looooog0421 · looooog0421 · Mar 14, 2026 · Mar 14, 2026 · Mar 15, 2026
diff --git a/.gitignore b/.gitignore
@@ -11,19 +11,6 @@ data/
 MUJOCO_LOG.TXT
 pcanview.log
 
-src/afp_mjc/env/AFPhead/meshes/
-src/afp_mjc/env/AFPhead/urdf/*.STL
-
-src/afp_mjc/env/flange_model/meshes/
-src/afp_mjc/env/flange_model/urdf/*.STL
-
-src/afp_mjc/env/flange_model2/meshes/
-src/afp_mjc/env/flange_model2/urdf/*.STL
-
-src/afp_mjc/env/90degree_model/meshes/
-src/afp_mjc/env/flange_model/urdf/*.STL
-
-src/afp_mjc/env/mujoco_ur5e/assets/
 
 src/il_capture/data/
 

diff --git a/src/afp_mjc/env/90degree_model/meshes/90degree_model.STL b/src/afp_mjc/env/90degree_model/meshes/90degree_model.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_0.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_0.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_1.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_1.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_10.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_10.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_11.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_11.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_12.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_12.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_13.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_13.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_14.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_14.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_15.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_15.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_16.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_16.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_17.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_17.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_18.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_18.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_2.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_2.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_3.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_3.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_4.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_4.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_5.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_5.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_6.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_6.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_7.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_7.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_8.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_8.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_9.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_9.STL
diff --git a/src/afp_mjc/env/90degree_model/mjcf/90degree_model.xml b/src/afp_mjc/env/90degree_model/mjcf/90degree_model.xml
@@ -1,6 +1,5 @@
 <mujoco>
   <asset>
-    <mesh name="90degree_model_visual_mesh" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/90degree_model.STL"/>
     <mesh name="90degree_model_col_0" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_0.STL"/>
     <mesh name="90degree_model_col_1" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_1.STL"/>
     <mesh name="90degree_model_col_2" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_2.STL"/>
@@ -10,6 +9,16 @@
     <mesh name="90degree_model_col_6" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_6.STL"/>
     <mesh name="90degree_model_col_7" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_7.STL"/>
     <mesh name="90degree_model_col_8" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_8.STL"/>
+    <mesh name="90degree_model_col_9" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_9.STL"/>
+    <mesh name="90degree_model_col_10" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_10.STL"/>
+    <mesh name="90degree_model_col_11" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_11.STL"/>
+    <mesh name="90degree_model_col_12" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_12.STL"/>
+    <mesh name="90degree_model_col_13" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_13.STL"/>
+    <mesh name="90degree_model_col_14" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_14.STL"/>
+    <mesh name="90degree_model_col_15" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_15.STL"/>
+    <mesh name="90degree_model_col_16" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_16.STL"/>
+    <mesh name="90degree_model_col_17" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_17.STL"/>
+    <mesh name="90degree_model_col_18" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_18.STL"/>
   </asset>
 
