = staticmethod(_get_hash_recursive)
+    _packed_fingerprint = None
+
+    def _get_packed_fingerprint():
+        if diana_joint_states_t._packed_fingerprint is None:
+            diana_joint_states_t._packed_fingerprint = struct.pack(">Q", diana_joint_states_t._get_hash_recursive([]))
+        return diana_joint_states_t._packed_fingerprint
+    _get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
+
+    def get_hash(self):
+        """Get the LCM hash of the struct"""
+        return struct.unpack(">Q", diana_joint_states_t._get_packed_fingerprint())[0]
+
diff --git a/roboimi/scripts/publisher.py b/roboimi/scripts/publisher.py
new file mode 100644
index 0000000..f28cac2
--- /dev/null
+++ b/roboimi/scripts/publisher.py
@@ -0,0 +1,59 @@
+import lcm,time,random
+from lcm_interfaces.diana_joint_states_t import diana_joint_states_t
+import numpy as np
+
+class LCM_pub(object):
+    def __init__(self, name : str, udpm : str):
+        self.lc = lcm.LCM(udpm)
+        self.msg = diana_joint_states_t()
+        self.name = name
+        self.time = 0
+        self.initMsg()
+
+    def initMsg(self):
+        self.msg.timestamp = self.time
+        self.msg.num = 7
+        self.msg.jntpos  = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        self.msg.name = "arm init"
+        self.msg.enabled = True
+        
+
+    def set_msg(self,qpos : np.ndarray):
+        self.time += 1
+        for i in range(self.msg.num):
+            self.msg.jntpos[i] = qpos[i]
+
+
+    def publish(self):
+        self.lc.publish(self.name, self.msg.encode())
+
+if __name__ == "__main__":
+    udp = "udpm://239.255.76.67:7667?ttl=255"
+    pub = LCM_pub("diana_joint_state",udp)
+    q  = np.array([0.0, 0.0, 0.0, 1.57, 0.0, 0.0, 0.0])
+    qt  = np.array([0.0, 0.0, 0.0, 1.57, 0.0, 0.0, 0.0])
+    upperlim= [ 2.56,  1.57,  2.56, 3.05,  3.05,  3.14,  3.14]
+    lowerlim= [-2.56, -1.57, -2.56,  0.0, -3.05, -3.14, -3.14]
+      
+    # pub.update(left,right)
+    while True:
+        diff = 0.1
+        for j in range(7):
+            symbol = random.randint(0,1)
+            if symbol == 0:
+                symbol = -1.0
+            else: symbol = 1.0
+            # q[j] = random.uniform(lowerlim[j],upperlim[j])
+            qt[j]  = q[j] + random.random()*random.uniform(0,diff)*symbol
+            if qt[j] > upperlim[j]:
+                qt[j] = upperlim[j]
+            elif qt[j] < lowerlim[j]:
+                qt[j] = lowerlim[j]
+
+        pub.set_msg(qt)
+        pub.publish()
+        time.sleep(10)
+             
+
+
+
diff --git a/roboimi/scripts/ros2_subscription.py b/roboimi/scripts/ros2_subscription.py
new file mode 100644
index 0000000..96ae027
--- /dev/null
+++ b/roboimi/scripts/ros2_subscription.py
@@ -0,0 +1,27 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Float32MultiArray
+import numpy as np
+
+if __name__ == "__main__":
+    rclpy.init()  # 初始化 ROS 2
+    node = Node("diana_sim_publisher")  # 创建节点
+    publisher = node.create_publisher(Float32MultiArray, 'mj_joint_states', 10)
+
+    try:
+        while rclpy.ok():  # 使用 rclpy.ok() 检查 ROS 2 是否正在运行
+            angles = np.zeros(7)  # 生成一个 7 个元素为 0 的数组
+            angles = [float(x) for x in angles]  # 转换为 float 列表
+            msg = Float32MultiArray()
+            msg.data = angles  # 设置消息数据
+            publisher.publish(msg)  # 发布消息
+
+            node.get_logger().info(f'Publishing joint angles: {msg.data}')  # 日志输出
+
+
+    except KeyboardInterrupt:
+        pass  # 捕获 Ctrl+C
+
+    finally:
+        node.destroy_node()  # 确保节点被销毁
+        rclpy.shutdown()  # 关闭 ROS 2
diff --git a/roboimi/scripts/single_diana_teleop.py b/roboimi/scripts/single_diana_teleop.py
new file mode 100644
index 0000000..950eb05
--- /dev/null
+++ b/roboimi/scripts/single_diana_teleop.py
@@ -0,0 +1,127 @@
+import numpy as np
+from roboimi.envs.single_base import SingleArmEnv
+import threading,lcm,rclpy,copy
+from roboimi.scripts.lcm_interfaces.diana_joint_states_t import diana_joint_states_t
+from std_msgs.msg import Float32MultiArray
+from rclpy.node import Node
+
+class Diana_Teleop(SingleArmEnv):
+    def __init__(self,
+                robot=None,
+                is_render=True,
+                renderer="mujoco_viewer",
+                control_freq=200,
+                is_interpolate=True,
+                is_pd=False,
+                ):
+        super().__init__(
+            robot=robot,
+            is_render=is_render,
+            renderer=renderer,
+            control_freq=control_freq,
+            is_interpolate=is_interpolate
+        )
+        self.qpos = np.zeros(7)
+        self.node = Node("diana_sim_publisher")
+        self.publisher = self.node.create_publisher(Float32MultiArray, 'mj_joint_states', 10)
+
+        self.sub = LCM_sub("diana_joint_state")
+        self.lcm_thread=threading.Thread(target = self.sub.lcm_spin)
+
+    def publish_joint_angles(self, angles):
+        angles = [float(x) for x in angles]
+        msg = Float32MultiArray()
+        msg.data = angles
+        self.publisher.publish(msg)
+        self.node.get_logger().info(f'Publishing joint angles: {msg.data}')
+
+    def reset(self):
+        super().reset()
+
+    def preStep(self, action):
+        if isinstance(action,np.ndarray) and len(action)==7:
+            super().preStep(action)
+        else:
+            raise AttributeError("size should be 7")
+
+    def step(self, action):
+        super().step(action)
+        for i in range(7):
+            self.qpos[i] = copy.deepcopy(self.robot.robot_data.joint(self.robot.single_arm.joint_index[i]).qpos[0])
+        self.publish_joint_angles(self.qpos)
+    
+    def mj_run(self):
+        while True:
+            # self.action = np.array([0, 0, 0, 1.57, 0, 0, 0])
+            self.action = self.sub.diana_arm
+            self.step(self.action)
+            if self.is_render:
+                self.render()
+
+class LCM_sub(object):
+    def __init__(self,name : str):
+        self.lc = lcm.LCM()
+        self.sub_ = self.lc.subscribe(name, self.lcm_handler)
+        self.msg = None
+        self.diana_arm = np.array([0.0, 0.0, 0.0, 2.17, 0.0, -0.9, 0.0])
+        self.pre_diana_arm = np.array([0.0, 0.0, 0.0, 2.17, 0.0, -0.9, 0.0])
+        # self.diana_arm = np.array([0.0, 0.0, 0.0, 1.57, 0.0, 0.0, 0.0])
+        # self.pre_diana_arm = np.array([0.0, 0.0, 0.0, 1.57, 0.0, 0.0, 0.0])
+        self.temp = np.zeros(7)
+        self.ulim = np.array([ 2.56,  1.57,  2.56, 3.05,  3.05, 0.523,  3.05])
+        self.llim = np.array([-2.56, -1.57, -2.56,  0.0, -3.05, -3.05, -3.05])
+        self.flag = False
+        
+    def lcm_handler(self,channel, data):
+        self.msg = diana_joint_states_t.decode(data)
+        if self.msg.enabled:
+            self.flag = True
+            for i in range(7):
+                self.diana_arm[i]  = np.maximum(self.llim[i],np.minimum(self.msg.jntpos[i],self.ulim[i]))     
+                # if self.diana_arm[i]-self.pre_diana_arm[i] > 0.0001:
+                #     self.diana_arm[i] = self.pre_diana_arm[i]+0.0001
+                # elif self.diana_arm[i]-self.pre_diana_arm[i] < -0.0001:
+                #     self.diana_arm[i] = self.pre_diana_arm[i]-0.0001
+                # else:
+                #     pass
+                self.temp[i] = self.diana_arm[i]
+            self.pre_diana_arm = self.temp
+            # print("connected!!! \n")
+        else:
+            pass
+
+    def lcm_spin(self):
+        try:
+            while True:
+                self.lc.handle()
+        except KeyboardInterrupt:
+            self.lc.unsubscribe(self.sub_)
+            print("KeyboardInterrupt !")
+        
+def main(args=None):
+    rclpy.init(args=args)
+    from roboimi.assets.robots.diana_med import DianaMed
+    env = Diana_Teleop( 
+        robot=DianaMed(),
+        renderer='viewer',
+        is_render=True,
+        control_freq=10,
+        is_interpolate=True,
+        is_pd=False
+    )
+    env.reset()
+    try:
+        env.lcm_thread.start()
+        env.mj_run()
+
+    except KeyboardInterrupt:
+        print("\nbye")
+    finally:
+        rclpy.try_shutdown()
+
+
+
+if __name__ == '__main__':
+    main()
+
+
diff --git a/roboimi/utils/KDL_utils/KDL_main.py b/roboimi/utils/KDL_utils/KDL_main.py
new file mode 100644
index 0000000..68752ac
--- /dev/null
+++ b/roboimi/utils/KDL_utils/KDL_main.py
@@ -0,0 +1,71 @@
+"""
+This scripts is used for building KDL tree, which is a necessary component of KDL chains.
+- Do not try to change the codes.
+"""
+import PyKDL as kdl
+from roboimi.utils.KDL_utils import transform as T
+
+
+def urdf_pose_to_kdl_frame(pose):
+    pos = [0., 0., 0.]
+    rot = [0., 0., 0.]
+    if pose is not None:
+        if pose.position is not None:
+            pos = pose.position
+        if pose.rotation is not None:
+            rot = pose.rotation
+    return kdl.Frame(kdl.Rotation.Quaternion(*T.euler2Quat(rot)),
+                     kdl.Vector(*pos))
+
+
+def urdf_joint_to_kdl_joint(jnt):
+    origin_frame = urdf_pose_to_kdl_frame(jnt.origin)
+    if jnt.joint_type == 'fixed':
+        return kdl.Joint(jnt.name)
+    axis = kdl.Vector(*jnt.axis)
+    if jnt.joint_type == 'revolute':
+        return kdl.Joint(jnt.name, origin_frame.p,
+                         origin_frame.M * axis, kdl.Joint.RotAxis)
+    if jnt.joint_type == 'continuous':
+        return kdl.Joint(jnt.name, origin_frame.p,
+                         origin_frame.M * axis, kdl.Joint.RotAxis)
+    if jnt.joint_type == 'prismatic':
+        return kdl.Joint(jnt.name, origin_frame.p,
+                         origin_frame.M * axis, kdl.Joint.TransAxis)
+    print("Unknown joint type: %s." % jnt.joint_type)
+    return kdl.Joint(jnt.name)
+
+
+def urdf_inertial_to_kdl_rbi(i):
+    origin = urdf_pose_to_kdl_frame(i.origin)
+    rbi = kdl.RigidBodyInertia(i.mass, origin.p,
+                               kdl.RotationalInertia(i.inertia.ixx,
+                                                     i.inertia.iyy,
+                                                     i.inertia.izz,
+                                                     i.inertia.ixy,
+                                                     i.inertia.ixz,
+                                                     i.inertia.iyz))
+    return origin.M * rbi
+
+
+def kdl_tree_from_urdf_model(urdf):
+    root = urdf.get_root()
+    tree = kdl.Tree(root)
+
+    def add_children_to_tree(parent):
+        if parent in urdf.child_map:
+            for joint, child_name in urdf.child_map[parent]:
+                child = urdf.link_map[child_name]
+                if child.inertial is not None:
+                    kdl_inert = urdf_inertial_to_kdl_rbi(child.inertial)
+                else:
+                    kdl_inert = kdl.RigidBodyInertia()
+                kdl_jnt = urdf_joint_to_kdl_joint(urdf.joint_map[joint])
+                kdl_origin = urdf_pose_to_kdl_frame(urdf.joint_map[joint].origin)
+                kdl_sgm = kdl.Segment(child_name, kdl_jnt,
+                                      kdl_origin, kdl_inert)
+                tree.addSegment(kdl_sgm, parent)
+                add_children_to_tree(child_name)
+
+    add_children_to_tree(root)
+    return tree
diff --git a/roboimi/utils/KDL_utils/KDL_utils.py b/roboimi/utils/KDL_utils/KDL_utils.py
new file mode 100644
index 0000000..a36a8e7
--- /dev/null
+++ b/roboimi/utils/KDL_utils/KDL_utils.py
@@ -0,0 +1,473 @@
+import os
+import numpy as np
+import PyKDL as kdl
+from urdf_parser_py.urdf import URDF
+from roboimi.utils.KDL_utils import KDL_main
+from roboimi.utils.KDL_utils.Update_Jaco3 import Update_Jaco as J_quat
+
+
+class KDL_utils:
+
+    def __init__(self,
+                 urdf_path=os.path.join(os.path.dirname(__file__), "../images/DianaMed/urdf/DianaMed.urdf")):
+        # Build kdl chain
+        urdf = URDF.from_xml_file(urdf_path)
+        self.tree = KDL_main.kdl_tree_from_urdf_model(urdf)
+        self.env_grav = kdl.Vector(0.0, 0.0, -9.81)  # default
+        self.ee_frame = kdl.Frame()
+        self.rot_general = kdl.Rotation()
+        
+
+    def resetChain(self, base, end):
+        self.chain = self.tree.getChain(base, end)  # default for DianaMed
+
+        # Initialize solvers
+        self.ik_solver = kdl.ChainIkSolverPos_LMA(self.chain, eps=0.0, maxiter=200, eps_joints=0.0)
+        self.fk_solver = kdl.ChainFkSolverPos_recursive(self.chain)
+        self.fk_solvervel = kdl.ChainFkSolverVel_recursive(self.chain)
+        self.jac_solver = kdl.ChainJntToJacSolver(self.chain)
+        self.jacdot_solver = kdl.ChainJntToJacDotSolver(self.chain)
+        self.diff_ik_solver = kdl.ChainIkSolverVel_pinv(self.chain, eps=0.00001, maxiter=200)
+
+        # Params
+        self.NbOfJnt = self.chain.getNrOfJoints()
+        self._dyn_kdl = kdl.ChainDynParam(self.chain, self.env_grav)
+        self.mass_kdl = kdl.JntSpaceInertiaMatrix(self.NbOfJnt)
+        self.corio_kdl = kdl.JntArray(self.NbOfJnt)
+        self.grav_kdl = kdl.JntArray(self.NbOfJnt)
+        self.ee_frame = kdl.Frame()
+        
+
+    def setJntArray(self, q):
+        q_kdl = kdl.JntArray(self.NbOfJnt)
+        for i in range(len(q)):
+            q_kdl[i] = q[i]
+        return q_kdl
+    
+    def setJntArrayVel(self, q, qdot):
+        q_kdl = kdl.JntArray(self.NbOfJnt)
+        qdot_kdl = kdl.JntArray(self.NbOfJnt)
+        for i in range(len(q)):
+            # for i in range(7):
+            q_kdl[i] = q[i]
+            qdot_kdl[i] = qdot[i]
+        return kdl.JntArrayVel(q_kdl,qdot_kdl)
+
+    def setNumpyMat(self, mat):
+        if isinstance(mat, kdl.Rotation):
+            m = np.zeros((3, 3))
+        else:
+            m = np.zeros((mat.rows(), mat.columns()))
+            # m = np.zeros((7, 7))
+        for i in range(m.shape[0]):
+            for j in range(m.shape[1]):
+                m[i, j] = mat[i, j]
+        return m
+
+    def setRot(self,mat : np.ndarray):
+        if len(mat) == 9:
+            rot = kdl.Rotation()
+            for i in range(3):
+                for j in range(3):
+                    rot[i,j] = mat[i*3+j]
+            return rot
+        else: 
+            raise AttributeError("need numpy array size = 9 !")
+    
+    def setVec(self,array : np.ndarray):
+        if len(array) == 3:
+            vec = kdl.Vector()
+            for i in range(3):
+                vec[i] = array[i]
+            return vec
+        else:
+            print("len input=",len(array))
+            raise AttributeError("need numpy array size = 3 !")
+
+    def setNumpyArray(self, q):
+        return np.asarray([q[i] for i in range(q.rows())], dtype=np.float32)
+
+    def getInertiaMat(self, q):
+        _q = self.setJntArray(q)
+        self._dyn_kdl.JntToMass(_q, self.mass_kdl)
+        return self.setNumpyMat(self.mass_kdl)
+
+    def getCoriolisMat(self, q, qdot):
+        _q = self.setJntArray(q)
+        _qdot = self.setJntArray(qdot)
+        self._dyn_kdl.JntToCoriolis(_q, _qdot, self.corio_kdl)
+        return self.corio_kdl
+
+    def getGravityMat(self, q):
+        _q = self.setJntArray(q)
+        self._dyn_kdl.JntToGravity(_q, self.grav_kdl)
+        return self.grav_kdl
+
+    def getCompensation(self, q, qdot):
+        comp = np.zeros(7)
+        self._dyn_kdl.JntToCoriolis(q, qdot, self.corio_kdl)
+        self._dyn_kdl.JntToGravity(q, self.grav_kdl)
+        for i in range(self.NbOfJnt):
+            comp[i] = self.corio_kdl[i] + self.grav_kdl[i]
+        return comp
+
+    def getJac(self, q=kdl.JntArray()):
+        j_ = kdl.Jacobian(self.NbOfJnt)
+        self.jac_solver.JntToJac(q, j_)
+        return j_
+
+    def getJac_pinv(self, q=kdl.JntArray()):
+        j_ = self.getJac(q)
+        print("shape==",j_.shape)
+        jacobian = np.empty((6, 7))
+        for row in range(6):
+            for col in range(7):
+                jacobian[row][col] = j_.getColumn(col)[row]
+        jacobian_pinv = np.linalg.pinv(jacobian)
+        return jacobian_pinv
+
+    def getJacQuaternion(self, q):
+        return J_quat(q)  # output's type is numpyArray
+
+    def getEEtf(self, joint_states):
+        joint_states = self.setJntArray(joint_states)
+        ee_frame = kdl.Frame()
+        self.fk_solver.JntToCart(joint_states, ee_frame, self.NbOfJnt)
+        return ee_frame
+
+    def getEeCurrentPose(self, q):
+        """ Get current pose with input's joint state.
+
+        :param q: Current joint states
+        :return: Current position and rotation
+        """
+        self.fk_solver.JntToCart(self.setJntArray(q), self.ee_frame, self.NbOfJnt)
+        pos = np.array([self.ee_frame.p[i] for i in range(3)])
+        rot = np.zeros((3, 3))
+        for i in range(3):
+            for j in range(3):
+                rot[i][j] = self.ee_frame.M[i, j]
+        return pos, rot
+
+    def fkSolverVel(self, qdot_init : kdl.JntArrayVel=None):
+        if qdot_init is None:
+            raise NotImplementedError
+        cart = kdl.FrameVel().Identity()
+        self.fk_solvervel.JntToCart(qdot_init,cart)
+        return cart.deriv()
+        
+    def JntArray(self,dof):
+        return kdl.JntArray(dof)
+
+
+    def ikSolver(self, pos: np.ndarray, rot: np.ndarray, q_init: np.ndarray = None) -> np.ndarray:
+        if q_init is None:
+            raise NotImplementedError
+        else:
+            q_init = self.setJntArray(q_init)
+
+            for i in range(3):
+                self.ee_frame.p[i] = pos[i]
+                for j in range(3):
+                    self.ee_frame.M[i, j] = rot[i][j]
+            q_result = kdl.JntArray(7)
+            self.ik_solver.CartToJnt(q_init, self.ee_frame, q_result)
+            return self.setNumpyArray(q_result)
+
+    def diffikSolver(self, q_init : np.ndarray, v_init : np.ndarray):
+        if  (q_init is None) or (v_init is None):
+            raise NotImplementedError
+        else:
+            q_init = self.setJntArray(q_init)
+            v_init = kdl.Twist(self.setVec(v_init[:3]),self.setVec(v_init[3:]))
+            qdot_result = kdl.JntArray(7)
+            self.diff_ik_solver.CartToJnt(q_init,v_init,qdot_result)
+            return self.setNumpyArray(qdot_result)
+
+
+    def jacobian_dot(self, q: np.ndarray, v: np.ndarray) -> np.ndarray:
+        """
+
+        Args:
+            q (np.ndarray): current joint position  
+            v (np.ndarray): current joint velocity
+
+        Returns:
+            np.ndarray: jacobian_dot
+        """
+        input_q = self.setJntArray(q)
+        input_qd = self.setJntArray(v)
+        input_qav = kdl.JntArrayVel(input_q, input_qd)
+        output = kdl.Jacobian(self.NbOfJnt)
+        self.jacdot_solver.JntToJacDot(input_qav, output)
+        return self.setNumpyMat(output)
+
+    def orientation_error(self, desired: np.ndarray, current: np.ndarray) -> np.ndarray:
+        """computer ori error from ori to cartesian 姿态矩阵的偏差3*3的
+        Args:
+            desired (np.ndarray): desired orientation
+            current (np.ndarray): current orientation
+
+        Returns:
+            _type_: orientation error(from pose(3*3) to eulor angular(3*1))
+        """
+        rc1 = current[:, 0]
+        rc2 = current[:, 1]
+        rc3 = current[:, 2]
+        rd1 = desired[:, 0]
+        rd2 = desired[:, 1]
+        rd3 = desired[:, 2]
+        if (np.cross(rc1, rd1) + np.cross(rc2, rd2) + np.cross(rc3, rd3)).all() <= 0.0001:
+            w1, w2, w3 = 0.5, 0.5, 0.5
+        else:
+            w1, w2, w3 = 0.9, 0.5, 0.3
+
+        error = w1 * np.cross(rc1, rd1) + w2 * np.cross(rc2, rd2) + w3 * np.cross(rc3, rd3)
+
+        return error
+    
+    def xmat2Rotation(self,xmat : np.ndarray):
+        '''
+        Args:
+            xmat (type: np.ndarray): the rotation matrix got from mujoco
+        Returns:
+            rot (KDL Rotation()): which get the value from xmat(3*3)
+        '''
+        if len(xmat) == 9 :
+            rot = kdl.Rotation()
+            rot[0,0] = xmat[0]
+            rot[1,0] = xmat[1]
+            rot[2,0] = xmat[2]
+            rot[0,1] = xmat[3]
+            rot[1,1] = xmat[4]
+            rot[2,1] = xmat[5]
+            rot[2,0] = xmat[6]
+            rot[2,1] = xmat[7]
+            rot[2,2] = xmat[8]
+            return rot
+        else:
+            print("please entry xmat from mujoco")
+            return 0
+        
+    def xpos2Vector(self,xpos : np.ndarray):
+        pos_vec = kdl.Vector()
+        for i in range(len(xpos)):
+            pos_vec[i] = xpos[i]
+        return pos_vec
+    
+    def jac_mj2Jac_KDL(self):
+        pass
+        
+        
+class KDL_utils_X02:
+
+    def __init__(self,
+                 urdf_path=os.path.join(os.path.dirname(__file__),
+                                         "../images/DianaMed/urdf/DianaMed.urdf")):
+        # Build kdl chain
+        urdf = URDF.from_xml_file(urdf_path)
+        self.tree = KDL_main.kdl_tree_from_urdf_model(urdf)
+        self.chain = self.tree.getChain("base_link", "L_wrist3_Link")  # default for DianaMed
+
+        # Initialize solvers
+        self.ik_solver = kdl.ChainIkSolverPos_LMA(self.chain, eps=0.0, maxiter=200, eps_joints=0.0)
+        self.fk_solver = kdl.ChainFkSolverPos_recursive(self.chain)
+        self.jac_solver = kdl.ChainJntToJacSolver(self.chain)
+        self.jacdot_solver = kdl.ChainJntToJacDotSolver(self.chain)
+
+        # Params
+        self.NbOfJnt = self.chain.getNrOfJoints()
+        self.env_grav = kdl.Vector(0.0, 0.0, -9.81)  # default
+        self._dyn_kdl = kdl.ChainDynParam(self.chain, self.env_grav)
+        self.mass_kdl = kdl.JntSpaceInertiaMatrix(self.NbOfJnt)
+        self.corio_kdl = kdl.JntArray(self.NbOfJnt)
+        self.grav_kdl = kdl.JntArray(self.NbOfJnt)
+        self.ee_frame = kdl.Frame()
+        self.rot_general = kdl.Rotation()
+        
+
+    def resetChain(self, base, end):
+        self.chain = self.tree.getChain(base, end)  # default for DianaMed
+
+        # Initialize solvers
+        self.ik_solver = kdl.ChainIkSolverPos_LMA(self.chain, eps=0.0, maxiter=200, eps_joints=0.0)
+        self.fk_solver = kdl.ChainFkSolverPos_recursive(self.chain)
+        self.jac_solver = kdl.ChainJntToJacSolver(self.chain)
+        self.jacdot_solver = kdl.ChainJntToJacDotSolver(self.chain)
+
+        # Params
+        self.NbOfJnt = self.chain.getNrOfJoints()
+        self.env_grav = kdl.Vector(0.0, 0.0, -9.81)  # default
+        self._dyn_kdl = kdl.ChainDynParam(self.chain, self.env_grav)
+        self.mass_kdl = kdl.JntSpaceInertiaMatrix(self.NbOfJnt)
+        self.corio_kdl = kdl.JntArray(self.NbOfJnt)
+        self.grav_kdl = kdl.JntArray(self.NbOfJnt)
+        self.ee_frame = kdl.Frame()
+        
+
+    def setJntArray(self, q):
+        q_kdl = kdl.JntArray(self.NbOfJnt)
+        for i in range(len(q)):
+            # for i in range(7):
+            q_kdl[i] = q[i]
+        return q_kdl
+
+    def setNumpyMat(self, mat):
+        if isinstance(mat, kdl.Rotation):
+            m = np.zeros((3, 3))
+        else:
+            m = np.zeros((mat.rows(), mat.columns()))
+            # m = np.zeros((7, 7))
+        for i in range(m.shape[0]):
+            for j in range(m.shape[1]):
+                m[i, j] = mat[i, j]
+        return m
+
+    def setNumpyArray(self, q):
+        return np.asarray([q[i] for i in range(q.rows())], dtype=np.float32)
+
+    def getInertiaMat(self, q):
+        _q = self.setJntArray(q)
+        self._dyn_kdl.JntToMass(_q, self.mass_kdl)
+        return self.setNumpyMat(self.mass_kdl)
+
+    def getCoriolisMat(self, q, qdot):
+        _q = self.setJntArray(q)
+        _qdot = self.setJntArray(qdot)
+        self._dyn_kdl.JntToCoriolis(_q, _qdot, self.corio_kdl)
+        return self.corio_kdl
+
+    def getGravityMat(self, q):
+        _q = self.setJntArray(q)
+        self._dyn_kdl.JntToGravity(_q, self.grav_kdl)
+        return self.grav_kdl
+
+    def getCompensation(self, q, qdot):
+        comp = np.zeros(7)
+        self._dyn_kdl.JntToCoriolis(q, qdot, self.corio_kdl)
+        self._dyn_kdl.JntToGravity(q, self.grav_kdl)
+        for i in range(self.NbOfJnt):
+            comp[i] = self.corio_kdl[i] + self.grav_kdl[i]
+        return comp
+
+    def getJac(self, q=kdl.JntArray()):
+        j_ = kdl.Jacobian(self.NbOfJnt)
+        self.jac_solver.JntToJac(q, j_)
+        return j_
+
+    def getJac_pinv(self, q=kdl.JntArray()):
+        j_ = self.getJac(q)
+        jacobian = np.empty((6, 7))
+        for row in range(6):
+            for col in range(7):
+                jacobian[row][col] = j_.getColumn(col)[row]
+        jacobian_pinv = np.linalg.pinv(jacobian)
+        return jacobian_pinv
+
+    def getJacQuaternion(self, q):
+        return J_quat(q)  # output's type is numpyArray
+
+    def getEEtf(self, joint_states):
+        ee_frame = kdl.Frame()
+        self.fk_solver.JntToCart(joint_states, ee_frame, self.NbOfJnt)
+        return ee_frame
+
+    def getEeCurrentPose(self, q):
+        """ Get current pose with input's joint state.
+
+        :param q: Current joint states
+        :return: Current position and rotation
+        """
+        self.fk_solver.JntToCart(self.setJntArray(q), self.ee_frame, self.NbOfJnt)
+        pos = np.array([self.ee_frame.p[i] for i in range(3)])
+        rot = np.zeros((3, 3))
+        for i in range(3):
+            for j in range(3):
+                rot[i][j] = self.ee_frame.M[i, j]
+        return pos, rot
+
+    def ikSolver(self, pos: np.ndarray, rot: np.ndarray, q_init: np.ndarray = None) -> np.ndarray:
+        if q_init is None:
+            raise NotImplementedError
+        q_init = self.setJntArray(q_init)
+
+        for i in range(3):
+            self.ee_frame.p[i] = pos[i]
+            for j in range(3):
+                self.ee_frame.M[i, j] = rot[i][j]
+        q_result = kdl.JntArray(7)
+        self.ik_solver.CartToJnt(q_init, self.ee_frame, q_result)
+        return self.setNumpyArray(q_result)
+
+    def jacobian_dot(self, q: np.ndarray, v: np.ndarray) -> np.ndarray:
+        """
+
+        Args:
+            q (np.ndarray): current joint position  
+            v (np.ndarray): current joint velocity
+
+        Returns:
+            np.ndarray: jacobian_dot
+        """
+        input_q = self.setJntArray(q)
+        input_qd = self.setJntArray(v)
+        input_qav = kdl.JntArrayVel(input_q, input_qd)
+        output = kdl.Jacobian(self.NbOfJnt)
+        self.jacdot_solver.JntToJacDot(input_qav, output)
+        return self.setNumpyMat(output)
+
+    def orientation_error(self, desired: np.ndarray, current: np.ndarray) -> np.ndarray:
+        """computer ori error from ori to cartesian 姿态矩阵的偏差3*3的
+        Args:
+            desired (np.ndarray): desired orientation
+            current (np.ndarray): current orientation
+
+        Returns:
+            _type_: orientation error(from pose(3*3) to eulor angular(3*1))
+        """
+        rc1 = current[:, 0]
+        rc2 = current[:, 1]
+        rc3 = current[:, 2]
+        rd1 = desired[:, 0]
+        rd2 = desired[:, 1]
+        rd3 = desired[:, 2]
+        if (np.cross(rc1, rd1) + np.cross(rc2, rd2) + np.cross(rc3, rd3)).all() <= 0.0001:
+            w1, w2, w3 = 0.5, 0.5, 0.5
+        else:
+            w1, w2, w3 = 0.9, 0.5, 0.3
+
+        error = w1 * np.cross(rc1, rd1) + w2 * np.cross(rc2, rd2) + w3 * np.cross(rc3, rd3)
+
+        return error
+    
+    def xmat2Rotation(self,xmat : np.ndarray):
+        '''
+        Args:
+            xmat (type: np.ndarray): the rotation matrix got from mujoco
+        Returns:
+            rot (KDL Rotation()): which get the value from xmat(3*3)
+        '''
+        if len(xmat) == 9 :
+            rot = kdl.Rotation()
+            rot[0,0] = xmat[0]
+            rot[1,0] = xmat[1]
+            rot[2,0] = xmat[2]
+            rot[0,1] = xmat[3]
+            rot[1,1] = xmat[4]
+            rot[2,1] = xmat[5]
+            rot[2,0] = xmat[6]
+            rot[2,1] = xmat[7]
+            rot[2,2] = xmat[8]
+            return rot
+        else:
+            print("please entry xmat from mujoco")
+            return 0
+        
+    def xpos2Vector(self,xpos : np.ndarray):
+        pos_vec = kdl.Vector()
+        for i in range(len(xpos)):
+            pos_vec[i] = xpos[i]
+        return pos_vec
+    
+    def jac_mj2Jac_KDL(self):
+        pass
\ No newline at end of file
diff --git a/roboimi/utils/KDL_utils/Update_Jaco3.py b/roboimi/utils/KDL_utils/Update_Jaco3.py
new file mode 100644
index 0000000..4c25fb6
--- /dev/null
+++ b/roboimi/utils/KDL_utils/Update_Jaco3.py
@@ -0,0 +1,1464 @@
+import numpy as np
+from math import *
+
+
+def isosqrt(var):
+    if var < 1e-8:
+        return 0
+    else:
+        return var
+
+
+def isolate(var):
+    if var < 1e-8:
+        return 1e-8
+    else:
+        return var
+
+
+def Update_Jaco(th):
+    th1 = th[0]
+    th2 = th[1]
+    th3 = th[2]
+    th4 = th[3]
+    th5 = th[4]
+    th6 = th[5]
+    th7 = th[6]
+
+    Jaco = np.array([
+        [
+            -0.1059 * (((-sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(
+                th2) * sin(th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(
+                th5)) * sin(th6) - 0.076728 * (((-sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(
+                th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                           1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(
+                                                       th3)) * sin(th5)) * cos(th6) - 0.076728 * (
+                        1.0 * (-sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6) + 0.1059 * (
+                        1.0 * (-sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * cos(th6) - 0.005 * (
+                        (-sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(
+                    th2) * sin(th4)) * sin(th5) + 0.005 * (
+                        1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5) + 0.45669 * (
+                        -sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) - 0.052254 * (
+                        -sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) + 0.052254 * sin(
+                th1) * sin(th2) * sin(th4) + 0.45669 * sin(th1) * sin(th2) * cos(th4) + 0.45889 * sin(th1) * sin(
+                th2) - 0.064454 * sin(th1) * cos(th2) * cos(th3) + 0.064454 * sin(th3) * cos(th1) + 0.0005 * cos(th1)
+            ,
+            -0.1059 * ((-sin(th2) * cos(th1) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th1) * cos(th2)) * cos(
+                th5) + 1.0 * sin(th2) * sin(th3) * sin(th5) * cos(th1)) * sin(th6) - 0.076728 * (
+                        (-sin(th2) * cos(th1) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th1) * cos(th2)) * cos(
+                    th5) + 1.0 * sin(th2) * sin(th3) * sin(th5) * cos(th1)) * cos(th6) - 0.076728 * (
+                        -1.0 * sin(th2) * sin(th4) * cos(th1) * cos(th3) - 1.0 * cos(th1) * cos(th2) * cos(th4)) * sin(
+                th6) + 0.1059 * (
+                        -1.0 * sin(th2) * sin(th4) * cos(th1) * cos(th3) - 1.0 * cos(th1) * cos(th2) * cos(th4)) * cos(
+                th6) - 0.005 * (
+                        -sin(th2) * cos(th1) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th1) * cos(th2)) * sin(
+                th5) + 0.005 * sin(th2) * sin(th3) * cos(th1) * cos(th5) - 0.45669 * sin(th2) * sin(th4) * cos(
+                th1) * cos(th3) + 0.052254 * sin(th2) * cos(th1) * cos(th3) * cos(th4) - 0.064454 * sin(th2) * cos(
+                th1) * cos(th3) - 0.052254 * sin(th4) * cos(th1) * cos(th2) - 0.45669 * cos(th1) * cos(th2) * cos(
+                th4) - 0.45889 * cos(th1) * cos(th2)
+            ,
+            -0.1059 * ((-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * sin(th5) + (
+                        1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * cos(th4) * cos(th5)) * sin(
+                th6) - 0.076728 * ((-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * sin(th5) + (
+                        1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * cos(th4) * cos(th5)) * cos(
+                th6) + 0.005 * (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(
+                th5) - 0.076728 * (1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * sin(th4) * sin(
+                th6) + 0.1059 * (1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * sin(th4) * cos(
+                th6) + 0.45669 * (1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * sin(th4) - 0.005 * (
+                        1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * sin(th5) * cos(th4) - 0.052254 * (
+                        1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * cos(th4) + 0.064454 * sin(
+                th1) * cos(th3) - 0.064454 * sin(th3) * cos(th1) * cos(th2)
+            ,
+            -0.005 * (-(1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) + 1.0 * sin(th2) * cos(
+                th1) * cos(th4)) * sin(th5) - 0.1059 * (
+                        -(1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) + 1.0 * sin(th2) * cos(
+                    th1) * cos(th4)) * sin(th6) * cos(th5) - 0.076728 * (
+                        -(1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) + 1.0 * sin(th2) * cos(
+                    th1) * cos(th4)) * cos(th5) * cos(th6) - 0.076728 * (
+                        1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * sin(th6) + 0.1059 * (
+                        1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * cos(th6) + 0.052254 * (
+                        1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) + 0.45669 * (
+                        1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 0.45669 * sin(
+                th2) * sin(th4) * cos(th1) - 0.052254 * sin(th2) * cos(th1) * cos(th4)
+            ,
+            -0.1059 * (-((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                th4) * cos(th1)) * sin(th5) + (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * cos(
+                th5)) * sin(th6) - 0.076728 * (-(
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * cos(th6) - 0.005 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * cos(th5) - 0.005 * (
+                        1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(th5)
+            ,
+            0.076728 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                th4) * cos(th1)) * cos(th5) + (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * sin(th6) - 0.1059 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                         1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                     th2)) * sin(th5)) * cos(th6) - 0.1059 * (
+                        1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6) - 0.076728 * (
+                        1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * cos(th6)
+            ,
+            0
+        ],
+        [
+            -0.1059 * (((-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th4) - 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                   -1.0 * sin(th1) * cos(th3) + 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(th5)) * sin(
+                th6) - 0.076728 * (((-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(
+                th4) - 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                               -1.0 * sin(th1) * cos(th3) + 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * cos(th6) - 0.076728 * (
+                        1.0 * (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * sin(
+                    th4) + 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6) + 0.1059 * (
+                        1.0 * (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * sin(
+                    th4) + 1.0 * sin(th2) * cos(th1) * cos(th4)) * cos(th6) - 0.005 * (
+                        (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th4) - 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * sin(th5) + 0.45669 * (
+                        -1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 0.052254 * (
+                        -1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 0.005 * (
+                        -1.0 * sin(th1) * cos(th3) + 1.0 * sin(th3) * cos(th1) * cos(th2)) * cos(th5) - 0.064454 * sin(
+                th1) * sin(th3) - 0.0005 * sin(th1) + 0.052254 * sin(th2) * sin(th4) * cos(th1) + 0.45669 * sin(
+                th2) * cos(th1) * cos(th4) + 0.45889 * sin(th2) * cos(th1) - 0.064454 * cos(th1) * cos(th2) * cos(th3)
+            ,
+            -0.1059 * ((1.0 * sin(th1) * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th1) * sin(th4) * cos(th2)) * cos(
+                th5) - 1.0 * sin(th1) * sin(th2) * sin(th3) * sin(th5)) * sin(th6) - 0.076728 * (
+                        (1.0 * sin(th1) * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th1) * sin(th4) * cos(th2)) * cos(
+                    th5) - 1.0 * sin(th1) * sin(th2) * sin(th3) * sin(th5)) * cos(th6) - 0.076728 * (
+                        1.0 * sin(th1) * sin(th2) * sin(th4) * cos(th3) + 1.0 * sin(th1) * cos(th2) * cos(th4)) * sin(
+                th6) + 0.1059 * (
+                        1.0 * sin(th1) * sin(th2) * sin(th4) * cos(th3) + 1.0 * sin(th1) * cos(th2) * cos(th4)) * cos(
+                th6) - 0.005 * (
+                        1.0 * sin(th1) * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th1) * sin(th4) * cos(th2)) * sin(
+                th5) - 0.005 * sin(th1) * sin(th2) * sin(th3) * cos(th5) + 0.45669 * sin(th1) * sin(th2) * sin(
+                th4) * cos(th3) - 0.052254 * sin(th1) * sin(th2) * cos(th3) * cos(th4) + 0.064454 * sin(th1) * sin(
+                th2) * cos(th3) + 0.052254 * sin(th1) * sin(th4) * cos(th2) + 0.45669 * sin(th1) * cos(th2) * cos(
+                th4) + 0.45889 * sin(th1) * cos(th2)
+            ,
+            -0.1059 * ((1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * cos(th4) * cos(th5) + (
+                        1.0 * sin(th1) * cos(th2) * cos(th3) - 1.0 * sin(th3) * cos(th1)) * sin(th5)) * sin(
+                th6) - 0.076728 * (
+                        (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * cos(th4) * cos(th5) + (
+                            1.0 * sin(th1) * cos(th2) * cos(th3) - 1.0 * sin(th3) * cos(th1)) * sin(th5)) * cos(
+                th6) - 0.076728 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th4) * sin(
+                th6) + 0.1059 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th4) * cos(
+                th6) + 0.45669 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(
+                th4) - 0.005 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5) * cos(
+                th4) - 0.052254 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * cos(
+                th4) + 0.005 * (1.0 * sin(th1) * cos(th2) * cos(th3) - 1.0 * sin(th3) * cos(th1)) * cos(
+                th5) + 0.064454 * sin(th1) * sin(th3) * cos(th2) + 0.064454 * cos(th1) * cos(th3)
+            ,
+            -0.005 * (-(-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) - 1.0 * sin(
+                th1) * sin(th2) * cos(th4)) * sin(th5) - 0.1059 * (
+                        -(-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) - 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6) * cos(th5) - 0.076728 * (
+                        -(-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) - 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * cos(th5) * cos(th6) - 0.076728 * (
+                        1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(
+                    th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * sin(th6) + 0.1059 * (
+                        1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(
+                    th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th6) + 0.052254 * (
+                        -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 0.45669 * (
+                        -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 0.45669 * sin(
+                th1) * sin(th2) * sin(th4) + 0.052254 * sin(th1) * sin(th2) * cos(th4)
+            ,
+            -0.1059 * (-((-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                th1) * sin(th2) * sin(th4)) * sin(th5) + (
+                                   1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * sin(
+                th6) - 0.076728 * (-(
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) + (
+                                               1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * cos(
+                th5)) * cos(th6) - 0.005 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * cos(th5) - 0.005 * (
+                        1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)
+            ,
+            0.076728 * (((-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                    1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * sin(
+                th6) - 0.1059 * (((-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(
+                th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                             1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(
+                th5)) * cos(th6) - 0.1059 * (
+                        1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                    th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6) - 0.076728 * (
+                        1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                    th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * cos(th6)
+            ,
+            0
+        ],
+        [
+            0
+            ,
+            0.1059 * (1.0 * (-1.0 * sin(th2) * sin(th4) - 1.0 * cos(th2) * cos(th3) * cos(th4)) * cos(th5) + 1.0 * sin(
+                th3) * sin(th5) * cos(th2)) * sin(th6) + 0.076728 * (
+                        1.0 * (-1.0 * sin(th2) * sin(th4) - 1.0 * cos(th2) * cos(th3) * cos(th4)) * cos(
+                    th5) + 1.0 * sin(th3) * sin(th5) * cos(th2)) * cos(th6) + 0.005 * (
+                        -1.0 * sin(th2) * sin(th4) - 1.0 * cos(th2) * cos(th3) * cos(th4)) * sin(th5) - 0.076728 * (
+                        -1.0 * sin(th2) * cos(th4) + 1.0 * sin(th4) * cos(th2) * cos(th3)) * sin(th6) + 0.1059 * (
+                        -1.0 * sin(th2) * cos(th4) + 1.0 * sin(th4) * cos(th2) * cos(th3)) * cos(th6) - 0.052254 * sin(
+                th2) * sin(th4) - 0.45669 * sin(th2) * cos(th4) - 0.45889 * sin(th2) - 0.005 * sin(th3) * cos(
+                th2) * cos(th5) + 0.45669 * sin(th4) * cos(th2) * cos(th3) - 0.052254 * cos(th2) * cos(th3) * cos(
+                th4) + 0.064454 * cos(th2) * cos(th3)
+            ,
+            0.1059 * (1.0 * sin(th2) * sin(th3) * cos(th4) * cos(th5) + 1.0 * sin(th2) * sin(th5) * cos(th3)) * sin(
+                th6) + 0.076728 * (
+                        1.0 * sin(th2) * sin(th3) * cos(th4) * cos(th5) + 1.0 * sin(th2) * sin(th5) * cos(th3)) * cos(
+                th6) + 0.076728 * sin(th2) * sin(th3) * sin(th4) * sin(th6) - 0.1059 * sin(th2) * sin(th3) * sin(
+                th4) * cos(th6) - 0.45669 * sin(th2) * sin(th3) * sin(th4) + 0.005 * sin(th2) * sin(th3) * sin(
+                th5) * cos(th4) + 0.052254 * sin(th2) * sin(th3) * cos(th4) - 0.064454 * sin(th2) * sin(
+                th3) - 0.005 * sin(th2) * cos(th3) * cos(th5)
+            ,
+            0.005 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th5) + 0.1059 * (
+                        1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th6) * cos(
+                th5) + 0.076728 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(th5) * cos(
+                th6) - 0.076728 * (1.0 * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th4) * cos(th2)) * sin(
+                th6) + 0.1059 * (1.0 * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th4) * cos(th2)) * cos(
+                th6) + 0.052254 * sin(th2) * sin(th4) * cos(th3) + 0.45669 * sin(th2) * cos(th3) * cos(
+                th4) - 0.45669 * sin(th4) * cos(th2) + 0.052254 * cos(th2) * cos(th4)
+            ,
+            0.1059 * (-1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * sin(th5) + 1.0 * sin(
+                th2) * sin(th3) * cos(th5)) * sin(th6) + 0.076728 * (
+                        -1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * sin(
+                    th5) + 1.0 * sin(th2) * sin(th3) * cos(th5)) * cos(th6) + 0.005 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 0.005 * sin(
+                th2) * sin(th3) * sin(th5)
+            ,
+            -0.076728 * (1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(
+                th5) + 1.0 * sin(th2) * sin(th3) * sin(th5)) * sin(th6) + 0.1059 * (
+                        1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(
+                    th5) + 1.0 * sin(th2) * sin(th3) * sin(th5)) * cos(th6) - 0.1059 * (
+                        1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th6) - 0.076728 * (
+                        1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(th6)
+            ,
+            0
+        ],
+        [
+            0.5 * ((1.0 * (((-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th4) - 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                       -1.0 * sin(th1) * cos(th3) + 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (
+                                1.0 * (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * sin(
+                            th4) + 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * sin(th7) / 2 - 0.5 * (1.0 * (((
+                                                                                                                                 -sin(
+                                                                                                                                     th1) * cos(
+                                                                                                                             th2) * cos(
+                                                                                                                             th3) + 1.0 * sin(
+                                                                                                                             th3) * cos(
+                                                                                                                             th1)) * cos(
+                th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(
+                th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                        -sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(th1) * sin(
+                th2) * cos(th4)) * sin(th6)) * cos(th7) - 0.5 * (1.0 * (
+                        (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th4) - 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * sin(th5) - 1.0 * (-1.0 * sin(th1) * cos(th3) + 1.0 * sin(th3) * cos(
+                th1) * cos(th2)) * cos(th5)) * cos(th7) + (-1.0 * (
+                        (-sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(
+                    th2) * sin(th4)) * sin(th5) + 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(
+                th3)) * cos(th5)) * sin(th7) / 2) / isolate(sqrt(isosqrt(-1.0 * (1.0 * (((1.0 * sin(th1) * sin(
+                th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                                                                    1.0 * sin(
+                                                                                                th1) * cos(
+                                                                                                th3) - 1.0 * sin(
+                                                                                                th3) * cos(th1) * cos(
+                                                                                                th2)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                         1.0 * sin(th1) * sin(
+                                                                                     th3) * cos(th2) + 1.0 * cos(
+                                                                                     th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (1.0 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(
+                th2) * cos(th4)) * cos(th6) + 1)))
+            ,
+            0.5 * ((1.0 * (
+                        (1.0 * sin(th1) * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th1) * sin(th4) * cos(th2)) * cos(
+                    th5) - 1.0 * sin(th1) * sin(th2) * sin(th3) * sin(th5)) * cos(th6) + 1.0 * (
+                                1.0 * sin(th1) * sin(th2) * sin(th4) * cos(th3) + 1.0 * sin(th1) * cos(th2) * cos(
+                            th4)) * sin(th6)) * sin(th7) / 2 - 0.5 * (1.0 * (
+                        (-sin(th2) * cos(th1) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th1) * cos(th2)) * cos(
+                    th5) + 1.0 * sin(th2) * sin(th3) * sin(th5) * cos(th1)) * cos(th6) + 1.0 * (
+                                                                                  -1.0 * sin(th2) * sin(th4) * cos(
+                                                                              th1) * cos(th3) - 1.0 * cos(th1) * cos(
+                                                                              th2) * cos(th4)) * sin(th6)) * cos(
+                th7) - 0.5 * (1.0 * (-1.0 * sin(th2) * sin(th4) - 1.0 * cos(th2) * cos(th3) * cos(th4)) * cos(
+                th5) + 1.0 * sin(th3) * sin(th5) * cos(th2)) * sin(th6) - 0.5 * (1.0 * (
+                        1.0 * sin(th1) * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th1) * sin(th4) * cos(th2)) * sin(
+                th5) + 1.0 * sin(th1) * sin(th2) * sin(th3) * cos(th5)) * cos(th7) + (-1.0 * (
+                        -sin(th2) * cos(th1) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th1) * cos(th2)) * sin(
+                th5) + 1.0 * sin(th2) * sin(th3) * cos(th1) * cos(th5)) * sin(th7) / 2 - 0.5 * (
+                               -1.0 * sin(th2) * cos(th4) + 1.0 * sin(th4) * cos(th2) * cos(th3)) * cos(th6)) / isolate(
+                sqrt(isosqrt(-1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                    th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                        1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                    th2)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                    th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                             1.0 * sin(th1) * sin(
+                                                                                         th3) * cos(th2) + 1.0 * cos(
+                                                                                         th1) * cos(th3)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (1.0 * (
+                            -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                    th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (
+                                         1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(
+                    th6) + 1)))
+            ,
+            0.5 * (-0.5 * (1.0 * ((-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * sin(th5) + (
+                        1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * cos(th4) * cos(th5)) * cos(
+                th6) + 1.0 * (1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * sin(th4) * sin(th6)) * cos(
+                th7) + (1.0 * (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th5) - 1.0 * (
+                        1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * sin(th5) * cos(th4)) * sin(
+                th7) / 2 + (1.0 * (
+                        (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * cos(th4) * cos(th5) + (
+                            1.0 * sin(th1) * cos(th2) * cos(th3) - 1.0 * sin(th3) * cos(th1)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th4) * sin(
+                th6)) * sin(th7) / 2 - 0.5 * (
+                               1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(
+                           th5) * cos(th4) - 1.0 * (
+                                           1.0 * sin(th1) * cos(th2) * cos(th3) - 1.0 * sin(th3) * cos(th1)) * cos(
+                           th5)) * cos(th7) - 0.5 * (
+                               1.0 * sin(th2) * sin(th3) * cos(th4) * cos(th5) + 1.0 * sin(th2) * sin(th5) * cos(
+                           th3)) * sin(th6) + 0.5 * sin(th2) * sin(th3) * sin(th4) * cos(th6)) / isolate(sqrt(isosqrt(
+                -1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                           1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                    th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(
+                    th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(
+                    th2) * sin(th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(
+                    th3)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (
+                            1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(
+                        th5) + 1.0 * sin(th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (
+                            1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(th6) + 1)))
+            ,
+            0.5 * (-0.5 * (
+                        -(1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) + 1.0 * sin(th2) * cos(
+                    th1) * cos(th4)) * sin(th5) * sin(th7) - 0.5 * (
+                               -(-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                           th4) - 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th5) * cos(th7) - 0.5 * (1.0 * (
+                        -(1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) + 1.0 * sin(th2) * cos(
+                    th1) * cos(th4)) * cos(th5) * cos(th6) + 1.0 * (1.0 * (
+                        1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                th4) * cos(th1)) * sin(th6)) * cos(th7) + (1.0 * (
+                        -(-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) - 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * cos(th5) * cos(th6) + 1.0 * (1.0 * (
+                        -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                th1) * sin(th2) * sin(th4)) * sin(th6)) * sin(th7) / 2 - 0.5 * (
+                               1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th6) * cos(
+                th5) - 0.5 * (1.0 * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th4) * cos(th2)) * cos(th6)) / isolate(
+                sqrt(isosqrt(-1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                    th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                        1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                    th2)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                    th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                             1.0 * sin(th1) * sin(
+                                                                                         th3) * cos(th2) + 1.0 * cos(
+                                                                                         th1) * cos(th3)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (1.0 * (
+                            -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                    th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (
+                                         1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(
+                    th6) + 1)))
+            ,
+            0.5 * (-0.5 * (-(
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + (
+                                       1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * cos(
+                th5)) * cos(th6) * cos(th7) + (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * cos(th5) - 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * sin(th5)) * sin(th7) / 2 + 0.5 * (-(
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * sin(th7) * cos(th6) - 0.5 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * cos(th5) + 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * sin(th5)) * cos(th7) - 0.5 * (
+                               -1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * sin(
+                           th5) + 1.0 * sin(th2) * sin(th3) * cos(th5)) * sin(th6)) / isolate(sqrt(isosqrt(-1.0 * (
+                        1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                           1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                    th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(
+                th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(
+                th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (1.0 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(
+                th2) * cos(th4)) * cos(th6) + 1)))
+            ,
+            0.5 * (-0.5 * (-1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                               1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * sin(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * cos(th6)) * cos(th7) + (-1.0 * (((-1.0 * sin(th1) * cos(
+                th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(
+                th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * sin(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * cos(th6)) * sin(th7) / 2 - 0.5 * (
+                               1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(
+                           th5) + 1.0 * sin(th2) * sin(th3) * sin(th5)) * cos(th6) + 0.5 * (
+                               1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th6)) / isolate(