   <worldbody>
@@ -42,6 +51,36 @@
         <body name="col_8">
             <geom type="mesh" mesh="90degree_model_col_8" group="2"/>
         </body>
+        <body name="col_9">
+            <geom type="mesh" mesh="90degree_model_col_9" group="2"/>
+        </body>
+        <body name="col_10">
+            <geom type="mesh" mesh="90degree_model_col_10" group="2"/>
+        </body>
+        <body name="col_11">
+            <geom type="mesh" mesh="90degree_model_col_11" group="2"/>
+        </body>
+        <body name="col_12">
+            <geom type="mesh" mesh="90degree_model_col_12" group="2"/>
+        </body>
+        <body name="col_13">
+            <geom type="mesh" mesh="90degree_model_col_13" group="2"/>
+        </body>
+        <body name="col_14">
+            <geom type="mesh" mesh="90degree_model_col_14" group="2"/>
+        </body>
+        <body name="col_15">
+            <geom type="mesh" mesh="90degree_model_col_15" group="2"/>
+        </body>
+        <body name="col_16">
+            <geom type="mesh" mesh="90degree_model_col_16" group="2"/>
+        </body>
+        <body name="col_17">
+            <geom type="mesh" mesh="90degree_model_col_17" group="2"/>
+        </body>
+        <body name="col_18">
+            <geom type="mesh" mesh="90degree_model_col_18" group="2"/>
+        </body>
     </body>
   </worldbody>
 </mujoco>
diff --git a/src/afp_mjc/env/AFPhead/meshes/base_link.STL b/src/afp_mjc/env/AFPhead/meshes/base_link.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/chongsong_link.STL b/src/afp_mjc/env/AFPhead/meshes/chongsong_link.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/fangjuan_link.STL b/src/afp_mjc/env/AFPhead/meshes/fangjuan_link.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_0.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_0.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_1.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_1.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_10.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_10.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_100.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_100.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_101.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_101.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_102.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_102.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_103.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_103.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_104.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_104.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_105.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_105.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_106.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_106.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_107.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_107.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_108.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_108.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_109.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_109.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_11.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_11.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_110.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_110.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_111.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_111.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_112.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_112.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_113.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_113.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_114.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_114.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_115.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_115.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_116.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_116.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_117.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_117.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_118.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_118.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_119.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_119.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_12.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_12.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_120.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_120.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_121.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_121.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_122.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_122.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_123.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_123.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_124.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_124.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_125.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_125.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_126.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_126.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_127.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_127.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_128.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_128.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_129.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_129.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_13.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_13.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_130.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_130.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_131.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_131.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_132.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_132.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_133.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_133.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_134.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_134.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_135.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_135.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_136.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_136.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_137.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_137.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_138.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_138.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_139.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_139.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_14.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_14.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_140.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_140.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_141.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_141.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_142.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_142.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_143.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_143.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_144.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_144.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_145.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_145.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_146.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_146.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_147.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_147.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_148.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_148.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_149.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_149.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_15.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_15.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_150.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_150.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_151.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_151.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_152.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_152.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_153.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_153.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_154.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_154.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_155.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_155.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_156.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_156.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_157.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_157.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_158.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_158.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_159.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_159.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_16.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_16.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_160.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_160.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_161.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_161.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_162.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_162.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_163.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_163.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_164.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_164.STL
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diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_36.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_36.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_37.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_37.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_38.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_38.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_39.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_39.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_4.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_4.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_40.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_40.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_41.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_41.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_42.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_42.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_43.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_43.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_44.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_44.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_45.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_45.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_46.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_46.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_47.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_47.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_48.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_48.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_49.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_49.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_5.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_5.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_50.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_50.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_51.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_51.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_52.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_52.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_53.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_53.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_54.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_54.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_55.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_55.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_56.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_56.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_57.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_57.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_58.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_58.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_59.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_59.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_6.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_6.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_60.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_60.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_61.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_61.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_62.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_62.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_63.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_63.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_64.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_64.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_65.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_65.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_66.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_66.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_67.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_67.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_68.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_68.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_69.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_69.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_7.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_7.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_70.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_70.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_71.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_71.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_72.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_72.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_73.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_73.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_74.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_74.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_75.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_75.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_76.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_76.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_77.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_77.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_78.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_78.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_79.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_79.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_8.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_8.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_80.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_80.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_81.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_81.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_82.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_82.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_83.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_83.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_84.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_84.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_85.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_85.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_86.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_86.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_87.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_87.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_88.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_88.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_89.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_89.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_9.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_9.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_90.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_90.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_91.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_91.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_92.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_92.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_93.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_93.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_94.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_94.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_95.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_95.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_96.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_96.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_97.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_97.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_98.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_98.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_99.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_99.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/roll_link.STL b/src/afp_mjc/env/AFPhead/meshes/roll_link.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/shoujuan_link.STL b/src/afp_mjc/env/AFPhead/meshes/shoujuan_link.STL
diff --git a/src/afp_mjc/env/AFPhead/mjcf/AFPhead_attached.xml b/src/afp_mjc/env/AFPhead/mjcf/AFPhead_attached.xml
@@ -830,8 +830,8 @@
 
   <body name="afp_roll_link" pos="0 0 0.161">
     <inertial pos="0 -0.000136865 0" mass="0.00221391" diaginertia="8.7214e-08 8.7214e-08 4.26069e-08"/>
-    <site name="ee_site" type="cylinder" size="0.0076 0.020" pos="0 0.0 0.0005" euler="1.5708 0 0" />
-    <geom name="ee_collision" type="cylinder" size="0.0076 0.020" pos="0 0.0 0.0005" euler="1.5708 0 0" contype="1" conaffinity="1"/>
+    <site name="ee_site" type="cylinder" size="0.012 0.012" pos="0 0.0 0.00" euler="1.57 0 0" rgba="1 0 0 1" />
+    <geom name="ee_collision" type="cylinder" size="0.012 0.012" pos="0 0.0 0.000" euler="1.57 0 0" rgba="1 0 0 1" contype="1" conaffinity="1"/>
     <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="afp_roll_link"/>
   </body>
 

diff --git a/src/afp_mjc/env/AFPhead/urdf/base_link.STL b/src/afp_mjc/env/AFPhead/urdf/base_link.STL