+                sqrt(isosqrt(-1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                    th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                        1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                    th2)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                    th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                             1.0 * sin(th1) * sin(
+                                                                                         th3) * cos(th2) + 1.0 * cos(
+                                                                                         th1) * cos(th3)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (1.0 * (
+                            -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                    th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (
+                                         1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(
+                    th6) + 1)))
+            ,
+            0.5 * (0.5 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                             1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * sin(th7) + (1.0 * (((-1.0 * sin(th1) * cos(
+                th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(
+                th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * cos(th7) / 2 + (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * cos(th7) / 2 + 0.5 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * sin(th7)) / isolate(sqrt(isosqrt(-1.0 * (1.0 * (((1.0 * sin(th1) * sin(
+                th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                                                                           1.0 * sin(
+                                                                                                       th1) * cos(
+                                                                                                       th3) - 1.0 * sin(
+                                                                                                       th3) * cos(
+                                                                                                       th1) * cos(
+                                                                                                       th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(th1) * cos(
+                th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(
+                th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (1.0 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(
+                th2) * cos(th4)) * cos(th6) + 1)))
+        ],
+        [
+            0.5 * (-(1.0 * (((-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th4) - 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                        -1.0 * sin(th1) * cos(th3) + 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (
+                                 1.0 * (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * sin(
+                             th4) + 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * sin(th7) / 2 - 0.5 * (1.0 * (((
+                                                                                                                                  -sin(
+                                                                                                                                      th1) * cos(
+                                                                                                                              th2) * cos(
+                                                                                                                              th3) + 1.0 * sin(
+                                                                                                                              th3) * cos(
+                                                                                                                              th1)) * cos(
+                th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(
+                th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                        -sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(th1) * sin(
+                th2) * cos(th4)) * sin(th6)) * cos(th7) + 0.5 * (1.0 * (
+                        (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th4) - 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * sin(th5) - 1.0 * (-1.0 * sin(th1) * cos(th3) + 1.0 * sin(th3) * cos(
+                th1) * cos(th2)) * cos(th5)) * cos(th7) + (-1.0 * (
+                        (-sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(
+                    th2) * sin(th4)) * sin(th5) + 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(
+                th3)) * cos(th5)) * sin(th7) / 2) / isolate(sqrt(isosqrt(-1.0 * (1.0 * (((1.0 * sin(th1) * sin(
+                th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                                                                    1.0 * sin(
+                                                                                                th1) * cos(
+                                                                                                th3) - 1.0 * sin(
+                                                                                                th3) * cos(th1) * cos(
+                                                                                                th2)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                         1.0 * sin(th1) * sin(
+                                                                                     th3) * cos(th2) + 1.0 * cos(
+                                                                                     th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (1.0 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(
+                th2) * cos(th4)) * cos(th6) + 1)))
+            ,
+            0.5 * (-(1.0 * (
+                        (1.0 * sin(th1) * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th1) * sin(th4) * cos(th2)) * cos(
+                    th5) - 1.0 * sin(th1) * sin(th2) * sin(th3) * sin(th5)) * cos(th6) + 1.0 * (
+                                 1.0 * sin(th1) * sin(th2) * sin(th4) * cos(th3) + 1.0 * sin(th1) * cos(th2) * cos(
+                             th4)) * sin(th6)) * sin(th7) / 2 - 0.5 * (1.0 * (
+                        (-sin(th2) * cos(th1) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th1) * cos(th2)) * cos(
+                    th5) + 1.0 * sin(th2) * sin(th3) * sin(th5) * cos(th1)) * cos(th6) + 1.0 * (
+                                                                                   -1.0 * sin(th2) * sin(th4) * cos(
+                                                                               th1) * cos(th3) - 1.0 * cos(th1) * cos(
+                                                                               th2) * cos(th4)) * sin(th6)) * cos(
+                th7) + 0.5 * (1.0 * (-1.0 * sin(th2) * sin(th4) - 1.0 * cos(th2) * cos(th3) * cos(th4)) * cos(
+                th5) + 1.0 * sin(th3) * sin(th5) * cos(th2)) * sin(th6) + 0.5 * (1.0 * (
+                        1.0 * sin(th1) * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th1) * sin(th4) * cos(th2)) * sin(
+                th5) + 1.0 * sin(th1) * sin(th2) * sin(th3) * cos(th5)) * cos(th7) + (-1.0 * (
+                        -sin(th2) * cos(th1) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th1) * cos(th2)) * sin(
+                th5) + 1.0 * sin(th2) * sin(th3) * cos(th1) * cos(th5)) * sin(th7) / 2 + 0.5 * (
+                               -1.0 * sin(th2) * cos(th4) + 1.0 * sin(th4) * cos(th2) * cos(th3)) * cos(th6)) / isolate(
+                sqrt(isosqrt(-1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                    th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                        1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                    th2)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                    th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                             1.0 * sin(th1) * sin(
+                                                                                         th3) * cos(th2) + 1.0 * cos(
+                                                                                         th1) * cos(th3)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (1.0 * (
+                            -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                    th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (
+                                         1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(
+                    th6) + 1)))
+            ,
+            0.5 * (-0.5 * (1.0 * ((-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * sin(th5) + (
+                        1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * cos(th4) * cos(th5)) * cos(
+                th6) + 1.0 * (1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * sin(th4) * sin(th6)) * cos(
+                th7) + (1.0 * (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th5) - 1.0 * (
+                        1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * sin(th5) * cos(th4)) * sin(
+                th7) / 2 - (1.0 * (
+                        (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * cos(th4) * cos(th5) + (
+                            1.0 * sin(th1) * cos(th2) * cos(th3) - 1.0 * sin(th3) * cos(th1)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th4) * sin(
+                th6)) * sin(th7) / 2 + 0.5 * (
+                               1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(
+                           th5) * cos(th4) - 1.0 * (
+                                           1.0 * sin(th1) * cos(th2) * cos(th3) - 1.0 * sin(th3) * cos(th1)) * cos(
+                           th5)) * cos(th7) + 0.5 * (
+                               1.0 * sin(th2) * sin(th3) * cos(th4) * cos(th5) + 1.0 * sin(th2) * sin(th5) * cos(
+                           th3)) * sin(th6) - 0.5 * sin(th2) * sin(th3) * sin(th4) * cos(th6)) / isolate(sqrt(isosqrt(
+                -1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                           1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                    th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(
+                    th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(
+                    th2) * sin(th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(
+                    th3)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (
+                            1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(
+                        th5) + 1.0 * sin(th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (
+                            1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(th6) + 1)))
+            ,
+            0.5 * (-0.5 * (
+                        -(1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) + 1.0 * sin(th2) * cos(
+                    th1) * cos(th4)) * sin(th5) * sin(th7) + 0.5 * (
+                               -(-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                           th4) - 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th5) * cos(th7) - 0.5 * (1.0 * (
+                        -(1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) + 1.0 * sin(th2) * cos(
+                    th1) * cos(th4)) * cos(th5) * cos(th6) + 1.0 * (1.0 * (
+                        1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                th4) * cos(th1)) * sin(th6)) * cos(th7) - (1.0 * (
+                        -(-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) - 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * cos(th5) * cos(th6) + 1.0 * (1.0 * (
+                        -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                th1) * sin(th2) * sin(th4)) * sin(th6)) * sin(th7) / 2 + 0.5 * (
+                               1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th6) * cos(
+                th5) + 0.5 * (1.0 * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th4) * cos(th2)) * cos(th6)) / isolate(
+                sqrt(isosqrt(-1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                    th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                        1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                    th2)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                    th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                             1.0 * sin(th1) * sin(
+                                                                                         th3) * cos(th2) + 1.0 * cos(
+                                                                                         th1) * cos(th3)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (1.0 * (
+                            -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                    th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (
+                                         1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(
+                    th6) + 1)))
+            ,
+            0.5 * (-0.5 * (-(
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + (
+                                       1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * cos(
+                th5)) * cos(th6) * cos(th7) + (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * cos(th5) - 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * sin(th5)) * sin(th7) / 2 - 0.5 * (-(
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * sin(th7) * cos(th6) + 0.5 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * cos(th5) + 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * sin(th5)) * cos(th7) + 0.5 * (
+                               -1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * sin(
+                           th5) + 1.0 * sin(th2) * sin(th3) * cos(th5)) * sin(th6)) / isolate(sqrt(isosqrt(-1.0 * (
+                        1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                           1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                    th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(
+                th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(
+                th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (1.0 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(
+                th2) * cos(th4)) * cos(th6) + 1)))
+            ,
+            0.5 * (-0.5 * (-1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                               1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * sin(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * cos(th6)) * cos(th7) - (-1.0 * (((-1.0 * sin(th1) * cos(
+                th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(
+                th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * sin(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * cos(th6)) * sin(th7) / 2 + 0.5 * (
+                               1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(
+                           th5) + 1.0 * sin(th2) * sin(th3) * sin(th5)) * cos(th6) - 0.5 * (
+                               1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th6)) / isolate(
+                sqrt(isosqrt(-1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                    th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                        1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                    th2)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                    th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                             1.0 * sin(th1) * sin(
+                                                                                         th3) * cos(th2) + 1.0 * cos(
+                                                                                         th1) * cos(th3)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (1.0 * (
+                            -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                    th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (
+                                         1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(
+                    th6) + 1)))
+            ,
+            0.5 * (0.5 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                             1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * sin(th7) - (1.0 * (((-1.0 * sin(th1) * cos(
+                th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(
+                th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * cos(th7) / 2 + (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * cos(th7) / 2 - 0.5 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * sin(th7)) / isolate(sqrt(isosqrt(-1.0 * (1.0 * (((1.0 * sin(th1) * sin(
+                th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                                                                           1.0 * sin(
+                                                                                                       th1) * cos(
+                                                                                                       th3) - 1.0 * sin(
+                                                                                                       th3) * cos(
+                                                                                                       th1) * cos(
+                                                                                                       th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(th1) * cos(
+                th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(
+                th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (1.0 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(
+                th2) * cos(th4)) * cos(th6) + 1)))
+        ],
+        [
+            0.5 * ((1.0 * (((-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th4) - 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                       -1.0 * sin(th1) * cos(th3) + 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (
+                                1.0 * (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * sin(
+                            th4) + 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * sin(th7) / 2 + 0.5 * (1.0 * (((
+                                                                                                                                 -sin(
+                                                                                                                                     th1) * cos(
+                                                                                                                             th2) * cos(
+                                                                                                                             th3) + 1.0 * sin(
+                                                                                                                             th3) * cos(
+                                                                                                                             th1)) * cos(
+                th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(
+                th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                        -sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(th1) * sin(
+                th2) * cos(th4)) * sin(th6)) * cos(th7) - 0.5 * (1.0 * (
+                        (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th4) - 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * sin(th5) - 1.0 * (-1.0 * sin(th1) * cos(th3) + 1.0 * sin(th3) * cos(
+                th1) * cos(th2)) * cos(th5)) * cos(th7) - (-1.0 * (
+                        (-sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(
+                    th2) * sin(th4)) * sin(th5) + 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(
+                th3)) * cos(th5)) * sin(th7) / 2) / isolate(sqrt(isosqrt(1.0 * (1.0 * (((1.0 * sin(th1) * sin(
+                th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                                                                   1.0 * sin(th1) * cos(
+                                                                                               th3) - 1.0 * sin(
+                                                                                               th3) * cos(th1) * cos(
+                                                                                               th2)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                         1.0 * sin(th1) * sin(
+                                                                                     th3) * cos(th2) + 1.0 * cos(
+                                                                                     th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (1.0 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(
+                th2) * cos(th4)) * cos(th6) + 1)))
+            ,
+            0.5 * ((1.0 * (
+                        (1.0 * sin(th1) * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th1) * sin(th4) * cos(th2)) * cos(
+                    th5) - 1.0 * sin(th1) * sin(th2) * sin(th3) * sin(th5)) * cos(th6) + 1.0 * (
+                                1.0 * sin(th1) * sin(th2) * sin(th4) * cos(th3) + 1.0 * sin(th1) * cos(th2) * cos(
+                            th4)) * sin(th6)) * sin(th7) / 2 + 0.5 * (1.0 * (
+                        (-sin(th2) * cos(th1) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th1) * cos(th2)) * cos(
+                    th5) + 1.0 * sin(th2) * sin(th3) * sin(th5) * cos(th1)) * cos(th6) + 1.0 * (
+                                                                                  -1.0 * sin(th2) * sin(th4) * cos(
+                                                                              th1) * cos(th3) - 1.0 * cos(th1) * cos(
+                                                                              th2) * cos(th4)) * sin(th6)) * cos(
+                th7) + 0.5 * (1.0 * (-1.0 * sin(th2) * sin(th4) - 1.0 * cos(th2) * cos(th3) * cos(th4)) * cos(
+                th5) + 1.0 * sin(th3) * sin(th5) * cos(th2)) * sin(th6) - 0.5 * (1.0 * (
+                        1.0 * sin(th1) * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th1) * sin(th4) * cos(th2)) * sin(
+                th5) + 1.0 * sin(th1) * sin(th2) * sin(th3) * cos(th5)) * cos(th7) - (-1.0 * (
+                        -sin(th2) * cos(th1) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th1) * cos(th2)) * sin(
+                th5) + 1.0 * sin(th2) * sin(th3) * cos(th1) * cos(th5)) * sin(th7) / 2 + 0.5 * (
+                               -1.0 * sin(th2) * cos(th4) + 1.0 * sin(th4) * cos(th2) * cos(th3)) * cos(th6)) / isolate(
+                sqrt(isosqrt(1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                    th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                       1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                   th2)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                    th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                             1.0 * sin(th1) * sin(
+                                                                                         th3) * cos(th2) + 1.0 * cos(
+                                                                                         th1) * cos(th3)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+
+             th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (1.0 * (
+                            -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                    th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (
+                                         1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(
+                    th6) + 1)))
+            ,
+            0.5 * (0.5 * (1.0 * ((-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * sin(th5) + (
+                        1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * cos(th4) * cos(th5)) * cos(
+                th6) + 1.0 * (1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * sin(th4) * sin(th6)) * cos(
+                th7) - (1.0 * (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th5) - 1.0 * (
+                        1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * sin(th5) * cos(th4)) * sin(
+                th7) / 2 + (1.0 * (
+                        (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * cos(th4) * cos(th5) + (
+                            1.0 * sin(th1) * cos(th2) * cos(th3) - 1.0 * sin(th3) * cos(th1)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th4) * sin(
+                th6)) * sin(th7) / 2 - 0.5 * (
+                               1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(
+                           th5) * cos(th4) - 1.0 * (
+                                           1.0 * sin(th1) * cos(th2) * cos(th3) - 1.0 * sin(th3) * cos(th1)) * cos(
+                           th5)) * cos(th7) + 0.5 * (
+                               1.0 * sin(th2) * sin(th3) * cos(th4) * cos(th5) + 1.0 * sin(th2) * sin(th5) * cos(
+                           th3)) * sin(th6) - 0.5 * sin(th2) * sin(th3) * sin(th4) * cos(th6)) / isolate(sqrt(isosqrt(
+                1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                          1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                    th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(
+                    th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(
+                    th2) * sin(th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(
+                    th3)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (
+                            1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(
+                        th5) + 1.0 * sin(th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (
+                            1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(th6) + 1)))
+            ,
+            0.5 * (0.5 * (
+                        -(1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) + 1.0 * sin(th2) * cos(
+                    th1) * cos(th4)) * sin(th5) * sin(th7) - 0.5 * (
+                               -(-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                           th4) - 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th5) * cos(th7) + 0.5 * (1.0 * (
+                        -(1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) + 1.0 * sin(th2) * cos(
+                    th1) * cos(th4)) * cos(th5) * cos(th6) + 1.0 * (1.0 * (
+                        1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                th4) * cos(th1)) * sin(th6)) * cos(th7) + (1.0 * (
+                        -(-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) - 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * cos(th5) * cos(th6) + 1.0 * (1.0 * (
+                        -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                th1) * sin(th2) * sin(th4)) * sin(th6)) * sin(th7) / 2 + 0.5 * (
+                               1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th6) * cos(
+                th5) + 0.5 * (1.0 * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th4) * cos(th2)) * cos(th6)) / isolate(
+                sqrt(isosqrt(1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                    th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                       1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                   th2)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                    th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                             1.0 * sin(th1) * sin(
+                                                                                         th3) * cos(th2) + 1.0 * cos(
+                                                                                         th1) * cos(th3)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (1.0 * (
+                            -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                    th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (
+                                         1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(
+                    th6) + 1)))
+            ,
+            0.5 * (0.5 * (-(
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + (
+                                      1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * cos(
+                th5)) * cos(th6) * cos(th7) - (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * cos(th5) - 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * sin(th5)) * sin(th7) / 2 + 0.5 * (-(
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * sin(th7) * cos(th6) - 0.5 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * cos(th5) + 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * sin(th5)) * cos(th7) + 0.5 * (
+                               -1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * sin(
+                           th5) + 1.0 * sin(th2) * sin(th3) * cos(th5)) * sin(th6)) / isolate(sqrt(isosqrt(1.0 * (
+                        1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                           1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                    th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(
+                th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(
+                th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (1.0 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(
+                th2) * cos(th4)) * cos(th6) + 1)))
+            ,
+            0.5 * (0.5 * (-1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                              1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * sin(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * cos(th6)) * cos(th7) + (-1.0 * (((-1.0 * sin(th1) * cos(
+                th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(
+                th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * sin(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * cos(th6)) * sin(th7) / 2 + 0.5 * (
+                               1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(
+                           th5) + 1.0 * sin(th2) * sin(th3) * sin(th5)) * cos(th6) - 0.5 * (
+                               1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th6)) / isolate(
+                sqrt(isosqrt(1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                    th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                       1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                   th2)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                    th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                             1.0 * sin(th1) * sin(
+                                                                                         th3) * cos(th2) + 1.0 * cos(
+                                                                                         th1) * cos(th3)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (1.0 * (
+                            -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                    th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (
+                                         1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(
+                    th6) + 1)))
+            ,
+            0.5 * (-0.5 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                              1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * sin(th7) + (1.0 * (((-1.0 * sin(th1) * cos(
+                th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(
+                th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * cos(th7) / 2 - (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * cos(th7) / 2 + 0.5 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * sin(th7)) / isolate(sqrt(isosqrt(1.0 * (1.0 * (((1.0 * sin(th1) * sin(
+                th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                                                                          1.0 * sin(
+                                                                                                      th1) * cos(
+                                                                                                      th3) - 1.0 * sin(
+                                                                                                      th3) * cos(
+                                                                                                      th1) * cos(
+                                                                                                      th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (1.0 * (((-1.0 * sin(th1) * cos(
+                th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(
+                th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * sin(th7) - 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * cos(th7) + 1.0 * (1.0 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) + 1.0 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(
+                th2) * cos(th4)) * cos(th6) + 1)))
+        ],
+        [
+            0.5 * (-(1.0 * (((-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th4) - 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                        -1.0 * sin(th1) * cos(th3) + 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (
+                                 1.0 * (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * sin(
+                             th4) + 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * sin(th7) / 2 + 0.5 * (1.0 * (((
+                                                                                                                                  -sin(
+                                                                                                                                      th1) * cos(
+                                                                                                                              th2) * cos(
+                                                                                                                              th3) + 1.0 * sin(
+                                                                                                                              th3) * cos(
+                                                                                                                              th1)) * cos(
+                th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(
+                th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                        -sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(th1) * sin(
+                th2) * cos(th4)) * sin(th6)) * cos(th7) + 0.5 * (1.0 * (
+                        (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th4) - 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * sin(th5) - 1.0 * (-1.0 * sin(th1) * cos(th3) + 1.0 * sin(th3) * cos(
+                th1) * cos(th2)) * cos(th5)) * cos(th7) - (-1.0 * (
+                        (-sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(
+                    th2) * sin(th4)) * sin(th5) + 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(
+                th3)) * cos(th5)) * sin(th7) / 2) / isolate(sqrt(isosqrt(1.0 * (1.0 * (((1.0 * sin(th1) * sin(
+                th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                                                                   1.0 * sin(th1) * cos(
+                                                                                               th3) - 1.0 * sin(
+                                                                                               th3) * cos(th1) * cos(
+                                                                                               th2)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                         1.0 * sin(th1) * sin(
+                                                                                     th3) * cos(th2) + 1.0 * cos(
+                                                                                     th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (1.0 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(
+                th2) * cos(th4)) * cos(th6) + 1)))
+            ,
+            0.5 * (-(1.0 * (
+                        (1.0 * sin(th1) * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th1) * sin(th4) * cos(th2)) * cos(
+                    th5) - 1.0 * sin(th1) * sin(th2) * sin(th3) * sin(th5)) * cos(th6) + 1.0 * (
+                                 1.0 * sin(th1) * sin(th2) * sin(th4) * cos(th3) + 1.0 * sin(th1) * cos(th2) * cos(
+                             th4)) * sin(th6)) * sin(th7) / 2 + 0.5 * (1.0 * (
+                        (-sin(th2) * cos(th1) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th1) * cos(th2)) * cos(
+                    th5) + 1.0 * sin(th2) * sin(th3) * sin(th5) * cos(th1)) * cos(th6) + 1.0 * (
+                                                                                   -1.0 * sin(th2) * sin(th4) * cos(
+                                                                               th1) * cos(th3) - 1.0 * cos(th1) * cos(
+                                                                               th2) * cos(th4)) * sin(th6)) * cos(
+                th7) - 0.5 * (1.0 * (-1.0 * sin(th2) * sin(th4) - 1.0 * cos(th2) * cos(th3) * cos(th4)) * cos(
+                th5) + 1.0 * sin(th3) * sin(th5) * cos(th2)) * sin(th6) + 0.5 * (1.0 * (
+                        1.0 * sin(th1) * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th1) * sin(th4) * cos(th2)) * sin(
+                th5) + 1.0 * sin(th1) * sin(th2) * sin(th3) * cos(th5)) * cos(th7) - (-1.0 * (
+                        -sin(th2) * cos(th1) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th1) * cos(th2)) * sin(
+                th5) + 1.0 * sin(th2) * sin(th3) * cos(th1) * cos(th5)) * sin(th7) / 2 - 0.5 * (
+                               -1.0 * sin(th2) * cos(th4) + 1.0 * sin(th4) * cos(th2) * cos(th3)) * cos(th6)) / isolate(
+                sqrt(isosqrt(1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                    th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                       1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                   th2)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                    th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                             1.0 * sin(th1) * sin(
+                                                                                         th3) * cos(th2) + 1.0 * cos(
+                                                                                         th1) * cos(th3)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (1.0 * (
+                            -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                    th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (
+                                         1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(
+                    th6) + 1)))
+            ,
+            0.5 * (0.5 * (1.0 * ((-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * sin(th5) + (
+                        1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * cos(th4) * cos(th5)) * cos(
+                th6) + 1.0 * (1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * sin(th4) * sin(th6)) * cos(
+                th7) - (1.0 * (-1.0 * sin(th1) * sin(th3) - 1.0 * cos(th1) * cos(th2) * cos(th3)) * cos(th5) - 1.0 * (
+                        1.0 * sin(th1) * cos(th3) - sin(th3) * cos(th1) * cos(th2)) * sin(th5) * cos(th4)) * sin(
+                th7) / 2 - (1.0 * (
+                        (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * cos(th4) * cos(th5) + (
+                            1.0 * sin(th1) * cos(th2) * cos(th3) - 1.0 * sin(th3) * cos(th1)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th4) * sin(
+                th6)) * sin(th7) / 2 + 0.5 * (
+                               1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(
+                           th5) * cos(th4) - 1.0 * (
+                                           1.0 * sin(th1) * cos(th2) * cos(th3) - 1.0 * sin(th3) * cos(th1)) * cos(
+                           th5)) * cos(th7) - 0.5 * (
+                               1.0 * sin(th2) * sin(th3) * cos(th4) * cos(th5) + 1.0 * sin(th2) * sin(th5) * cos(
+                           th3)) * sin(th6) + 0.5 * sin(th2) * sin(th3) * sin(th4) * cos(th6)) / isolate(sqrt(isosqrt(
+                1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                          1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                    th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(
+                    th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(
+                    th2) * sin(th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(
+                    th3)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (
+                            1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(
+                        th5) + 1.0 * sin(th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (
+                            1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(th6) + 1)))
+            ,
+            0.5 * (0.5 * (
+                        -(1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) + 1.0 * sin(th2) * cos(
+                    th1) * cos(th4)) * sin(th5) * sin(th7) + 0.5 * (
+                               -(-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                           th4) - 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th5) * cos(th7) + 0.5 * (1.0 * (
+                        -(1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) + 1.0 * sin(th2) * cos(
+                    th1) * cos(th4)) * cos(th5) * cos(th6) + 1.0 * (1.0 * (
+                        1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                th4) * cos(th1)) * sin(th6)) * cos(th7) - (1.0 * (
+                        -(-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) - 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * cos(th5) * cos(th6) + 1.0 * (1.0 * (
+                        -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                th1) * sin(th2) * sin(th4)) * sin(th6)) * sin(th7) / 2 - 0.5 * (
+                               1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th6) * cos(
+                th5) - 0.5 * (1.0 * sin(th2) * cos(th3) * cos(th4) - 1.0 * sin(th4) * cos(th2)) * cos(th6)) / isolate(
+                sqrt(isosqrt(1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                    th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                       1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                   th2)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                    th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                             1.0 * sin(th1) * sin(
+                                                                                         th3) * cos(th2) + 1.0 * cos(
+                                                                                         th1) * cos(th3)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (1.0 * (
+                            -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                    th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (
+                                         1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(
+                    th6) + 1)))
+            ,
+            0.5 * (0.5 * (-(
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + (
+                                      1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * cos(
+                th5)) * cos(th6) * cos(th7) - (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * cos(th5) - 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * sin(th5)) * sin(th7) / 2 - 0.5 * (-(
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * sin(th7) * cos(th6) + 0.5 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * cos(th5) + 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * sin(th5)) * cos(th7) - 0.5 * (
+                               -1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * sin(
+                           th5) + 1.0 * sin(th2) * sin(th3) * cos(th5)) * sin(th6)) / isolate(sqrt(isosqrt(1.0 * (
+                        1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                    th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                           1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                    th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(
+                th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(
+                th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (1.0 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(
+                th2) * cos(th4)) * cos(th6) + 1)))
+            ,
+            0.5 * (0.5 * (-1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                              1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * sin(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * cos(th6)) * cos(th7) - (-1.0 * (((-1.0 * sin(th1) * cos(
+                th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(
+                th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * sin(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * cos(th6)) * sin(th7) / 2 - 0.5 * (
+                               1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(
+                           th5) + 1.0 * sin(th2) * sin(th3) * sin(th5)) * cos(th6) + 0.5 * (
+                               1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th6)) / isolate(
+                sqrt(isosqrt(1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                    th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                       1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                   th2)) * sin(th5)) * cos(th6) + 1.0 * (1.0 * (
+                            1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(
+                    th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                                                                             1.0 * sin(th1) * sin(
+                                                                                         th3) * cos(th2) + 1.0 * cos(
+                                                                                         th1) * cos(th3)) * sin(
+                    th5)) * cos(th6) + 1.0 * (1.0 * (
+                            -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) + 1.0 * sin(
+                    th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                            (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                        th2) * sin(th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(
+                    th3) * cos(th1) * cos(th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                            (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                        th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(
+                    th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (1.0 * (
+                            -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                    th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (
+                                         1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(
+                    th6) + 1)))
+            ,
+            0.5 * (-0.5 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                              1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * sin(th7) - (1.0 * (((-1.0 * sin(th1) * cos(
+                th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(
+                th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * cos(th7) / 2 - (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * cos(th7) / 2 - 0.5 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * sin(th7)) / isolate(sqrt(isosqrt(1.0 * (1.0 * (((1.0 * sin(th1) * sin(
+                th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                                                                          1.0 * sin(
+                                                                                                      th1) * cos(
+                                                                                                      th3) - 1.0 * sin(
+                                                                                                      th3) * cos(
+                                                                                                      th1) * cos(
+                                                                                                      th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) - (1.0 * (((-1.0 * sin(th1) * cos(
+                th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(
+                th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * sin(th7) + 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * cos(th7) - 1.0 * (1.0 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(
+                th2) * cos(th4)) * cos(th6) + 1)))
+        ]
+
+    ], dtype='float64'
+    )
+    return Jaco
+
+
+def Update_FK(th):
+    th1 = th[0]
+    th2 = th[1]
+    th3 = th[2]
+    th4 = th[3]
+    th5 = th[4]
+    th6 = th[5]
+    th7 = th[6]
+    T_FK = np.array([
+        [
+            -1.0 * (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(
+                th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                       1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(
+                th4) - 1.0 * sin(th2) * cos(th1) * cos(th4)) * sin(th6)) * cos(th7) + (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * sin(th7)
+            ,
+            (1.0 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                th4) * cos(th1)) * cos(th5) + (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * cos(th6) + 1.0 * (
+                         1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                     th2) * cos(th1) * cos(th4)) * sin(th6)) * sin(th7) + (-1.0 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 1.0 * (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                th2)) * cos(th5)) * cos(th7)
+            ,
+            (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(th4) * cos(
+                th1)) * cos(th5) + (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(th5)) * sin(
+                th6) - 1.0 * (1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                th2) * cos(th1) * cos(th4)) * cos(th6)
+            ,
+            -0.1059 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                th4) * cos(th1)) * cos(th5) + (1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * sin(
+                th5)) * sin(th6) - 0.076728 * (((1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(
+                th4) + 1.0 * sin(th2) * sin(th4) * cos(th1)) * cos(th5) + (
+                                                           1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(
+                                                       th2)) * sin(th5)) * cos(th6) - 0.076728 * (
+                        1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * sin(th6) + 0.1059 * (
+                        1.0 * (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 1.0 * sin(
+                    th2) * cos(th1) * cos(th4)) * cos(th6) - 0.005 * (
+                        (1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 1.0 * sin(th2) * sin(
+                    th4) * cos(th1)) * sin(th5) + 0.45669 * (
+                        1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * sin(th4) - 0.052254 * (
+                        1.0 * sin(th1) * sin(th3) + cos(th1) * cos(th2) * cos(th3)) * cos(th4) + 0.005 * (
+                        1.0 * sin(th1) * cos(th3) - 1.0 * sin(th3) * cos(th1) * cos(th2)) * cos(th5) + 0.064454 * sin(
+                th1) * sin(th3) + 0.0005 * sin(th1) - 0.052254 * sin(th2) * sin(th4) * cos(th1) - 0.45669 * sin(
+                th2) * cos(th1) * cos(th4) - 0.45889 * sin(th2) * cos(th1) + 0.064454 * cos(th1) * cos(th2) * cos(
+                th3) + 8.7058e-5
+        ],
+        [
+            -1.0 * (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                       1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(
+                th5)) * cos(th6) + 1.0 * (
+                                1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                            th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * cos(th7) - 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * sin(th7)
+            ,
+            (1.0 * (((-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * cos(
+                th6) + 1.0 * (1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6)) * sin(th7) - 1.0 * (1.0 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) - 1.0 * (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(
+                th1) * cos(th3)) * cos(th5)) * cos(th7)
+            ,
+            (((-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(th1) * sin(
+                th2) * sin(th4)) * cos(th5) + (1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(
+                th5)) * sin(th6) - 1.0 * (
+                        1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                    th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * cos(th6)
+            ,
+            -0.1059 * (((-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                   1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(th5)) * sin(
+                th6) - 0.076728 * (((-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(
+                th4) - 1.0 * sin(th1) * sin(th2) * sin(th4)) * cos(th5) + (
+                                               1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * sin(
+                th5)) * cos(th6) - 0.076728 * (
+                        1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                    th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * sin(th6) + 0.1059 * (
+                        1.0 * (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(
+                    th4) + 1.0 * sin(th1) * sin(th2) * cos(th4)) * cos(th6) - 0.005 * (
+                        (-1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) - 1.0 * sin(
+                    th1) * sin(th2) * sin(th4)) * sin(th5) + 0.005 * (
+                        1.0 * sin(th1) * sin(th3) * cos(th2) + 1.0 * cos(th1) * cos(th3)) * cos(th5) + 0.45669 * (
+                        -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * sin(th4) - 0.052254 * (
+                        -1.0 * sin(th1) * cos(th2) * cos(th3) + 1.0 * sin(th3) * cos(th1)) * cos(th4) + 0.052254 * sin(
+                th1) * sin(th2) * sin(th4) + 0.45669 * sin(th1) * sin(th2) * cos(th4) + 0.45889 * sin(th1) * sin(
+                th2) - 0.064454 * sin(th1) * cos(th2) * cos(th3) + 0.064454 * sin(th3) * cos(th1) + 0.0005 * cos(
+                th1) - 0.00063474
+        ],
+        [
+            -1.0 * (-1.0 * (1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(
+                th5) + 1.0 * sin(th2) * sin(th3) * sin(th5)) * cos(th6) + 1.0 * (
+                                1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th6)) * cos(
+                th7) + (1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * sin(
+                th5) - 1.0 * sin(th2) * sin(th3) * cos(th5)) * sin(th7)
+            ,
+            (-1.0 * (1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * cos(th6) + 1.0 * (
+                         1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th6)) * sin(th7) + (
+                        1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * sin(
+                    th5) - 1.0 * sin(th2) * sin(th3) * cos(th5)) * cos(th7)
+            ,
+            -1.0 * (1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) - 1.0 * (
+                        1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(th6)
+            ,
+            0.1059 * (1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(th5) + 1.0 * sin(
+                th2) * sin(th3) * sin(th5)) * sin(th6) + 0.076728 * (
+                        1.0 * (-1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * cos(
+                    th5) + 1.0 * sin(th2) * sin(th3) * sin(th5)) * cos(th6) - 0.076728 * (
+                        1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * sin(th6) + 0.1059 * (
+                        1.0 * sin(th2) * sin(th4) * cos(th3) + 1.0 * cos(th2) * cos(th4)) * cos(th6) + 0.005 * (
+                        -1.0 * sin(th2) * cos(th3) * cos(th4) + 1.0 * sin(th4) * cos(th2)) * sin(th5) - 0.005 * sin(
+                th2) * sin(th3) * cos(th5) + 0.45669 * sin(th2) * sin(th4) * cos(th3) - 0.052254 * sin(th2) * cos(
+                th3) * cos(th4) + 0.064454 * sin(th2) * cos(th3) + 0.052254 * sin(th4) * cos(th2) + 0.45669 * cos(
+                th2) * cos(th4) + 0.45889 * cos(th2) + 0.29942
+        ]
+    ], dtype='float64')
+    return T_FK
\ No newline at end of file
diff --git a/roboimi/utils/KDL_utils/__init__.py b/roboimi/utils/KDL_utils/__init__.py
new file mode 100644
index 0000000..b1f2fd7
--- /dev/null
+++ b/roboimi/utils/KDL_utils/__init__.py
@@ -0,0 +1,4 @@
+from .KDL_main import *
+from .KDL_utils import *
+from .transform import *
+
diff --git a/roboimi/utils/KDL_utils/lma_kdl.py b/roboimi/utils/KDL_utils/lma_kdl.py
new file mode 100644
index 0000000..3b4740f
--- /dev/null
+++ b/roboimi/utils/KDL_utils/lma_kdl.py
@@ -0,0 +1,242 @@
+import numpy as np
+import time
+from roboimi.utils.KDL_utils import KDL_utils
+from roboimi.utils.gym_wrapper import GymWrapper
+from stable_baselines3 import PPO, SAC, TD3
+from stable_baselines3.common.callbacks import BaseCallback
+from gym.wrappers import TimeLimit
+
+# URDF_PATH = "/home/zhouhr/mujoco_diana/roboIMI/roboimi/assets/models/manipulators/DianaMed/DianaMed.urdf"
+URDF_PATH = "/home/leeezd/tmp/RoboIMI/roboimi/assets/models/manipulators/DianaMed/DianaMed.urdf"
+
+
+class Lma_hcm(object):
+    def __init__(self, verbose=False):
+        self.kin = KDL_utils(URDF_PATH)
+        self.verbose = verbose
+        # robot parameters
+        self.Dof = 7
+        self.init_qpos = np.zeros(self.Dof)
+        self.current_qpos = np.zeros(self.Dof)
+        self.target_qpos = np.zeros(self.Dof)
+
+        # hyper-params
+        self.max_episode_steps = 100
+        self.eps_phi = 1e-6
+        self.lamb = 0.01  # init
+        self.name = "lma_kdl"
+        self.v_d = 1.2  # default
+        self.v_m = 1.2
+
+        # lma params
+        self.iter_times = 0
+        self.prev_phi = None
+
+        # training params
+        self.action_dim = (2,)
+        self.obs_dim = (2,)
+        self.action_low = np.array([-1.0, 1.0])
+        self.action_high = np.array([1.0, 1.0])
+
+    def setInitQpos(self, qpos: np.array):
+        self.init_qpos = qpos
+        self.current_qpos = qpos
+
+    def setTargetQpos(self, qpos: np.array):
+        self.target_qpos = qpos
+
+    def computeError(self, current_joints):
+        """ Phi means the error between current pose and target pose, eg. e = Pd - P """
+        current_T = self.kin.getEEtf(self.kin.setJntArray(current_joints))
+        current_pos = np.array([current_T.p[0], current_T.p[1], current_T.p[2]])
+        current_rot = current_T.M
+
+        target_T = self.kin.getEEtf(self.kin.setJntArray(self.target_qpos))
+        target_pos = np.array([target_T.p[0], target_T.p[1], target_T.p[2]])
+        target_rot = target_T.M
+
+        current_pos_err = target_pos - current_pos
+        current_rot_err = (target_rot * (current_rot.Inverse())).GetRot()
+
+        err = np.array([current_pos_err[0], current_pos_err[1], current_pos_err[2],
+                        current_rot_err[0], current_rot_err[1], current_rot_err[2]])
+
+        return err
+
+    def computePhi(self, err):
+        return err.T @ np.eye(6) @ err
+
+    def computeDelta(self, lamb, qpos, err):
+        jac = self.kin.setNumpyMat(self.kin.getJac(self.kin.setJntArray(qpos)))
+        mat = jac.T.dot(jac) + lamb * np.eye(7)
+        if np.linalg.det(mat) == 0:
+            raise np.linalg.LinAlgError
+        inv_mat = np.linalg.inv(mat)
+        return inv_mat @ jac.T @ err
+
+    def updatePhi(self, lamb):
+        current_qpos = self.current_qpos.copy()
+        err = self.computeError(current_qpos)
+        delta_q = self.computeDelta(lamb, current_qpos, err)
+        phi = self.computePhi(err)
+        new_qpos = current_qpos + delta_q
+        return phi, lamb, new_qpos
+
+    def updateLambda(self):
+        # phi, lamb, current_qpos = self.update(self.lamb * np.exp(-self.v))
+        phi, lamb, qpos = self.updatePhi(self.lamb / (self.v_d + 1e-5))
+        if phi - self.prev_phi < self.eps_phi:
+            return lamb, qpos, phi, True
+
+        phi, lamb, qpos = self.updatePhi(self.lamb)
+        if phi - self.prev_phi < self.eps_phi:
+            return lamb, qpos, phi, True
+
+        # phi, lamb, qpos = self.update(self.lamb * np.exp(self.v))
+        phi, lamb, qpos = self.updatePhi(self.lamb * self.v_m)
+        if phi - self.prev_phi < self.eps_phi:
+            return lamb, qpos, phi, True
+        # success = False
+        # while phi - self.prev_phi >= 0:
+        #     _phi, _lamb, _qpos = self.updatePhi(lamb * self.v_m)
+        #     if phi - self.prev_phi > 0:
+        #         print("lamb:", _lamb)
+        #         break
+        #     phi = _phi
+        #     lamb = _lamb
+        #     qpos = _qpos
+        # Failure
+        return self.lamb, self.current_qpos, self.prev_phi, False
+
+    def step(self, action):
+        """ LMA computation """
+        self.iter_times += 1
+        self.v_d = (1 / 1 + np.exp(action[0])) * 100
+        self.v_m = (1 / 1 + np.exp(action[1])) * 100
+
+        done = False
+        reward = 0.0
+
+        step_start_time = time.time()
+        self.lamb, self.current_qpos, self.prev_phi, success = self.updateLambda()
+        step_cost_time = time.time() - step_start_time
+
+        print(
+            f"times={self.iter_times}, phi={self.prev_phi:.7f}, cost_time={step_cost_time:.5f}. lamb:{self.lamb}")
+
+        # reward += 0.3 * (1 - 1e3 * step_cost_time) if (1 - 1e3 * step_cost_time) >= 0 else 0.0
+        reward -= 0.3 * self.iter_times
+        if self.prev_phi >= 0.1:
+            reward += 0.5 * (1.0 - 1 * self.prev_phi)
+        elif 0.1 > self.prev_phi >= 0.01:
+            reward += 0.5 + (1.0 - 10 * self.prev_phi)
+        elif 0.01 > self.prev_phi >= 0.001:
+            reward += 1.5 + (1.0 - 100 * self.prev_phi)
+        elif 0.001 > self.prev_phi >= 0.0001:
+            reward += 2.5 + (1.0 - 1000 * self.prev_phi)
+        elif 0.0001 > self.prev_phi >= 0.00001:
+            reward += 3.5 + (1.0 - 10000 * self.prev_phi)
+        elif 0.00001 > self.prev_phi >= 0.000001:
+            reward += 4.5 + (1.0 - 10000 * self.prev_phi)
+        else:
+            # if self.prev_phi <= self.eps_phi:
+            done = True
+            reward += 10.0
+
+        if success is False:
+            reward = 0
+        return self.get_obs(), reward, done, dict()
+
+    def reset(self):
+        self.setInitQpos(3.14 * np.random.uniform(low=-1.0, high=1.0, size=(7,)))
+        self.setTargetQpos(3.14 * np.random.uniform(low=-1.0, high=1.0, size=(7,)))
+        err = self.computeError(self.init_qpos)
+        self.prev_phi = self.computePhi(err)
+        self.iter_times = 0
+        self.lamb = 0.01
+        print("=====================================new episode==================================")
+        if self.verbose:
+            print("init phi =", self.prev_phi)
+            print("init qpos =", self.init_qpos)
+            print("goal qpos =", self.target_qpos)
+            result = self.kin.getEEtf(self.kin.setJntArray(self.current_qpos))
+            target = self.kin.getEEtf(self.kin.setJntArray(self.target_qpos))
+            print("init T =", result)
+            print("goal T =", target)
+        return self.get_obs()
+
+    def get_obs(self):
+        obs = np.zeros(self.obs_dim)
+        obs[0] = np.array([self.prev_phi], dtype=np.float32)
+        obs[1] = np.array([self.lamb], dtype=np.float32)
+        # obs[1:8] = self.current_qpos
+        # obs[8:15] = self.target_qpos
+        return obs
+
+
+def run_test():
+    env = Lma_hcm(verbose=False)
+    env.reset()
+    for n_steps in range(int(1e6)):
+        a = np.array([0.5, 0.1])
+        s_, r, d, _ = env.step(a)
+        # print(r, d)
+        if d or env.iter_times % env.max_ep_steps == 0:
+            if env.verbose:
+                result = env.kin.getEEtf(env.kin.setJntArray(env.current_qpos))
+                target = env.kin.getEEtf(env.kin.setJntArray(env.target_qpos))
+                print("compute_results  =", result)
+                print("target_T = ", target)
+            env.reset()
+
+
+def run_train():
+    env = Lma_hcm()
+    env = GymWrapper(env)
+    env = TimeLimit(env, max_episode_steps=env.env.max_episode_steps)
+
+    # check_env(env)
+
+    class TensorboardCallback(BaseCallback):
+        """
+        Custom callback for plotting additional values in tensorboard.
+        """
+
+        def __init__(self, log_dir, verbose=0):
+            super(TensorboardCallback, self).__init__(verbose)
+            self.log_dir = log_dir
+
+        def _on_step(self) -> bool:
+            if self.n_calls % 51200 == 0:
+                print("Saving new best model")
+                self.model.save(self.log_dir + f"/model_saved/PPO/LMA_{self.n_calls}")
+            return True
+
+    log_dir = "log/"
+
+    model = PPO(
+        policy="MlpPolicy",
+        env=env,
+        tensorboard_log=log_dir,
+        device="cuda",
+    )
+    model.learn(total_timesteps=int(1e7), callback=TensorboardCallback(log_dir=log_dir))
+    model.save("lma_rl")
+
+
+def run_play():
+    env = Lma_hcm(verbose=False)
+    model = PPO.load("log/model_saved/PPO_2/LMA_3788800.zip")
+    obs = env.reset()
+    for i in range(int(1e6)):
+        action, _states = model.predict(obs)
+        obs, reward, done, info = env.step(action)
+        print("a", action)
+        if done:
+            env.reset()
+
+
+if __name__ == '__main__':
+    # run_test()
+    run_train()
+    # run_play()
diff --git a/roboimi/utils/KDL_utils/transform.py b/roboimi/utils/KDL_utils/transform.py
new file mode 100644
index 0000000..646fc94
--- /dev/null
+++ b/roboimi/utils/KDL_utils/transform.py
@@ -0,0 +1,181 @@
+import numpy as np
+from numpy import sin, cos
+import time
+
+
+def euler2Quat(rpy, degrees: bool = False):
+    """
+    degrees:bool
+    True is the angle value, and False is the radian value
+    """
+    roll = rpy[0]
+    pitch = rpy[1]
+    yaw = rpy[2]
+    if degrees:
+        roll = np.deg2rad(roll)
+        pitch = np.deg2rad(pitch)
+        yaw = np.deg2rad(yaw)
+
+    cy = cos(yaw * 0.5)
+    sy = sin(yaw * 0.5)
+    cp = cos(pitch * 0.5)
+    sp = sin(pitch * 0.5)
+    cr = cos(roll * 0.5)
+    sr = sin(roll * 0.5)
+
+    w = cy * cp * cr + sy * sp * sr
+    x = cy * cp * sr - sy * sp * cr
+    y = sy * cp * sr + cy * sp * cr
+    z = sy * cp * cr - cy * sp * sr
+
+    return np.array([x, y, z, w])
+
+
+def euler2Mat(euler):
+    """
+    Converts euler angles into rotation matrix form
+
+    Args:
+        euler (np.array): (r,p,y) angles
+        rad args
+
+    Returns:
+        np.array: 3x3 rotation matrix
+
+    """
+    euler = np.asarray(euler, dtype=np.float64)
+    assert euler.shape[-1] == 3, "Invalid shaped euler {}".format(euler)
+
+    ai, aj, ak = -euler[..., 2], -euler[..., 1], -euler[..., 0]
+    si, sj, sk = np.sin(ai), np.sin(aj), np.sin(ak)
+    ci, cj, ck = np.cos(ai), np.cos(aj), np.cos(ak)
+    cc, cs = ci * ck, ci * sk
+    sc, ss = si * ck, si * sk
+
+    mat = np.empty(euler.shape[:-1] + (3, 3), dtype=np.float64)
+    mat[..., 2, 2] = cj * ck
+    mat[..., 2, 1] = sj * sc - cs
+    mat[..., 2, 0] = sj * cc + ss
+    mat[..., 1, 2] = cj * sk
+    mat[..., 1, 1] = sj * ss + cc
+    mat[..., 1, 0] = sj * cs - sc
+    mat[..., 0, 2] = -sj
+    mat[..., 0, 1] = cj * si
+    mat[..., 0, 0] = cj * ci
+    return mat
+
+
+def quat2Mat(quaternion):
+    w, x, y, z = quaternion
+
+    norm = np.sqrt(w ** 2 + x ** 2 + y ** 2 + z ** 2)
+    w /= norm
+    x /= norm
+    y /= norm
+    z /= norm
+
+    r11 = 1 - 2 * y ** 2 - 2 * z ** 2
+    r12 = 2 * x * y - 2 * w * z
+    r13 = 2 * x * z + 2 * w * y
+    r21 = 2 * x * y + 2 * w * z
+    r22 = 1 - 2 * x ** 2 - 2 * z ** 2
+    r23 = 2 * y * z - 2 * w * x
+    r31 = 2 * x * z - 2 * w * y
+    r32 = 2 * y * z + 2 * w * x
+    r33 = 1 - 2 * x ** 2 - 2 * y ** 2
+
+    rotation_matrix = np.array([[r11, r12, r13],
+                                [r21, r22, r23],
+                                [r31, r32, r33]])
+
+    return rotation_matrix
+
+
+def vec2Mat(vec):
+    '''
+    The rotation vector modulus is the angle
+    Not using the Rodriguez formula
+
+    When calculating the rotation matrix,
+    it is necessary to normalize the rotation vector into a unit vector,
+    calculate the four components of the quaternion according to the formula,
+    and then convert the quaternion into a rotation matrix.
+    '''
+    x = vec[0]
+    y = vec[1]
+    z = vec[2]
+    theta = np.sqrt(x * x + y * y + z * z)
+    axis = np.array([x, y, z]) / theta
+    a = np.cos(theta / 2)
+    b, c, d = -axis * np.sin(theta / 2)
+    bb, cc, dd = b ** 2, c ** 2, d ** 2
+    bc, bd, cd = b * c, b * d, c * d
+    rotation_matrix = np.array([[a * a + bb - cc - dd, 2 * (bc + a * d), 2 * (bd - a * c)],
+                                [2 * (bc - a * d), a * a + cc - bb - dd, 2 * (cd + a * b)],
+                                [2 * (bd + a * c), 2 * (cd - a * b), a * a + dd - bb - cc]])
+    return rotation_matrix
+
+
+def mat2Quat(mat):
+    trace = np.trace(mat)
+    if trace > 0:
+        S = np.sqrt(trace + 1.0) * 2  # S = 4*qw
+        qw = 0.25 * S
+        qx = (mat[2, 1] - mat[1, 2]) / S
+        qy = (mat[0, 2] - mat[2, 0]) / S
+        qz = (mat[1, 0] - mat[0, 1]) / S
+    elif mat[0, 0] > mat[1, 1] and mat[0, 0] > mat[2, 2]:
+        S = np.sqrt(1.0 + mat[0, 0] - mat[1, 1] - mat[2, 2]) * 2  # S = 4*qx
+        qw = (mat[2, 1] - mat[1, 2]) / S
+        qx = 0.25 * S
+        qy = (mat[0, 1] + mat[1, 0]) / S
+        qz = (mat[0, 2] + mat[2, 0]) / S
+    elif mat[1, 1] > mat[2, 2]:
+        S = np.sqrt(1.0 + mat[1, 1] - mat[0, 0] - mat[2, 2]) * 2  # S = 4*qy
+        qw = (mat[0, 2] - mat[2, 0]) / S
+        qx = (mat[0, 1] + mat[1, 0]) / S
+        qy = 0.25 * S
+        qz = (mat[1, 2] + mat[2, 1]) / S
+    else:
+        S = np.sqrt(1.0 + mat[2, 2] - mat[0, 0] - mat[1, 1]) * 2  # S = 4*qz
+        qw = (mat[1, 0] - mat[0, 1]) / S
+        qx = (mat[0, 2] + mat[2, 0]) / S
+        qy = (mat[1, 2] + mat[2, 1]) / S
+        qz = 0.25 * S
+
+    quaternion = np.array([qw, qx, qy, qz]) #w,x,y,z
+    return quaternion
+
+
+def makeTransform(pos=None, rot=None) -> np.ndarray:
+    """ concatenate both 1*3 or 3*1 position array and 3*3 rotation matrix
+        to a 4*4 transform matrix
+
+    E.g.:
+    >>> T = makeTransform(np.zeros(3), np.zeros(shape=(3, 3)))
+
+    :param pos: 1*3 position
+    :param rot: 3*3 rotation
+    :return: 4*4 transform
+    """
+    pos = np.asarray(pos).reshape(3, 1)
+    rot = np.asarray(rot)
+    Trans = np.concatenate([rot, pos], axis=1)
+    Trans = np.concatenate([Trans, np.array([[0, 0, 0, 1]])], axis=0)
+    return Trans
+
+# @jit(nopython=True)
+def mat_transpose(mat):
+    rows = len(mat)
+    cols = len(mat[0])
+    matrix_t = np.zeros(rows*cols).reshape(rows,cols)
+    # matrix_t = [[0.0000 for _ in range(rows)] for _ in range(cols)]
+
+
+    for i in range(rows):
+        for j in range(cols):
+            # print(mat[i][j])
+            matrix_t[j][i] = mat[i][j]
+
+    return matrix_t
+
diff --git a/roboimi/utils/KDL_utils/update_jac_GQ.py b/roboimi/utils/KDL_utils/update_jac_GQ.py
new file mode 100644
index 0000000..434ee9e
--- /dev/null
+++ b/roboimi/utils/KDL_utils/update_jac_GQ.py
@@ -0,0 +1,141 @@
+import numpy as np
+from math import sin,cos,sqrt
+
+def updateJac(joints):
+    theta1, theta2, theta3, theta4, theta5, theta6, theta7 = joints
+    h =([0.077*cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 0.065*cos(theta1)*sin(theta3) - 0.459*sin(theta1)*sin(theta2) + 0.1059*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 0.1059*cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) + 0.077*sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 0.005*sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + 0.0528*cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 0.4574*sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + 0.005*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)) - 0.4574*cos(theta4)*sin(theta1)*sin(theta2) - 0.0528*sin(theta1)*sin(theta2)*sin(theta4) - 0.065*cos(theta2)*cos(theta3)*sin(theta1),
+    0.459*cos(theta1)*cos(theta2) + 0.077*cos(theta6)*(cos(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*cos(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) + 0.1059*sin(theta6)*(cos(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*cos(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - 0.005*sin(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) + 0.1059*cos(theta6)*(cos(theta1)*cos(theta2)*cos(theta4) - 1.0*cos(theta1)*cos(theta3)*sin(theta2)*sin(theta4)) - 0.077*sin(theta6)*(cos(theta1)*cos(theta2)*cos(theta4) - 1.0*cos(theta1)*cos(theta3)*sin(theta2)*sin(theta4)) + 0.4574*cos(theta1)*cos(theta2)*cos(theta4) - 0.065*cos(theta1)*cos(theta3)*sin(theta2) + 0.0528*cos(theta1)*cos(theta2)*sin(theta4) + 0.0528*cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2) - 0.4574*cos(theta1)*cos(theta3)*sin(theta2)*sin(theta4) - 0.005*cos(theta1)*cos(theta5)*sin(theta2)*sin(theta3),
+    0.0528*cos(theta4)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)) - 0.077*cos(theta6)*(sin(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 0.1059*sin(theta6)*(sin(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 0.065*cos(theta3)*sin(theta1) - 0.4574*sin(theta4)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)) - 0.005*cos(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 0.005*cos(theta4)*sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)) - 0.1059*cos(theta6)*sin(theta4)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)) + 0.077*sin(theta4)*sin(theta6)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)) - 0.065*cos(theta1)*cos(theta2)*sin(theta3),
+    0.077*sin(theta6)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 0.1059*cos(theta6)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + 0.005*sin(theta5)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 0.4574*cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 0.0528*sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 0.4574*cos(theta1)*sin(theta2)*sin(theta4) - 0.077*cos(theta5)*cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 0.1059*cos(theta5)*sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + 0.0528*cos(theta1)*cos(theta4)*sin(theta2),
+    - 0.077*cos(theta6)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 0.1059*sin(theta6)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 0.005*cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 0.005*sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)),
+    0.077*cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + 0.1059*sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + 0.1059*cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 0.077*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))),
+    0,
+    0.065*sin(theta1)*sin(theta3) - 0.459*cos(theta1)*sin(theta2) + 0.005*sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 0.005*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)) + 0.1059*cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 0.077*sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 0.077*cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 0.0528*cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 0.1059*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + 0.4574*sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 0.0528*cos(theta1)*sin(theta2)*sin(theta4) - 0.065*cos(theta1)*cos(theta2)*cos(theta3) - 0.4574*cos(theta1)*cos(theta4)*sin(theta2),
+    0.005*sin(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) - 0.077*cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - 0.1059*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - 0.459*cos(theta2)*sin(theta1) - 0.1059*cos(theta6)*(cos(theta2)*cos(theta4)*sin(theta1) - 1.0*cos(theta3)*sin(theta1)*sin(theta2)*sin(theta4)) + 0.077*sin(theta6)*(cos(theta2)*cos(theta4)*sin(theta1) - 1.0*cos(theta3)*sin(theta1)*sin(theta2)*sin(theta4)) + 0.065*cos(theta3)*sin(theta1)*sin(theta2) - 0.0528*cos(theta2)*sin(theta1)*sin(theta4) - 0.4574*cos(theta2)*cos(theta4)*sin(theta1) - 0.0528*cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2) + 0.4574*cos(theta3)*sin(theta1)*sin(theta2)*sin(theta4) + 0.005*cos(theta5)*sin(theta1)*sin(theta2)*sin(theta3),
+    0.0528*cos(theta4)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)) - 0.077*cos(theta6)*(sin(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 0.1059*sin(theta6)*(sin(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 0.005*cos(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 0.065*cos(theta1)*cos(theta3) - 0.4574*sin(theta4)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)) + 0.065*cos(theta2)*sin(theta1)*sin(theta3) - 0.005*cos(theta4)*sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)) - 0.1059*cos(theta6)*sin(theta4)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)) + 0.077*sin(theta4)*sin(theta6)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)),
+    0.005*sin(theta5)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 0.1059*cos(theta6)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + 0.077*sin(theta6)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 0.4574*cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 0.0528*sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 0.0528*cos(theta4)*sin(theta1)*sin(theta2) + 0.4574*sin(theta1)*sin(theta2)*sin(theta4) - 0.077*cos(theta5)*cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 0.1059*cos(theta5)*sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)),
+    - 0.077*cos(theta6)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 0.1059*sin(theta6)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 0.005*cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 0.005*sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)),
+    0.1059*cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 0.077*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + 0.077*cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) + 0.1059*sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)),
+    0,
+    0,
+    0.077*sin(theta6)*(cos(theta4)*sin(theta2) + cos(theta2)*cos(theta3)*sin(theta4)) - 0.065*cos(theta2)*cos(theta3) - 0.4574*cos(theta4)*sin(theta2) - 0.0528*sin(theta2)*sin(theta4) - 0.077*cos(theta6)*(cos(theta5)*(sin(theta2)*sin(theta4) - 1.0*cos(theta2)*cos(theta3)*cos(theta4)) + cos(theta2)*sin(theta3)*sin(theta5)) - 0.1059*sin(theta6)*(cos(theta5)*(sin(theta2)*sin(theta4) - 1.0*cos(theta2)*cos(theta3)*cos(theta4)) + cos(theta2)*sin(theta3)*sin(theta5)) - 0.1059*cos(theta6)*(cos(theta4)*sin(theta2) + cos(theta2)*cos(theta3)*sin(theta4)) - 0.459*sin(theta2) + 0.005*sin(theta5)*(sin(theta2)*sin(theta4) - 1.0*cos(theta2)*cos(theta3)*cos(theta4)) + 0.0528*cos(theta2)*cos(theta3)*cos(theta4) - 0.4574*cos(theta2)*cos(theta3)*sin(theta4) - 0.005*cos(theta2)*cos(theta5)*sin(theta3),
+    0.065*sin(theta2)*sin(theta3) - 0.077*cos(theta6)*(cos(theta3)*sin(theta2)*sin(theta5) + cos(theta4)*cos(theta5)*sin(theta2)*sin(theta3)) - 0.1059*sin(theta6)*(cos(theta3)*sin(theta2)*sin(theta5) + cos(theta4)*cos(theta5)*sin(theta2)*sin(theta3)) - 0.0528*cos(theta4)*sin(theta2)*sin(theta3) + 0.4574*sin(theta2)*sin(theta3)*sin(theta4) - 0.005*cos(theta3)*cos(theta5)*sin(theta2) + 0.005*cos(theta4)*sin(theta2)*sin(theta3)*sin(theta5) + 0.1059*cos(theta6)*sin(theta2)*sin(theta3)*sin(theta4) - 0.077*sin(theta2)*sin(theta3)*sin(theta4)*sin(theta6),
+    0.0528*cos(theta2)*cos(theta4) - 0.4574*cos(theta2)*sin(theta4) - 0.1059*cos(theta6)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + 0.077*sin(theta6)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 0.005*sin(theta5)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) - 0.0528*cos(theta3)*sin(theta2)*sin(theta4) + 0.077*cos(theta5)*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 0.1059*cos(theta5)*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) - 0.4574*cos(theta3)*cos(theta4)*sin(theta2),
+    0.005*sin(theta2)*sin(theta3)*sin(theta5) - 0.1059*sin(theta6)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 0.005*cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 0.077*cos(theta6)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)),
+    0.1059*cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 0.077*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 0.077*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) - 0.1059*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)),
+    0,
+    (0.25*(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)))))/(cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4)*sin(theta1) - 1.0*cos(theta3)*sin(theta1)*sin(theta2)*sin(theta4))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) + cos(theta5)*sin(theta1)*sin(theta2)*sin(theta3)) + sin(theta6)*(cos(theta5)*(sin(theta2)*sin(theta4) - 1.0*cos(theta2)*cos(theta3)*cos(theta4)) + cos(theta2)*sin(theta3)*sin(theta5)) + 1.0*cos(theta7)*(1.0*cos(theta6)*(cos(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*cos(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - sin(theta6)*(cos(theta1)*cos(theta2)*cos(theta4) - 1.0*cos(theta1)*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(cos(theta4)*sin(theta2) + cos(theta2)*cos(theta3)*sin(theta4)) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta1)*cos(theta5)*sin(theta2)*sin(theta3))))/(cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    -(0.25*(cos(theta7)*(cos(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(sin(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta4)*sin(theta6)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta7)*(cos(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta4)*sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta3)*sin(theta2)*sin(theta5) + cos(theta4)*cos(theta5)*sin(theta2)*sin(theta3)) + cos(theta7)*(cos(theta6)*(sin(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta4)*sin(theta6)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta6)*sin(theta2)*sin(theta3)*sin(theta4)))/(cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*(cos(theta7)*(sin(theta6)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2))) + cos(theta6)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta7)*(sin(theta6)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + cos(theta7)*sin(theta5)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) + sin(theta5)*sin(theta7)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*cos(theta5)*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))/(cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    -(0.25*(cos(theta7)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta6)*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta6)*cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))))/(cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*(sin(theta7)*(1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + 1.0*cos(theta7)*(cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))/(cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    -(0.25*(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)))))/(cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    dirac(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) + (0.25*np.sign(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)))))/(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*np.sign(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4)*sin(theta1) - 1.0*cos(theta3)*sin(theta1)*sin(theta2)*sin(theta4))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) + cos(theta5)*sin(theta1)*sin(theta2)*sin(theta3)) + sin(theta6)*(cos(theta5)*(sin(theta2)*sin(theta4) - 1.0*cos(theta2)*cos(theta3)*cos(theta4)) + cos(theta2)*sin(theta3)*sin(theta5)) - cos(theta7)*(1.0*cos(theta6)*(cos(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*cos(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - sin(theta6)*(cos(theta1)*cos(theta2)*cos(theta4) - 1.0*cos(theta1)*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(cos(theta4)*sin(theta2) + cos(theta2)*cos(theta3)*sin(theta4)) + sin(theta7)*(sin(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta1)*cos(theta5)*sin(theta2)*sin(theta3))))/(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) + 1.0*dirac(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(sin(theta2)*sin(theta4) - 1.0*cos(theta2)*cos(theta3)*cos(theta4)) + cos(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta4)*sin(theta2) + cos(theta2)*cos(theta3)*sin(theta4))) - sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - cos(theta6)*(cos(theta2)*cos(theta4)*sin(theta1) - 1.0*cos(theta3)*sin(theta1)*sin(theta2)*sin(theta4)) + 1.0*cos(theta7)*(sin(theta5)*(sin(theta2)*sin(theta4) - 1.0*cos(theta2)*cos(theta3)*cos(theta4)) - 1.0*cos(theta2)*cos(theta5)*sin(theta3)))*(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*np.sign(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(sin(theta7)*(cos(theta6)*(sin(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta4)*sin(theta6)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*cos(theta7)*(cos(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta7)*(cos(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta4)*sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta6)*(cos(theta3)*sin(theta2)*sin(theta5) + cos(theta4)*cos(theta5)*sin(theta2)*sin(theta3)) + cos(theta7)*(cos(theta6)*(sin(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta4)*sin(theta6)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta6)*sin(theta2)*sin(theta3)*sin(theta4)))/(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - 1.0*dirac(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(sin(theta6)*(sin(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta3)*sin(theta2)*sin(theta5) + cos(theta4)*cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta2)*sin(theta3)*sin(theta4)*sin(theta6)) + cos(theta7)*(cos(theta3)*cos(theta5)*sin(theta2) - 1.0*cos(theta4)*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*sin(theta4)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)))*(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    - 1.0*dirac(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(sin(theta7)*(sin(theta6)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + cos(theta5)*sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) + cos(theta7)*sin(theta5)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)))*(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - (0.25*np.sign(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(cos(theta7)*(sin(theta6)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2))) - 1.0*cos(theta6)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + sin(theta7)*(sin(theta6)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*sin(theta5)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) + sin(theta5)*sin(theta7)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))/(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*np.sign(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(sin(theta6)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta7)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta6)*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta6)*cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))))/(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - 1.0*dirac(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(sin(theta6)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)))*(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    dirac(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta7)*(sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)))*(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) + (0.25*np.sign(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(sin(theta7)*(1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - cos(theta7)*(cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))/(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    dirac(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) + (0.25*np.sign(cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)))))/(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*np.sign(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)))))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - dirac(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*np.sign(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4)*sin(theta1) - 1.0*cos(theta3)*sin(theta1)*sin(theta2)*sin(theta4))) + cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) + cos(theta5)*sin(theta1)*sin(theta2)*sin(theta3)) - 1.0*sin(theta6)*(cos(theta5)*(sin(theta2)*sin(theta4) - 1.0*cos(theta2)*cos(theta3)*cos(theta4)) + cos(theta2)*sin(theta3)*sin(theta5)) - cos(theta7)*(1.0*cos(theta6)*(cos(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*cos(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - sin(theta6)*(cos(theta1)*cos(theta2)*cos(theta4) - 1.0*cos(theta1)*cos(theta3)*sin(theta2)*sin(theta4))) - 1.0*cos(theta6)*(cos(theta4)*sin(theta2) + cos(theta2)*cos(theta3)*sin(theta4)) + sin(theta7)*(sin(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta1)*cos(theta5)*sin(theta2)*sin(theta3))))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - 1.0*dirac(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(sin(theta6)*(cos(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*cos(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(sin(theta2)*sin(theta4) - 1.0*cos(theta2)*cos(theta3)*cos(theta4)) + cos(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta4)*sin(theta2) + cos(theta2)*cos(theta3)*sin(theta4))) + cos(theta6)*(cos(theta1)*cos(theta2)*cos(theta4) - 1.0*cos(theta1)*cos(theta3)*sin(theta2)*sin(theta4)) + sin(theta7)*(sin(theta5)*(sin(theta2)*sin(theta4) - 1.0*cos(theta2)*cos(theta3)*cos(theta4)) - 1.0*cos(theta2)*cos(theta5)*sin(theta3)))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*np.sign(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(sin(theta7)*(cos(theta6)*(sin(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta4)*sin(theta6)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*cos(theta7)*(cos(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta7)*(cos(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta4)*sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta3)*sin(theta2)*sin(theta5) + cos(theta4)*cos(theta5)*sin(theta2)*sin(theta3)) + cos(theta7)*(cos(theta6)*(sin(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta4)*sin(theta6)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta6)*sin(theta2)*sin(theta3)*sin(theta4)))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) + dirac(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(cos(theta7)*(cos(theta6)*(cos(theta3)*sin(theta2)*sin(theta5) + cos(theta4)*cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta2)*sin(theta3)*sin(theta4)*sin(theta6)) + sin(theta6)*(sin(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta3)*cos(theta5)*sin(theta2) - 1.0*cos(theta4)*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*sin(theta4)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    dirac(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(cos(theta6)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta7)*(sin(theta6)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta5)*sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + sin(theta5)*sin(theta7)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - (0.25*np.sign(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(cos(theta7)*(sin(theta6)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2))) + cos(theta6)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + sin(theta7)*(sin(theta6)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*sin(theta5)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) + sin(theta5)*sin(theta7)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*cos(theta5)*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    dirac(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(sin(theta6)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) + (0.25*np.sign(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(sin(theta7)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta6)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta6)*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta6)*cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*np.sign(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(sin(theta7)*(1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - cos(theta7)*(cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + 1.0*cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - 1.0*dirac(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*cos(theta7)*(sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*np.sign(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)))))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) + dirac(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    dirac(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - (0.25*np.sign(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)))))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    dirac(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) + cos(theta5)*sin(theta1)*sin(theta2)*sin(theta3)) + 1.0*sin(theta7)*(1.0*cos(theta6)*(cos(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*cos(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - sin(theta6)*(cos(theta1)*cos(theta2)*cos(theta4) - 1.0*cos(theta1)*cos(theta3)*sin(theta2)*sin(theta4))) + cos(theta7)*(sin(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta1)*cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4)*sin(theta1) - 1.0*cos(theta3)*sin(theta1)*sin(theta2)*sin(theta4))))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - (0.25*np.sign(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4)*sin(theta1) - 1.0*cos(theta3)*sin(theta1)*sin(theta2)*sin(theta4))) + 1.0*cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta1)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta1)*sin(theta2)) + cos(theta5)*sin(theta1)*sin(theta2)*sin(theta3)) - sin(theta6)*(cos(theta5)*(sin(theta2)*sin(theta4) - 1.0*cos(theta2)*cos(theta3)*cos(theta4)) + cos(theta2)*sin(theta3)*sin(theta5)) + cos(theta7)*(1.0*cos(theta6)*(cos(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*cos(theta1)*sin(theta2)*sin(theta3)*sin(theta5)) - sin(theta6)*(cos(theta1)*cos(theta2)*cos(theta4) - 1.0*cos(theta1)*cos(theta3)*sin(theta2)*sin(theta4))) - cos(theta6)*(cos(theta4)*sin(theta2) + cos(theta2)*cos(theta3)*sin(theta4)) - sin(theta7)*(sin(theta5)*(cos(theta1)*cos(theta2)*sin(theta4) + cos(theta1)*cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta1)*cos(theta5)*sin(theta2)*sin(theta3))))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*np.sign(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(cos(theta7)*(cos(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta7)*(cos(theta6)*(sin(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta4)*sin(theta6)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta7)*(cos(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta4)*sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta6)*(cos(theta3)*sin(theta2)*sin(theta5) + cos(theta4)*cos(theta5)*sin(theta2)*sin(theta3)) + cos(theta7)*(cos(theta6)*(sin(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta4)*sin(theta6)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta6)*sin(theta2)*sin(theta3)*sin(theta4)))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - 1.0*dirac(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(cos(theta7)*(cos(theta6)*(sin(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta4)*sin(theta6)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*cos(theta7)*(cos(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta4)*sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta5)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta7)*(cos(theta6)*(sin(theta5)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta4)*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta4)*sin(theta6)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    dirac(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(sin(theta7)*(sin(theta6)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2))) + cos(theta7)*(sin(theta6)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta5)*sin(theta7)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*cos(theta7)*sin(theta5)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - (0.25*np.sign(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(cos(theta7)*(sin(theta6)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2))) - 1.0*cos(theta6)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta7)*(sin(theta6)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + cos(theta7)*sin(theta5)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) + sin(theta5)*sin(theta7)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*np.sign(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(cos(theta7)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) + sin(theta7)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*cos(theta6)*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + cos(theta6)*cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - 1.0*dirac(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(sin(theta7)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*cos(theta7)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta6)*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta6)*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    - dirac(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(cos(theta7)*(1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - sin(theta7)*(cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - (0.25*np.sign(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(1.0*sin(theta7)*(1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + cos(theta7)*(cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2),
+    (0.25*np.sign(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)))))/(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2) - 1.0*dirac(cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) + sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))))*(sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) + cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) + 1.0)**(1/2)])
+    h = np.array(([h[0], h[1],  h[2],  h[3],  h[4],  h[5],  h[6]],
+                [h[7], h[8],  h[9],  h[10],  h[11],  h[12],  h[13]],
+                [h[14], h[15],  h[16],  h[17],  h[18],  h[19],  h[20]],
+                [h[21], h[22],  h[23],  h[24],  h[25],  h[26],  h[27]],
+                [h[28], h[29],  h[30],  h[31],  h[32],  h[33],  h[34]],
+                [h[35], h[36],  h[37],  h[38],  h[39],  h[40],  h[41]],
+                [h[42], h[43],  h[44],  h[45],  h[46],  h[47],  h[48]]))
+
+    return h
+# 脉冲函数
+def dirac(x):
+    if isinstance(x, (int, float)):
+        if x == 0:
+            return float('inf')
+        else:
+            return 0
+    elif isinstance(x, np.ndarray):
+        return np.zeros_like(x)
+    else:
+        raise ValueError("Unsupported input type. Only int, float, and numpy array are supported.")
+
+# 正向运动学
+def getTransform(joints : np.array):
+    # 输入：关节角度
+    # 输出：其次旋转矩阵
+    theta1 = joints[0]
+    theta2 = joints[1]
+    theta3 = joints[2]
+    theta4 = joints[3]
+    theta5 = joints[4]
+    theta6 = joints[5]
+    theta7 = joints[6]
+    FK = ([cos(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))),
+    - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 1.0*sin(theta7)*(sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)))),
+    cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))),
+    0.4591*cos(theta1)*sin(theta2) - 0.065*sin(theta1)*sin(theta3) - 0.005*sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + 0.005*cos(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3)) - 0.1059*cos(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + 0.077*sin(theta6)*(sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) - 1.0*cos(theta1)*cos(theta4)*sin(theta2)) + 0.077*cos(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) + 0.0528*cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + 0.1059*sin(theta6)*(cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + cos(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta3)*sin(theta1) + cos(theta1)*cos(theta2)*sin(theta3))) - 0.4574*sin(theta4)*(sin(theta1)*sin(theta3) - 1.0*cos(theta1)*cos(theta2)*cos(theta3)) + 0.0528*cos(theta1)*sin(theta2)*sin(theta4) + 0.065*cos(theta1)*cos(theta2)*cos(theta3) + 0.4574*cos(theta1)*cos(theta4)*sin(theta2),
+    cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))),
+    - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) + sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2))) - 1.0*cos(theta7)*(sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) - 1.0*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))),
+    cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 1.0*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))),
+    0.077*cos(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 0.065*cos(theta1)*sin(theta3) - 0.4591*sin(theta1)*sin(theta2) + 0.1059*sin(theta6)*(cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + sin(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3))) - 0.1059*cos(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) + 0.077*sin(theta6)*(sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + cos(theta4)*sin(theta1)*sin(theta2)) - 0.005*sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 1.0*sin(theta1)*sin(theta2)*sin(theta4)) + 0.0528*cos(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) - 0.4574*sin(theta4)*(cos(theta1)*sin(theta3) + cos(theta2)*cos(theta3)*sin(theta1)) + 0.005*cos(theta5)*(cos(theta1)*cos(theta3) - 1.0*cos(theta2)*sin(theta1)*sin(theta3)) - 0.4574*cos(theta4)*sin(theta1)*sin(theta2) - 0.0528*sin(theta1)*sin(theta2)*sin(theta4) - 0.065*cos(theta2)*cos(theta3)*sin(theta1),
+    cos(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))) - 1.0*sin(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)),
+    - 1.0*cos(theta7)*(sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + cos(theta5)*sin(theta2)*sin(theta3)) - 1.0*sin(theta7)*(cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4))),
+    - 1.0*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 1.0*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)),
+    0.4591*cos(theta2) + 0.4574*cos(theta2)*cos(theta4) - 0.065*cos(theta3)*sin(theta2) + 0.0528*cos(theta2)*sin(theta4) + 0.077*cos(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) + 0.1059*sin(theta6)*(cos(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) - 1.0*sin(theta2)*sin(theta3)*sin(theta5)) - 0.005*sin(theta5)*(cos(theta2)*sin(theta4) + cos(theta3)*cos(theta4)*sin(theta2)) + 0.1059*cos(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) - 0.077*sin(theta6)*(cos(theta2)*cos(theta4) - 1.0*cos(theta3)*sin(theta2)*sin(theta4)) - 0.4574*cos(theta3)*sin(theta2)*sin(theta4) - 0.005*cos(theta5)*sin(theta2)*sin(theta3) + 0.0528*cos(theta3)*cos(theta4)*sin(theta2) + 0.29849999999998999555828049778938,
+    0,
+    0,
+    0,
+    1.0])
+    trans = np.array(([FK[0],FK[1],FK[2],FK[3]],
+                       [FK[4],FK[5],FK[6],FK[7]],
+                       [FK[8],FK[9],FK[10],FK[11]],
+                       [FK[12],FK[13],FK[14],FK[15]]))
+    return trans
+
+def tform2quat(T):
+    # 提取旋转矩阵部分
+    rotmat = T[:3, :3]
+    trace = np.trace(rotmat)
+    
+    if trace > 0:
+        S = sqrt(trace + 1.0) * 2
+        qw = 0.25 * S
+        qx = (rotmat[2, 1] - rotmat[1, 2]) / S
+        qy = (rotmat[0, 2] - rotmat[2, 0]) / S
+        qz = (rotmat[1, 0] - rotmat[0, 1]) / S
+    elif rotmat[0, 0] > rotmat[1, 1] and rotmat[0, 0] > rotmat[2, 2]:
+        S = sqrt(1.0 + rotmat[0, 0] - rotmat[1, 1] - rotmat[2, 2]) * 2
+        qw = (rotmat[2, 1] - rotmat[1, 2]) / S
+        qx = 0.25 * S
+        qy = (rotmat[0, 1] + rotmat[1, 0]) / S
+        qz = (rotmat[0, 2] + rotmat[2, 0]) / S
+    elif rotmat[1, 1] > rotmat[2, 2]:
+        S = sqrt(1.0 + rotmat[1, 1] - rotmat[0, 0] - rotmat[2, 2]) * 2
+        qw = (rotmat[0, 2] - rotmat[2, 0]) / S
+        qx = (rotmat[0, 1] + rotmat[1, 0]) / S
+        qy = 0.25 * S
+        qz = (rotmat[1, 2] + rotmat[2, 1]) / S
+    else:
+        S = sqrt(1.0 + rotmat[2, 2] - rotmat[0, 0] - rotmat[1, 1]) * 2
+        qw = (rotmat[1, 0] - rotmat[0, 1]) / S
+        qx = (rotmat[0, 2] + rotmat[2, 0]) / S
+        qy = (rotmat[1, 2] + rotmat[2, 1]) / S
+        qz = 0.25 * S
+
+    quat = -np.array([qw, qx, qy, qz])
+
+    return quat
\ No newline at end of file
diff --git a/roboimi/utils/PIN_utils/PIN_utils.py b/roboimi/utils/PIN_utils/PIN_utils.py
new file mode 100644
index 0000000..eafa8c6
--- /dev/null
+++ b/roboimi/utils/PIN_utils/PIN_utils.py
@@ -0,0 +1,141 @@
+import os
+import numpy as np
+import pinocchio as pin
+from urdf_parser_py.urdf import URDF
+import numpy as np
+
+
+class PIN_utils:
+    
+    def __init__(self,
+                 urdf_path=""):
+        # mesh_dir
+        mesh_dir = os.path.dirname(os.path.dirname(urdf_path))
+        # Load the urdf model
+        self.model, self.collision_model, self.visual_model = pin.buildModelsFromUrdf(filename=urdf_path, package_dirs=mesh_dir)
+        # Create data required by the algorithms
+        self.data = self.model.createData()
+  
+        print("PIN init !")
+
+    def getModelNames(self,index):
+        return self.model.names[index]
+
+
+    def forwardKinematics(self, q):
+        pin.forwardKinematics(self.model, self.data, q)
+
+    def getModelJoints(self,index):
+        return self.model.joints[index]
+
+    def getJac(self, q):
+        pin.computeJointJacobians(self.model, self.data, q)
+        return pin.getJointJacobian(self.model,self.data,7,pin.WORLD)
+    
+    def getFrameJac(self,q,frameid):
+        return pin.computeFrameJacobian(self.model, self.data, q, frameid, pin.WORLD)
+
+    def Jlog6_(self,a):
+        return pin.Jlog6(a)
+    
+    def rpyJac(self,rpy):
+        return pin.rpy.computeRpyJacobian(rpy,pin.WORLD)
+
+
+    def setNumpyArray(self, q):
+        return np.asarray(q, dtype=np.float32)
+    
+    def getInertiaMat(self, q):
+        _q = self.setNumpyArray(q)
+        pin.crba(self.model, self.data, _q)
+        return self.data.M
+
+    
+    def forwardABADynamics(self, q, v, tau, flex=None):
+        """
+        Compute the forward dynamics with contact constraints
+        :param  q:  The joint configuration
+        :param  v:  The joint velocity
+        :param  tau:The joint torque vector
+        :return a:  The joint acceleration
+        """
+        if flex is None:
+            return pin.aba(self.model, self.data, q, v, tau)
+        else:
+            return pin.aba(self.model, self.data, q, v, tau, flex)
+    
+    def inverseDynamics(self, q, v, a, flex=None):
+        """
+        The Recursive Newton-Euler algorithm. 
+        It computes the inverse dynamics, aka the joint torques according to 
+        the current state of the system and the desired joint accelerations.
+        :param  q:  The joint configuration
+        :param  v:  The joint velocity
+        :param  a:  The joint acceleration
+        :return tau:The joint torque vector
+        """
+        if flex is None:
+            return pin.rnea(self.model, self.data, q, v, a)
+        else:
+            return pin.rnea(self.model, self.data, q, v, a, flex)
+
+    def getCoriolisMatrix(self, q, v):
+        pin.computeCoriolisMatrix(self.model, self.data, q, v)
+        return self.data.C
+    
+    def getGravity(self, q):
+        pin.computeGeneralizedGravity(self.model, self.data, q)
+        return self.data.g
+
+
+    #  computeRNEADerivative
+    def getDtau_dq(self, q, v, a):
+        pin.computeRNEADerivatives(self.model, self.data, q, v, a)
+        return self.data.dtau_dq
+    
+    def getDtau_dv(self, q, v, a):
+        pin.computeRNEADerivatives(self.model, self.data, q, v, a)
+        return self.data.dtau_dv
+
+    # def getD2tau_dqdq(self, q, v, a):
+    #     # !该函数不存在
+    #     d2tau_dqdq = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+    #     d2tau_dvdv = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+    #     dtau_dqdv = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+    #     dtau_dadq = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+    #     pin.ComputeRNEASecondOrderDerivatives(self.model, self.data, q, v, a, d2tau_dqdq, d2tau_dvdv, dtau_dqdv, dtau_dadq)
+    #     return self.d2tau_dqdq
+
+    # computeABADerivatives
+    def getDdq_dq(self, q, v, tau):
+        pin.computeABADerivatives(self.model, self.data, q, v, tau)
+        return self.data.ddq_dq
+    
+    def getDdq_dv(self, q, v, tau):
+        pin.computeABADerivatives(self.model, self.data, q, v, tau)
+        return self.data.ddq_dv
+    
+    def getDdq_dtau(self, q, v, tau):
+        pin.computeABADerivatives(self.model, self.data, q, v, tau)
+        return self.data.ddq_dtau
+    
+    # computeForwardKinematicsDerivatives
+    def getDv_dq(self, q, v, a, joint_id):
+        (dv_dq,dv_dv) = pin.getJointVelocityDerivatives(self.model, self.data, joint_id, pin.ReferenceFrame.WORLD) 
+        return dv_dq
+    
+    def getDv_dv(self, q, v, a, joint_id):
+        (dv_dq,dv_dv) = pin.getJointVelocityDerivatives(self.model, self.data, joint_id, pin.ReferenceFrame.WORLD) 
+        return dv_dv
+    
+    def getDa_dq(self, q, v, a, joint_id):
+        (dv_dq,da_dq,da_dv,da_da) = pin.getJointAccelerationDerivatives(self.model, self.data, joint_id, pin.ReferenceFrame.WORLD)
+        return da_dq 
+    
+    def getDa_dv(self, q, v, a, joint_id):
+        (dv_dq,da_dq,da_dv,da_da) = pin.getJointAccelerationDerivatives(self.model, self.data, joint_id, pin.ReferenceFrame.WORLD)
+        return da_dv 
+    
+    def getDa_da(self, q, v, a, joint_id):
+        (dv_dq,da_dq,da_dv,da_da) = pin.getJointAccelerationDerivatives(self.model, self.data, joint_id, pin.ReferenceFrame.WORLD)
+        return da_da 
\ No newline at end of file
diff --git a/roboimi/utils/PIN_utils/__init__.py b/roboimi/utils/PIN_utils/__init__.py
new file mode 100644
index 0000000..d728e1c
--- /dev/null
+++ b/roboimi/utils/PIN_utils/__init__.py
@@ -0,0 +1,2 @@
+from .PIN_utils import *
+
diff --git a/roboimi/utils/Slerp.py b/roboimi/utils/Slerp.py
new file mode 100644
index 0000000..1a8df09
--- /dev/null
+++ b/roboimi/utils/Slerp.py
@@ -0,0 +1,37 @@
+import numpy as np
+from math import *
+
+
+class MyCustomException(Exception):
+    pass
+
+
+class Slerp:
+    def __init__(self, Cart_S, Cart_E, N):
+        self.Q4_S = self.cart_to_quat(Cart_S)
+        self.Q4_E = self.cart_to_quat(Cart_E)
+        self.sita = acos(np.dot(self.Q4_S, self.Q4_E))
+        if self.sita < 0:
+            self.Q4_E = -self.Q4_E
+        self.N = N
+        self.stept = 1 / self.N
+
+    def cart_to_quat(self, T):
+        Q4 = np.array([0.5 * sqrt(T[0, 0] + T[1, 1] + T[2, 2] + 1),
+                       0.5 * (np.sign(T[2, 1] - T[1, 2])) * sqrt(T[0, 0] - T[1, 1] - T[2, 2] + 1),
+                       0.5 * (np.sign(T[0, 2] - T[2, 0])) * sqrt(-T[0, 0] + T[1, 1] - T[2, 2] + 1),
+                       0.5 * (np.sign(T[1, 0] - T[0, 1])) * sqrt(-T[0, 0] - T[1, 1] + T[2, 2] + 1)])
+        return Q4
+
+    def Equal(self, t):
+        self.Q4_E = ((sin((1 - t) * self.sita)) / sin(self.sita)) * self.Q4_S + (
+                    (sin((t) * self.sita)) / sin(self.sita)) * self.Q4_E
+        return self.Q4_E
+
+    def Slerp(self, t):
+        try:
+            if t < 1 or t > self.N:
+                raise MyCustomException
+            return self.Equal(t * self.stept)
+        except MyCustomException:
+            print("your index error!")
diff --git a/roboimi/utils/__init__.py b/roboimi/utils/__init__.py
new file mode 100644
index 0000000..061182e
--- /dev/null
+++ b/roboimi/utils/__init__.py
@@ -0,0 +1 @@
+from .xml_splice import XMLSplicer as RobotGenerator
diff --git a/roboimi/utils/act_ex_utils.py b/roboimi/utils/act_ex_utils.py
new file mode 100644
index 0000000..3c1648e
--- /dev/null
+++ b/roboimi/utils/act_ex_utils.py
@@ -0,0 +1,38 @@
+import numpy as np
+
+def sample_insertion_pose():
+        # Peg
+        x_range = [0.1, 0.2]
+        y_range = [0.4, 0.6]
+        z_range = [0.05, 0.05]
+
+        ranges = np.vstack([x_range, y_range, z_range])
+        peg_position = np.random.uniform(ranges[:, 0], ranges[:, 1])
+
+        peg_quat = np.array([1, 0, 0, 0])
+        peg_pose = np.concatenate([peg_position, peg_quat])
+
+        # Socket
+        x_range = [-0.2, -0.1]
+        y_range = [0.4, 0.6]
+        z_range = [0.05, 0.05]
+
+        ranges = np.vstack([x_range, y_range, z_range])
+        socket_position = np.random.uniform(ranges[:, 0], ranges[:, 1])
+
+        socket_quat = np.array([1, 0, 0, 0])
+        socket_pose = np.concatenate([socket_position, socket_quat])
+
+        return peg_pose, socket_pose
+
+def sample_transfer_pose():
+        # Box
+        x_range = [0.0, 0.05]
+        y_range = [0.95, 1.05]
+        z_range = [0.47, 0.47]
+
+        ranges = np.vstack([x_range, y_range, z_range])
+        box_position = np.random.uniform(ranges[:, 0], ranges[:, 1])
+
+
+        return box_position
\ No newline at end of file
diff --git a/roboimi/utils/constants.py b/roboimi/utils/constants.py
new file mode 100644
index 0000000..0713b9b
--- /dev/null
+++ b/roboimi/utils/constants.py
@@ -0,0 +1,64 @@
+import pathlib
+
+### Task parameters
+
+HOME_PATH = str(pathlib.Path(__file__).parent.resolve())
+
+DATASET_DIR = HOME_PATH + '/../demos/dataset'
+
+CONFIG_DIR = HOME_PATH + '/../demos/config.yaml'
+
+SIM_TASK_CONFIGS = { 
+    # 'sim_insertion': {
+    #     'dataset_dir': DATASET_DIR + '/sim_insertion',
+    #     'num_episodes': 7,
+    #     'episode_len': 1950,
+    #     'camera_names': ['top','angle'],
+    #     'xml_dir': HOME_PATH + '/assets'
+    # },
+    'sim_transfer': {
+        'dataset_dir': DATASET_DIR + '/sim_transfer',
+        'num_episodes': 7,
+        'episode_len': 700,
+        'camera_names': ['angle','r_vis'],
+        'xml_dir': HOME_PATH + '/assets'
+    },
+
+}
+
+
+# Left finger position limits (qpos[7]), right_finger = -1 * left_finger
+MASTER_GRIPPER_POSITION_OPEN = 0.02417
+MASTER_GRIPPER_POSITION_CLOSE = 0.01244
+PUPPET_GRIPPER_POSITION_OPEN = 0.05800
+PUPPET_GRIPPER_POSITION_CLOSE = 0.01844
+
+# Gripper joint limits (qpos[6])
+MASTER_GRIPPER_JOINT_OPEN = 0.3083
+MASTER_GRIPPER_JOINT_CLOSE = -0.6842
+PUPPET_GRIPPER_JOINT_OPEN = 1.4910
+PUPPET_GRIPPER_JOINT_CLOSE = -0.6213
+
+############################ Helper functions ############################
+
+MASTER_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_POSITION_CLOSE) / (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE)
+PUPPET_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_POSITION_CLOSE) / (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE)
+MASTER_GRIPPER_POSITION_UNNORMALIZE_FN = lambda x: x * (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE) + MASTER_GRIPPER_POSITION_CLOSE
+PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN = lambda x: x * (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE) + PUPPET_GRIPPER_POSITION_CLOSE
+MASTER2PUPPET_POSITION_FN = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(MASTER_GRIPPER_POSITION_NORMALIZE_FN(x))
+
+MASTER_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE)
+PUPPET_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE)
+MASTER_GRIPPER_JOINT_UNNORMALIZE_FN = lambda x: x * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE
+PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN = lambda x: x * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE
+MASTER2PUPPET_JOINT_FN = lambda x: PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN(MASTER_GRIPPER_JOINT_NORMALIZE_FN(x))
+
+MASTER_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE)
+PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE)
+
+MASTER_POS2JOINT = lambda x: MASTER_GRIPPER_POSITION_NORMALIZE_FN(x) * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE
+MASTER_JOINT2POS = lambda x: MASTER_GRIPPER_POSITION_UNNORMALIZE_FN((x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE))
+PUPPET_POS2JOINT = lambda x: PUPPET_GRIPPER_POSITION_NORMALIZE_FN(x) * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE
+PUPPET_JOINT2POS = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN((x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE))
+
+MASTER_GRIPPER_JOINT_MID = (MASTER_GRIPPER_JOINT_OPEN + MASTER_GRIPPER_JOINT_CLOSE)/2
diff --git a/roboimi/utils/gym_wrapper.py b/roboimi/utils/gym_wrapper.py
new file mode 100644
index 0000000..d6065db
--- /dev/null
+++ b/roboimi/utils/gym_wrapper.py
@@ -0,0 +1,29 @@
+import os
+import sys
+
+dir_path = os.path.dirname(os.getcwd())
+sys.path.append(os.path.dirname(dir_path))
+
+import numpy as np
+import gym
+from gym import spaces
+
+
+class GymWrapper(gym.Env):
+    def __init__(self, env) -> None:
+        super(GymWrapper, self).__init__()
+        self.env = env
+
+        self.action_space = spaces.Box(env.action_low, env.action_high, dtype=np.float32)
+        self.observation_space = spaces.Box(low=-np.inf, high=np.inf, shape=self.env.obs_dim)
+        self.max_episode_steps = env.max_episode_steps
+        self.name = env.name
+
+    def step(self, action):
+        return self.env.step(action)
+
+    def reset(self):
+        return self.env.reset()
+
+    def render(self, mode="human"):
+        self.env.render()
diff --git a/roboimi/utils/interpolators.py b/roboimi/utils/interpolators.py
new file mode 100644
index 0000000..3c43099
--- /dev/null
+++ b/roboimi/utils/interpolators.py
@@ -0,0 +1,195 @@
+from ruckig import InputParameter, OutputParameter, Result, Ruckig
+import numpy as np
+import PyKDL as KDL
+import matplotlib.pyplot as plt
+
+
+class OTG(object):
+    def __init__(self,
+                 OTG_Dof=7,
+                 control_cycle=0.001,
+                 max_velocity=0.0,
+                 max_acceleration=0.0,
+                 max_jerk=0.0):
+        self.OTG_Dof = OTG_Dof
+        self.control_cycle = control_cycle
+        self.otg = Ruckig(self.OTG_Dof, self.control_cycle)
+
+        self.inp = InputParameter(self.OTG_Dof)
+        self.out = OutputParameter(self.OTG_Dof)
+
+        self.max_velocity = max_velocity
+        self.max_acceleration = max_acceleration
+        self.max_jerk = max_jerk
+
+    def setOTGParam(self, qpos, qvel):
+        self.inp.current_position = qpos
+        self.inp.current_velocity = qvel
+        self.inp.current_acceleration = np.zeros(7)
+
+        self.inp.target_position = np.zeros(7)
+        self.inp.target_velocity = np.zeros(7)
+        self.inp.target_acceleration = np.zeros(7)
+
+        self.inp.max_velocity = self.max_velocity * np.ones(7)
+        self.inp.max_acceleration = self.max_acceleration * np.ones(7)
+        self.inp.max_jerk = self.max_jerk * np.ones(7)
+
+    def updateInput(self, action, control_cycle):
+        self.inp.target_position = action
+        self.otg = Ruckig(self.OTG_Dof, control_cycle)
+
+    def updateState(self):
+        self.otg.update(self.inp, self.out)
+        q_target = self.out.new_position
+        vel_target = self.out.new_velocity
+        self.out.pass_to_input(self.inp)
+        return q_target, vel_target
+
+
+def cartesian_poly5_vel_plan(posa, posb, vel_a, vel_b, acc_a, acc_b, duration):
+    """
+    输入：
+    posa:  起始位姿A(KDL::Frame)
+    posb:  末端位姿A(KDL::Frame)
+    vel_a: 起始笛卡尔速度(array)(6维)
+    vel_b: 末端笛卡尔速度(array)(6维)
+    acc_a: 起始笛卡尔加速度(array)(6维)
+    acc_b: 末端笛卡尔加速度(array)(6维)
+    duration: 期望运行时间(s)
+    输出：
+    Trajectory: 类,包含位置(六维XYZRPY,KDL::Frame)，速度(6维)，加速度(6维)
+    """
+    # Extract positions
+    posa_xyz = np.array([posa.p[0], posa.p[1], posa.p[2]])
+    posb_xyz = np.array([posb.p[0], posb.p[1], posb.p[2]])
+    posa_rpy = np.array(posa.M.GetRPY())
+    posb_rpy = np.array(posb.M.GetRPY())
+
+    # Initialize time vector
+    t = np.linspace(0, duration, 1000)
+
+    # Initialize position, velocity, and acceleration vectors
+    pos = np.zeros((len(t), 6))
+    vel = np.zeros((len(t), 6))
+    acc = np.zeros((len(t), 6))
+
+    # Solve for coefficients of the fifth-degree polynomial
+    A = np.array([
+        [1, 0, 0, 0, 0, 0],
+        [1, duration, duration ** 2, duration ** 3, duration ** 4, duration ** 5],
+        [0, 1, 0, 0, 0, 0],
+        [0, 1, 2 * duration, 3 * duration ** 2, 4 * duration ** 3, 5 * duration ** 4],
+        [0, 0, 2, 0, 0, 0],
+        [0, 0, 2, 6 * duration, 12 * duration ** 2, 20 * duration ** 3]
+    ])
+
+    b_x = np.array([posa_xyz[0], posb_xyz[0], vel_a[0], vel_b[0], acc_a[0], acc_b[0]])
+    b_y = np.array([posa_xyz[1], posb_xyz[1], vel_a[1], vel_b[1], acc_a[1], acc_b[1]])
+    b_z = np.array([posa_xyz[2], posb_xyz[2], vel_a[2], vel_b[2], acc_a[2], acc_b[2]])
+    b_R = np.array([posa_rpy[0], posb_rpy[0], vel_a[3], vel_b[3], acc_a[3], acc_b[3]])
+    b_P = np.array([posa_rpy[1], posb_rpy[1], vel_a[4], vel_b[4], acc_a[4], acc_b[4]])
+    b_Y = np.array([posa_rpy[2], posb_rpy[2], vel_a[5], vel_b[5], acc_a[5], acc_b[5]])
+
+    # Solve for coefficients
+    c_x = np.linalg.solve(A, b_x)
+    c_y = np.linalg.solve(A, b_y)
+    c_z = np.linalg.solve(A, b_z)
+    c_R = np.linalg.solve(A, b_R)
+    c_P = np.linalg.solve(A, b_P)
+    c_Y = np.linalg.solve(A, b_Y)
+
+    # Calculate position, velocity, and acceleration
+    for i in range(len(t)):
+        pos[i, 0] = c_x[0] + c_x[1] * t[i] + c_x[2] * t[i] ** 2 + c_x[3] * t[i] ** 3 + c_x[4] * t[i] ** 4 + c_x[5] * t[
+            i] ** 5
+        pos[i, 1] = c_y[0] + c_y[1] * t[i] + c_y[2] * t[i] ** 2 + c_y[3] * t[i] ** 3 + c_y[4] * t[i] ** 4 + c_y[5] * t[
+            i] ** 5
+        pos[i, 2] = c_z[0] + c_z[1] * t[i] + c_z[2] * t[i] ** 2 + c_z[3] * t[i] ** 3 + c_z[4] * t[i] ** 4 + c_z[5] * t[
+            i] ** 5
+        pos[i, 3] = c_R[0] + c_R[1] * t[i] + c_R[2] * t[i] ** 2 + c_R[3] * t[i] ** 3 + c_R[4] * t[i] ** 4 + c_R[5] * t[
+            i] ** 5
+        pos[i, 4] = c_P[0] + c_P[1] * t[i] + c_P[2] * t[i] ** 2 + c_P[3] * t[i] ** 3 + c_P[4] * t[i] ** 4 + c_P[5] * t[
+            i] ** 5
+        pos[i, 5] = c_Y[0] + c_Y[1] * t[i] + c_Y[2] * t[i] ** 2 + c_Y[3] * t[i] ** 3 + c_Y[4] * t[i] ** 4 + c_Y[5] * t[
+            i] ** 5
+
+        vel[i, 0] = c_x[1] + 2 * c_x[2] * t[i] + 3 * c_x[3] * t[i] ** 2 + 4 * c_x[4] * t[i] ** 3 + 5 * c_x[5] * t[
+            i] ** 4
+        vel[i, 1] = c_y[1] + 2 * c_y[2] * t[i] + 3 * c_y[3] * t[i] ** 2 + 4 * c_y[4] * t[i] ** 3 + 5 * c_y[5] * t[
+            i] ** 4
+        vel[i, 2] = c_z[1] + 2 * c_z[2] * t[i] + 3 * c_z[3] * t[i] ** 2 + 4 * c_z[4] * t[i] ** 3 + 5 * c_z[5] * t[
+            i] ** 4
+        vel[i, 3] = c_R[1] + 2 * c_R[2] * t[i] + 3 * c_R[3] * t[i] ** 2 + 4 * c_R[4] * t[i] ** 3 + 5 * c_R[5] * t[
+            i] ** 4
+        vel[i, 4] = c_P[1] + 2 * c_P[2] * t[i] + 3 * c_P[3] * t[i] ** 2 + 4 * c_P[4] * t[i] ** 3 + 5 * c_P[5] * t[
+            i] ** 4
+        vel[i, 5] = c_Y[1] + 2 * c_Y[2] * t[i] + 3 * c_Y[3] * t[i] ** 2 + 4 * c_Y[4] * t[i] ** 3 + 5 * c_Y[5] * t[
+            i] ** 4
+
+        acc[i, 0] = 2 * c_x[2] + 6 * c_x[3] * t[i] + 12 * c_x[4] * t[i] ** 2 + 20 * c_x[5] * t[i] ** 3
+        acc[i, 1] = 2 * c_y[2] + 6 * c_y[3] * t[i] + 12 * c_y[4] * t[i] ** 2 + 20 * c_y[5] * t[i] ** 3
+        acc[i, 2] = 2 * c_z[2] + 6 * c_z[3] * t[i] + 12 * c_z[4] * t[i] ** 2 + 20 * c_z[5] * t[i] ** 3
+        acc[i, 3] = 2 * c_R[2] + 6 * c_R[3] * t[i] + 12 * c_R[4] * t[i] ** 2 + 20 * c_R[5] * t[i] ** 3
+        acc[i, 4] = 2 * c_P[2] + 6 * c_P[3] * t[i] + 12 * c_P[4] * t[i] ** 2 + 20 * c_P[5] * t[i] ** 3
+        acc[i, 5] = 2 * c_Y[2] + 6 * c_Y[3] * t[i] + 12 * c_Y[4] * t[i] ** 2 + 20 * c_Y[5] * t[i] ** 3
+
+    # Return trajectory
+    return Trajectory(pos, vel, acc, duration)
+
+
+class Trajectory:
+    def __init__(self, pos, vel, acc, duration):
+        self.pos_data = pos
+        self.vel_data = vel
+        self.acc_data = acc
+        self.duration = duration
+
+    def pos(self, t):
+        return self.interpolate(self.pos_data, t)
+
+    def vel(self, t):
+        return self.interpolate(self.vel_data, t)
+
+    def acc(self, t):
+        return self.interpolate(self.acc_data, t)
+
+    def interpolate(self, data, t):
+        # 线性插值计算在给定时间点 t 处的值
+        t_normalized = t / self.duration
+        idx = int(np.floor(t_normalized * (len(data) - 1)))
+        if idx < len(data) - 1:
+            t_interp = t_normalized * (len(data) - 1) - idx
+            return data[idx] + t_interp * (data[idx + 1] - data[idx])
+        else:
+            return data[-1]
+
+    def to_frame(self, t):
+        pos = self.pos(t)
+        pos_xyz = pos[:3]
+        pos_rpy = pos[3:]
+        pos_frame = KDL.Frame(
+            KDL.Rotation.RPY(pos_rpy[0], pos_rpy[1], pos_rpy[2]),
+            KDL.Vector(pos_xyz[0], pos_xyz[1], pos_xyz[2])
+        )
+        return pos_frame
+
+
+def run_trajectory():
+    # 设置起点和终点位置
+    posa = KDL.Frame(KDL.Rotation.RPY(0, 0, 0), KDL.Vector(0, 0, 0))
+    posb = KDL.Frame(KDL.Rotation.RPY(np.pi / 2, np.pi / 4, np.pi / 8), KDL.Vector(1.5, 2, 2.5))
+    vel_a = np.array([0.2, 0.3, 0.1, 0.4, 0.1, 0.1])
+    vel_b = np.array([0, 0, 0, 0, 0, 0])
+    acc_a = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1])
+    acc_b = np.array([0, 0, 0, 0, 0, 0])
+    # 设置运行时间
+    duration = 2.0
+
+    # 计算轨迹
+    traj = cartesian_poly5_vel_plan(posa, posb, vel_a, vel_b, acc_a, acc_b, duration)
+    print("目标位置：\n", posb)
+    print("计算位置：\n", traj.to_frame(traj.duration))
+
+# 运行测试程序
+# run_trajectory()
diff --git a/roboimi/utils/io_utils.py b/roboimi/utils/io_utils.py
new file mode 100644
index 0000000..24c9348
--- /dev/null
+++ b/roboimi/utils/io_utils.py
@@ -0,0 +1,110 @@
+import os
+import pickle
+import torch
+import matplotlib.pyplot as plt
+import numpy as np
+import yaml
+from einops import rearrange
+from roboimi.utils.constants import CONFIG_DIR
+
+class IOUtils:
+    @staticmethod
+    def save_checkpoint(model_state_dict, epoch, ckpt_dir, seed,tag=None,min_val_loss=None):
+        if tag == 'last':
+            ckpt_path = f"{ckpt_dir}/policy_last.ckpt"
+            torch.save(model_state_dict, ckpt_path)
+            print(f"Last checkpoint saved at {ckpt_path}")
+        elif tag == 'best':
+            ckpt_path = f"{ckpt_dir}/policy_best.ckpt"
+            torch.save(model_state_dict, ckpt_path)
+            print(f"Best ckpt with val loss {min_val_loss:.6f} at epoch{epoch} saved!")
+        else:
+            ckpt_path = f"{ckpt_dir}/checkpoint_epoch_{epoch}_seed_{seed}.ckpt"
+            torch.save(model_state_dict, ckpt_path)
+            print(f"Checkpoint saved at {ckpt_path} for epoch {epoch}")
+
+
+    @staticmethod
+    def load_stats(ckpt_dir):
+        stats_path = os.path.join(ckpt_dir, 'dataset_stats.pkl')
+        with open(stats_path, 'rb') as f:
+            return pickle.load(f)
+
+    @staticmethod
+    def save_results(ckpt_dir, ckpt_name, summary_str, episode_returns, highest_rewards):
+        result_file_name = 'result_' + ckpt_name.split('.')[0] + '.txt'
+        with open(os.path.join(ckpt_dir, result_file_name), 'w') as f:
+            f.write(summary_str)
+            f.write(repr(episode_returns))
+            f.write('\n\n')
+            f.write(repr(highest_rewards))
+
+    @staticmethod
+    def plot_history(train_history, validation_history, num_epochs, ckpt_dir, seed):
+        for key in train_history[0]:
+            plot_path = os.path.join(ckpt_dir, f'train_val_{key}_seed_{seed}.png')
+            plt.figure()
+            train_values = [summary[key].item() for summary in train_history]
+            val_values = [summary[key].item() for summary in validation_history]
+            plt.plot(np.linspace(0, num_epochs-1, len(train_history)), train_values, label='train')
+            plt.plot(np.linspace(0, num_epochs-1, len(validation_history)), val_values, label='validation')
+            plt.tight_layout()
+            plt.legend()
+            plt.title(key)
+            plt.savefig(plot_path)
+        print(f'Saved plots to {ckpt_dir}')
+
+    @staticmethod
+    def load_config():
+        with open(CONFIG_DIR, 'r') as file:
+            config = yaml.safe_load(file)
+        return config
+
+
+    @staticmethod
+    def save_stats(ckpt_dir, stats):
+        stats_path = os.path.join(ckpt_dir, f'dataset_stats.pkl')
+        with open(stats_path, 'wb') as f:
+            pickle.dump(stats, f)
+
+    @staticmethod
+    def load_stats(ckpt_dir):
+        stats_path = os.path.join(ckpt_dir, 'dataset_stats.pkl')
+        with open(stats_path, 'rb') as f:
+            return pickle.load(f)
+        
+
+    # @staticmethod
+    # def get_image(ts, camera_names):
+    #     curr_images = []
+    #     for cam_name in camera_names:
+    #         curr_image = rearrange(ts.observation['images'][cam_name], 'h w c -> c h w')
+    #         curr_images.append(curr_image)
+    #     curr_image = np.stack(curr_images, axis=0)
+    #     curr_image = torch.from_numpy(curr_image / 255.0).float().cuda().unsqueeze(0)
+    #     return curr_image
+    
+    # @staticmethod
+    # def load_data(dataset_dir, num_episodes, camera_names, batch_size, val_batch_size):
+    #     from utils import load_data
+    #     return load_data(dataset_dir, num_episodes, camera_names, batch_size, val_batch_size)
+
+    @staticmethod
+    def load_policy(config, ckpt_name):
+        from roboimi.utils.model_interface import ModelInterface
+        model_interface = ModelInterface(config)
+        policy = model_interface.make_policy()
+        ckpt_path = os.path.join(config['ckpt_dir'], ckpt_name)
+        policy.load_state_dict(torch.load(ckpt_path))
+        policy.cuda()
+        policy.eval()
+        return policy
+
+    # @staticmethod
+    # def make_env(config):
+    #     if config['real_robot']:
+    #         from aloha_scripts.real_env import make_real_env
+    #         return make_real_env(init_node=True)
+    #     else:
+    #         from sim_env import make_sim_env
+    #         return make_sim_env(config['task_name'])
\ No newline at end of file
diff --git a/roboimi/utils/model_interface.py b/roboimi/utils/model_interface.py
new file mode 100644
index 0000000..007b0f7
--- /dev/null
+++ b/roboimi/utils/model_interface.py
@@ -0,0 +1,107 @@
+import os
+import torch
+from roboimi.utils.utils import load_data, set_seed
+from roboimi.detr.policy import ACTPolicy, CNNMLPPolicy,ACTTVPolicy
+
+class ModelInterface:
+    def __init__(self, config):
+        self.config = config
+
+    def setup(self):
+        set_seed(self.config['seed'])
+        
+        self.setup_task_parameters()
+        self.setup_policy_parameters()
+
+    def setup_task_parameters(self):
+        is_sim = self.config['task_name'][:4] == 'sim_'   #attention here
+        if is_sim:
+            from roboimi.utils.constants import SIM_TASK_CONFIGS
+            task_config = SIM_TASK_CONFIGS[self.config['task_name']]
+        
+        self.config['dataset_dir'] = task_config['dataset_dir']
+        self.config['num_episodes'] = task_config['num_episodes']
+        self.config['episode_len'] = task_config['episode_len']
+        self.config['camera_names'] = task_config['camera_names']
+
+    def setup_policy_parameters(self):
+        if self.config['policy_class'] == 'ACT':
+            self.config['policy_config'] = {
+                'lr': self.config['lr'],
+                'num_queries': self.config['chunk_size'],
+                'kl_weight': self.config['kl_weight'],
+                'hidden_dim': self.config['hidden_dim'],
+                'dim_feedforward': self.config['dim_feedforward'],
+                'lr_backbone': self.config['lr_backbone'],
+                'backbone': self.config['backbone'],
+                'enc_layers': self.config['enc_layers'],
+                'dec_layers': self.config['dec_layers'],
+                'nheads': self.config['nheads'],
+                'camera_names': self.config['camera_names'],
+            }
+        elif self.config['policy_class'] == 'ACTTV':
+            backbone = 'dino_v2'
+            self.config['policy_config'] = {
+                'lr': self.config['lr'],
+                'num_queries': self.config['chunk_size'],
+                'kl_weight': self.config['kl_weight'],
+                'hidden_dim': self.config['hidden_dim'],
+                'dim_feedforward': self.config['dim_feedforward'],
+                'lr_backbone': self.config['lr_backbone'],
+                'backbone': backbone,
+                'enc_layers': self.config['enc_layers'],
+                'dec_layers': self.config['dec_layers'],
+                'nheads': self.config['nheads'],
+                'camera_names': self.config['camera_names'],
+                'state_dim': 16,
+                'action_dim': 16,
+                'qpos_noise_std': self.config['qpos_noise_std'],
+            }
+        elif self.config['policy_class'] == 'CNNMLP':
+            self.config['policy_config'] = {
+                'lr': self.config['lr'], 
+                'lr_backbone': self.config['lr_backbone'], 
+                'backbone': self.config['backbone'], 
+                'num_queries': 1,
+                'camera_names': self.config['camera_names'],
+            }
+        else:
+            raise NotImplementedError
+
+    def make_policy(self):
+        if self.config['policy_class'] == 'ACT':
+            return ACTPolicy(self.config['policy_config'])
+        elif self.config['policy_class'] == 'ACTTV':
+            return ACTTVPolicy(self.config['policy_config'])
+        elif self.config['policy_class'] == 'CNNMLP':
+            return CNNMLPPolicy(self.config['policy_config'])
+        else:
+            raise NotImplementedError
+
+    def make_optimizer(self, policy):
+        return policy.configure_optimizers()
+
+    def load_data(self):
+        return load_data(
+            self.config['dataset_dir'], 
+            self.config['num_episodes'], 
+            self.config['camera_names'], 
+            self.config['batch_size'], 
+            self.config['batch_size']
+        )
+
+    def load_policy(self, ckpt_name):
+        policy = self.make_policy()
+        ckpt_path = os.path.join(self.config['ckpt_dir'], ckpt_name)
+        policy.load_state_dict(torch.load(ckpt_path))
+        policy.cuda()
+        policy.eval()
+        return policy
+
+    # def make_env(self):
+    #     if self.config['real_robot']:
+    #         from aloha_scripts.real_env import make_real_env
+    #         return make_real_env(init_node=True)
+    #     else:
+    #         from sim_env import make_sim_env
+    #         return make_sim_env(self.config['task_name'])
\ No newline at end of file
diff --git a/roboimi/utils/ompl_base.py b/roboimi/utils/ompl_base.py
new file mode 100644
index 0000000..ddf2dab
--- /dev/null
+++ b/roboimi/utils/ompl_base.py
@@ -0,0 +1,91 @@
+import logging
+
+import numpy as np
+from ompl import base as ob
+from ompl import geometric as og
+from ompl import util as ou
+
+
+class TrajPlanning(object):
+    def __init__(self, planning_time=1.0, interpolate_num=10, verbose=False) -> None:
+        # create an SE3 state self.space
+        self.space = ob.RealVectorStateSpace(6)
+
+        # set lower and upper bounds
+        bounds = ob.RealVectorBounds(6)
+        for i in range(6):
+            bounds.setLow(i, -2)
+            bounds.setHigh(i, 2)
+        self.space.setBounds(bounds)
+
+        # create a simple setup object
+        self.ss = og.SimpleSetup(self.space)
+        self.ss.setStateValidityChecker(ob.StateValidityCheckerFn(self.isStateValid))
+
+        # Setup custom planner
+        self.planner = None
+        plan_range = 0.5
+        self.planning_time = planning_time
+        self.interpolate_num = interpolate_num
+        self.set_planner("RRT", plan_range)  # RRT by default
+
+        if verbose is False:
+            ompl_logger = logging.getLogger(ou.__name__)
+            ompl_logger.setLevel(logging.WARNING)
+
+    def isStateValid(self, state):
+        # collision detect
+        return True
+
+    def plan(self, cur_pos, goal_pos, cur_vel, goal_vel=np.zeros(3)):
+        self.ss.clear()
+
+        start_pos = cur_pos
+        start_vel = cur_vel
+        start = ob.State(self.space)
+        goal = ob.State(self.space)
+        for i in range(3):
+            start[i] = start_pos[i]
+            goal[i] = goal_pos[i]
+            start[i+3] = start_vel[i]
+            goal[i+3] = goal_vel[i]
+
+        self.ss.setStartAndGoalStates(start, goal)
+
+        # this will automatically choose a default planner with default parameters
+        solved = self.ss.solve(self.planning_time)
+
+        res = False
+        sol_path_list = []
+        if solved:
+            # try to shorten the path
+            self.ss.simplifySolution()
+            # print the path to screen
+            sol_path_geometric = self.ss.getSolutionPath()
+            # interpolate the path points
+            sol_path_geometric.interpolate(self.interpolate_num)
+
+            sol_path_states = sol_path_geometric.getStates()
+            sol_path_list = [self.state_to_list(state) for state in sol_path_states]
+            # checkout again to ensure points is correct
+            for sol_path in sol_path_list:
+                self.isStateValid(sol_path)
+            res = True
+        else:
+            print("No solution found")
+        return res, sol_path_list
+
+    def state_to_list(self, state):
+        return [state[i] for i in range(6)]
+
+    def set_planner(self, planner_name, r):
+        """
+            Setup planner.
+        """
+        try:
+            exec(f'self.planner = og.{planner_name}(self.ss.getSpaceInformation())')
+        except ValueError:
+            raise ValueError("Invalid planner_name param.")
+        finally:
+            self.planner.setRange(r)
+            self.ss.setPlanner(self.planner)
diff --git a/roboimi/utils/utils.py b/roboimi/utils/utils.py
new file mode 100644
index 0000000..94c4ab1
--- /dev/null
+++ b/roboimi/utils/utils.py
@@ -0,0 +1,185 @@
+import numpy as np
+import torch
+import os
+import h5py
+from torch.utils.data import TensorDataset, DataLoader
+
+
+class EpisodicDataset(torch.utils.data.Dataset):
+    def __init__(self, episode_ids, dataset_dir, camera_names, norm_stats):
+        super(EpisodicDataset).__init__()
+        self.episode_ids = episode_ids
+        self.dataset_dir = dataset_dir
+        self.camera_names = camera_names
+        self.norm_stats = norm_stats
+        self.is_sim = None
+        self.__getitem__(0) # initialize self.is_sim
+
+    def __len__(self):
+        return len(self.episode_ids)
+
+    def __getitem__(self, index):
+        sample_full_episode = False # hardcode
+
+        episode_id = self.episode_ids[index]
+        dataset_path = os.path.join(self.dataset_dir, f'episode_{episode_id}.hdf5')
+        with h5py.File(dataset_path, 'r') as root:
+            is_sim = root.attrs['sim']
+            original_action_shape = root['/action'].shape
+            episode_len = original_action_shape[0]
+            if sample_full_episode:
+                start_ts = 0
+            else:
+                start_ts = np.random.choice(episode_len)
+            # get observation at start_ts only
+            qpos = root['/observations/qpos'][start_ts]
+            image_dict = dict()
+            for cam_name in self.camera_names:
+                image_dict[cam_name] = root[f'/observations/images/{cam_name}'][start_ts]
+            # get all actions after and including start_ts
+            if is_sim:
+                action = root['/action'][start_ts:]
+                action_len = episode_len - start_ts
+            else:
+                action = root['/action'][max(0, start_ts - 1):] # hack, to make timesteps more aligned
+                action_len = episode_len - max(0, start_ts - 1) # hack, to make timesteps more aligned
+
+        self.is_sim = is_sim
+        padded_action = np.zeros(original_action_shape, dtype=np.float32)
+        padded_action[:action_len] = action
+        is_pad = np.zeros(episode_len)
+        is_pad[action_len:] = 1
+
+        # new axis for different cameras
+        all_cam_images = []
+        for cam_name in self.camera_names:
+            all_cam_images.append(image_dict[cam_name])
+        all_cam_images = np.stack(all_cam_images, axis=0)
+
+        # construct observations
+        image_data = torch.from_numpy(all_cam_images)
+        qpos_data = torch.from_numpy(qpos).float()
+        action_data = torch.from_numpy(padded_action).float()
+        is_pad = torch.from_numpy(is_pad).bool()
+
+        # channel last
+        image_data = torch.einsum('k h w c -> k c h w', image_data)
+
+        # normalize image and change dtype to float
+        image_data = image_data / 255.0
+        action_data = (action_data - self.norm_stats["action_mean"]) / self.norm_stats["action_std"]
+        qpos_data = (qpos_data - self.norm_stats["qpos_mean"]) / self.norm_stats["qpos_std"]
+
+        return image_data, qpos_data, action_data, is_pad
+
+
+def get_norm_stats(dataset_dir, num_episodes):
+    all_qpos_data = []
+    all_action_data = []
+    for episode_idx in range(num_episodes):
+        dataset_path = os.path.join(dataset_dir, f'episode_{episode_idx}.hdf5')
+        with h5py.File(dataset_path, 'r') as root:
+            qpos = root['/observations/qpos'][()]
+            action = root['/action'][()]
+        all_qpos_data.append(torch.from_numpy(qpos))
+        all_action_data.append(torch.from_numpy(action))
+    all_qpos_data = torch.stack(all_qpos_data)
+    all_action_data = torch.stack(all_action_data)
+    all_action_data = all_action_data
+
+    # normalize action data
+    action_mean = all_action_data.mean(dim=[0, 1], keepdim=True)
+    action_std = all_action_data.std(dim=[0, 1], keepdim=True)
+    action_std = torch.clip(action_std, 1e-2, np.inf) # clipping
+
+    # normalize qpos data
+    qpos_mean = all_qpos_data.mean(dim=[0, 1], keepdim=True)
+    qpos_std = all_qpos_data.std(dim=[0, 1], keepdim=True)
+    qpos_std = torch.clip(qpos_std, 1e-2, np.inf) # clipping
+
+    stats = {"action_mean": action_mean.numpy().squeeze(), "action_std": action_std.numpy().squeeze(),
+             "qpos_mean": qpos_mean.numpy().squeeze(), "qpos_std": qpos_std.numpy().squeeze(),
+             "example_qpos": qpos}
+
+    return stats
+
+
+def load_data(dataset_dir, num_episodes, camera_names, batch_size_train, batch_size_val):
+    print(f'\nData from: {dataset_dir}\n')
+    # obtain train test split
+    train_ratio = 0.8
+    shuffled_indices = np.random.permutation(num_episodes)
+    train_indices = shuffled_indices[:int(train_ratio * num_episodes)]
+    val_indices = shuffled_indices[int(train_ratio * num_episodes):]
+
+    # obtain normalization stats for qpos and action
+    norm_stats = get_norm_stats(dataset_dir, num_episodes)
+
+    # construct dataset and dataloader
+    train_dataset = EpisodicDataset(train_indices, dataset_dir, camera_names, norm_stats)
+    val_dataset = EpisodicDataset(val_indices, dataset_dir, camera_names, norm_stats)
+    train_dataloader = DataLoader(train_dataset, batch_size=batch_size_train, shuffle=True, pin_memory=True, num_workers=1, prefetch_factor=1)
+    val_dataloader = DataLoader(val_dataset, batch_size=batch_size_val, shuffle=True, pin_memory=True, num_workers=1, prefetch_factor=1)
+
+    return train_dataloader, val_dataloader, norm_stats, train_dataset.is_sim
+
+
+### env utils
+
+def sample_box_pose():
+    x_range = [0.0, 0.2]
+    y_range = [0.4, 0.6]
+    z_range = [0.05, 0.05]
+
+    ranges = np.vstack([x_range, y_range, z_range])
+    cube_position = np.random.uniform(ranges[:, 0], ranges[:, 1])
+
+    cube_quat = np.array([1, 0, 0, 0])
+    return np.concatenate([cube_position, cube_quat])
+
+def sample_insertion_pose():
+    # Peg
+    x_range = [0.1, 0.2]
+    y_range = [0.4, 0.6]
+    z_range = [0.05, 0.05]
+
+    ranges = np.vstack([x_range, y_range, z_range])
+    peg_position = np.random.uniform(ranges[:, 0], ranges[:, 1])
+
+    peg_quat = np.array([1, 0, 0, 0])
+    peg_pose = np.concatenate([peg_position, peg_quat])
+
+    # Socket
+    x_range = [-0.2, -0.1]
+    y_range = [0.4, 0.6]
+    z_range = [0.05, 0.05]
+
+    ranges = np.vstack([x_range, y_range, z_range])
+    socket_position = np.random.uniform(ranges[:, 0], ranges[:, 1])
+
+    socket_quat = np.array([1, 0, 0, 0])
+    socket_pose = np.concatenate([socket_position, socket_quat])
+
+    return peg_pose, socket_pose
+
+### helper functions
+
+def compute_dict_mean(epoch_dicts):
+    result = {k: None for k in epoch_dicts[0]}
+    num_items = len(epoch_dicts)
+    for k in result:
+        value_sum = 0
+        for epoch_dict in epoch_dicts:
+            value_sum += epoch_dict[k]
+        result[k] = value_sum / num_items
+    return result
+
+def detach_dict(d):
+    new_d = dict()
+    for k, v in d.items():
+        new_d[k] = v.detach()
+    return new_d
+
+def set_seed(seed):
+    torch.manual_seed(seed)
+    np.random.seed(seed)
diff --git a/roboimi/utils/xml_splice.py b/roboimi/utils/xml_splice.py
new file mode 100644
index 0000000..234e05a
--- /dev/null
+++ b/roboimi/utils/xml_splice.py
@@ -0,0 +1,298 @@
+import xml.etree.ElementTree as ET
+from os import path
+
+ASSETS_PATH = path.join(path.dirname(path.dirname(__file__)), 'assets')
+MODELS_PATH = path.join(ASSETS_PATH, 'models')
+CHASSISES_DIR_PATH = path.join(MODELS_PATH, 'chassises')
+GRIPPERS_DIR_PATH = path.join(MODELS_PATH, 'grippers')
+MANIPULATORS_DIR_PATH = path.join(MODELS_PATH, 'manipulators')
+SCENES_DIR_PATH = path.join(ASSETS_PATH, 'scenes')
+
+
+class XMLSplicer:
+    def __init__(self,
+                 name='robot',
+                 scene='default',
+                 chassis=None,
+                 manipulator=None,
+                 gripper=None,
+                 **kwargs,
+                 ):
+        self.xml_name = name
+        self.tree = None
+        self.root = None
+        self.splice_robot(
+            scene=scene,
+            chassis=chassis,
+            manipulator=manipulator,
+            gripper=gripper,
+            **kwargs,
+        )
+
+    def _init_scene(self, scene):
+        """
+        Initialize the scene xml for the given scene file. We build the tree here
+        as the global tree. Each other node will append to it.
+        :param scene: xml file path of scene
+        """
+        self.tree = ET.parse(scene)
+        self.root = self.tree.getroot()
+        ELEMENTS = ['asset', 'worldbody', 'actuator', 'default', 'contact', 'sensor', 'equality']
+        for element in ELEMENTS:
+            if self.root.find(element) is None:
+                self.root.append(ET.Element(element))
+            else:
+                for node in self.root.findall(element):
+                    self._file_repath(scene, node)
+
+    def add_component_from_xml(self, xml: str, goal_body: tuple):
+        """
+        For each input xml file, we extract the component we need, and append it into
+        global tree.
+        :param xml: xml file path
+        :param goal_body: goal body, a tuple consist of id and name
+        """
+        if not isinstance(xml, str):
+            raise ValueError("Please checkout your xml path.")
+        tree = ET.parse(xml)
+        root_node = tree.getroot()
+        # preprocess
+        self.tag_rename(goal_body[0], root_node)
+
+        # add assets
+        if root_node.find('asset') is not None:
+            self._file_repath(xml, root_node.find('asset'))
+            for asset in root_node.find('asset'):
+                self.root.find('asset').append(asset)
+        # add world-body
+        if root_node.find('worldbody') is not None:
+            for body in root_node.find('worldbody'):
+                node = self.root.find(f'.//body[@name=\'{goal_body[1]}\']')
+                if node is None:
+                    node = self.root.find('worldbody')
+                node.append(body)
+        # add actuator
+        if root_node.find('actuator') is not None:
+            for actuator in root_node.find('actuator'):
+                self.root.find('actuator').append(actuator)
+        # add default
+        if root_node.find('default') is not None:
+            for default in root_node.find('default'):
+                self.root.find('default').append(default)
+        # add contact
+        if root_node.find('contact') is not None:
+            for contact in root_node.find('contact'):
+                self.root.find('contact').append(contact)
+        # add sensor
+        if root_node.find('sensor') is not None:
+            for sensor in root_node.find('sensor'):
+                self.root.find('sensor').append(sensor)
+        # add equality
+        if root_node.find('equality') is not None:
+            for equality in root_node.find('equality'):
+                self.root.find('equality').append(equality)
+
+    def _file_repath(self, xml_path, asset_node: ET.Element):
+        """ Reset file path of the assets to abstract path.
+        Note all the texture files should put into the texture dict.
+        :param xml_path: path of specified xml file
+        :param asset_node: node
+        """
+        for child in asset_node:
+            if child.tag == 'mesh' and child.attrib['file'] is not None:
+                child.attrib['file'] = path.join(path.dirname(xml_path), child.attrib['file'])
+            elif child.tag == 'texture' and 'file' in child.attrib:
+                child.attrib['file'] = path.join(path.dirname(path.dirname(xml_path)), 'textures',
+                                                 path.basename(child.attrib['file']))
+
+    def tag_rename(self, id, node: ET.Element):
+        for mesh in node.findall('.//mesh[@name]'):
+            for element in node.findall('.//geom[@mesh=\'{}\']'.format(mesh.attrib['name'])):
+                element.attrib['mesh'] = '{}_{}'.format(id, element.attrib['mesh'])
+            mesh.attrib['name'] = '{}_{}'.format(id, mesh.attrib['name'])
+
+        for body in node.findall('.//body[@name]'):
+            for element in node.findall('.//'):
+                for key, value in element.attrib.items():
+                    if value == body.attrib['name'] and key != 'mesh':
+                        element.attrib[key] = '{}_{}'.format(id, element.attrib[key])
+
+        for default in node.findall('.//default'):
+            if 'class' in default.attrib:
+                for geom in node.findall('.//geom'):
+                    if 'class' in geom.attrib and geom.get('class') == default.attrib['class']:
+                        geom.set('class', '{}_{}'.format(id, geom.attrib['class']))
+                for body in node.findall('.//body'):
+                    if 'childclass' in body.attrib and body.get('childclass') == default.attrib['class']:
+                        body.set('childclass', '{}_{}'.format(id, body.attrib['childclass']))
+                default.set('class', '{}_{}'.format(id, default.attrib['class']))
+
+        for joint in node.findall('.//joint[@name]'):
+            target = joint.attrib['name']
+            for element in node.findall('.//'):
+                for key, value in element.attrib.items():
+                    if value == target:
+                        element.attrib[key] = '{}_{}'.format(id, element.attrib[key])
+
+        for connect in node.findall('.//connect[@name]'):
+            for element in node.findall('.//'):
+                for key, value in element.attrib.items():
+                    if value == connect.attrib['name']:
+                        element.attrib[key] = '{}_{}'.format(id, element.attrib[key])
+
+        for site in node.findall('.//site[@name]'):
+            for element in node.findall('.//'):
+                for key, value in element.attrib.items():
+                    if value == site.attrib['name'] and element.tag != 'site':
+                        element.attrib[key] = '{}_{}'.format(id, element.attrib[key])
+            site.set('name', '{}_{}'.format(id, site.attrib['name']))
+
+        for camera in node.findall('.//camera[@name]'):
+            camera.set('name', '{}_{}'.format(id, camera.attrib['name']))
+
+        for sensor in node.findall('.//sensor/*[@name]'):
+            sensor.set('name', '{}_{}'.format(id, sensor.attrib['name']))
+
+        for actuator in node.findall('.//actuator/*[@name]'):
+            actuator.set('name', '{}_{}'.format(id, actuator.attrib['name']))
+
+    def add_node_from_xml(self, xml: str):
+        parent_element = self.root.find('worldbody').find('body')
+
+        new_tree = ET.parse('/assets/models/manipulators/Bimanual/Bimanual.xml')
+        new_node = new_tree.getroot().find('worldbody').find('body')
+
+        parent_element.append(new_node)
+
+    def add_node_from_str(self, father_node: str, xml_text: str):
+        parent_element = self.root.find(father_node)
+        new_element = ET.fromstring(xml_text)
+        parent_element.append(new_element)
+
+    def add_texture(self, name: str, type: str, file: str):
+        parent_element = self.root.find("asset")
+        texture_element = ET.Element('texture')
+        texture_element.set('name', name)
+        texture_element.set('type', type)
+        texture_element.set('file', file)
+        parent_element.append(texture_element)
+
+    def add_material(self, name: str, texture: str, texrepeat: str, texuniform: str):
+        parent_element = self.root.find("asset")
+        material_element = ET.Element('material')
+        material_element.set('name', name)
+        material_element.set('texture', texture)
+        material_element.set('texrepeat', texrepeat)
+        material_element.set('texuniform', texuniform)
+        parent_element.append(material_element)
+
+    def add_mesh(self, name: str, file: str):
+        parent_element = self.root.find("asset")
+        mesh_element = ET.Element('mesh')
+        mesh_element.set('name', name)
+        mesh_element.set('file', file)
+        parent_element.append(mesh_element)
+
+    def add_geom(self, node: str, **kwargs):
+        if node == 'worldbody':
+            geom_element = self.root.find('worldbody')
+        else:
+            geom_element = self.root.find(f'.//body[@name=\'{node}\']')
+        geom = ET.Element('geom')
+        for key in kwargs:
+            geom.set(key, kwargs[key])
+        geom_element.append(geom)
+
+    def add_body(self, node: str, **kwargs):
+        if node == 'worldbody':
+            body_element = self.root.find('worldbody')
+        else:
+            body_element = self.root.find('worldbody').find(node)
+        body = ET.Element('body')
+        for key in kwargs:
+            body.set(key, kwargs[key])
+        body_element.append(body)
+
+    def add_joint(self, node: str, **kwargs):
+        if node == 'worldbody':
+            joint_element = self.root.find('worldbody')
+        else:
+            joint_element = self.root.find(f'.//body[@name=\'{node}\']')
+        joint = ET.Element('joint')
+        for key in kwargs:
+            joint.set(key, kwargs[key])
+        joint_element.append(joint)
+
+    def save_xml(self, output_path='../assets'):
+        """ Save xml file with identity path"""
+        self.tree.write(path.join(output_path, f"{self.xml_name}.xml"))
+
+    @property
+    def xml(self, output_path=path.join(path.dirname(__file__), '../assets')):
+        """ Save xml file and get its path"""
+        self.save_xml(output_path)
+        return path.abspath(path.join(output_path, f"{self.xml_name}.xml"))
+
+    def splice_robot(self, scene=None, chassis=None, manipulator=None, gripper=None, **kwargs):
+        """
+
+        :param scene: scene name
+        :param chassis: chassis name
+        :param manipulator: manipulator name
+        :param gripper: gripper name
+        :param kwargs:
+        """
+        if isinstance(scene, str):
+            if scene.endswith('.xml'):
+                scene_path = scene
+            else:
+                scene_path = path.join(SCENES_DIR_PATH, '{}.xml'.format(scene))
+            self._init_scene(scene_path)
+        else:
+            raise ValueError("Must has scene.xml to generate the world.")
+
+        if isinstance(chassis, str):
+            chassis_path = path.join(CHASSISES_DIR_PATH, chassis, '{}.xml'.format(chassis))
+            self.add_component_from_xml(chassis_path, goal_body=(0, 'worldbody'))
+
+        if isinstance(manipulator, str):
+            if manipulator.endswith('.xml'):
+                manipulator_path = manipulator
+            else:
+                manipulator_path = path.join(MANIPULATORS_DIR_PATH, manipulator, '{}.xml'.format(manipulator))
+            self.add_component_from_xml(manipulator_path,
+                                        goal_body=(0, '0_base_car_link') if chassis is not None else (0, 'worldbody'))
+            if isinstance(gripper, str):
+                for goal_body in enumerate(kwargs['g2m_body']):
+                    gripper_path = path.join(GRIPPERS_DIR_PATH, gripper, '{}.xml'.format(gripper))
+                    self.add_component_from_xml(gripper_path, goal_body=goal_body)
+
+
+if __name__ == "__main__":
+    BiDianaMed = XMLSplicer(
+        name='Bidiana',
+        scene='default',
+        chassis='Omnidirect',
+        manipulator='Bimanual',
+        gripper='robotiq_gripper',
+        g2m_body=['0_right_link7', '0_left_link7']
+    )
+    DianaMed = XMLSplicer(
+        name='diana_omni',
+        scene='default',
+        chassis='Omnidirect',
+        manipulator='DianaMed',
+        gripper='robotiq_gripper',
+        g2m_body=['0_link7']
+    )
+
+    DianaGrasping = XMLSplicer(
+        name='diana_omni_grasping',
+        scene='grasping',
+        chassis='Omnidirect',
+        manipulator='DianaMed',
+        gripper='robotiq_gripper',
+        g2m_body=['0_link7']
+    )
+    print(BiDianaMed.xml)
+    print(DianaMed.xml)
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..f926f86
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,20 @@
+from setuptools import setup, find_packages
+
+setup(
+    name='roboimi',
+    packages=[package for package in find_packages() if package.startswith("robosuite")],
+    version='0.0.2',
+    author="Zongdao Li, Haoran Zhou, Yichao Huang, Yuhan Zhao, Yang Lu",
+    author_email="leeeezd0016@outlook.com, jou072@126.com",
+    description="A simulation framework based mujoco",
+    url="https://codeup.teambition.com/62219d81e4c44077bd46bffe/RoboIMI/",
+    python_requires=">=3",
+    install_requires=[
+        'mujoco>=3.0.1',
+        'urdf_parser_py',
+        'ruckig~=0.9.2',
+    ],
+    extras_require={
+        'interactive': ['gymnasium~=0.29.0', 'scikit-learn~=1.0.2']
+    }
+)