diff --git a/UnitreeG1/metadata.yaml b/UnitreeG1/metadata.yaml
index 8c2c336..bc2ef6b 100644
--- a/UnitreeG1/metadata.yaml
+++ b/UnitreeG1/metadata.yaml
@@ -9,67 +9,211 @@ Tags:
   - humanoid
   - unitree
 Files:
-  - 'UnitreeG1/Animated Unitree.hmograph'
+  - 'UnitreeG1/Agents/UnitreeG1Agent.cs'
+  - 'UnitreeG1/assets/g1.xml'
+  - 'UnitreeG1/assets/head_link.obj'
   - 'UnitreeG1/assets/head_link.STL'
+  - 'UnitreeG1/assets/left_ankle_pitch_link.obj'
   - 'UnitreeG1/assets/left_ankle_pitch_link.STL'
+  - 'UnitreeG1/assets/left_ankle_roll_link.obj'
   - 'UnitreeG1/assets/left_ankle_roll_link.STL'
+  - 'UnitreeG1/assets/left_elbow_link.obj'
   - 'UnitreeG1/assets/left_elbow_link.STL'
+  - 'UnitreeG1/assets/left_hand_index_0_link.obj'
   - 'UnitreeG1/assets/left_hand_index_0_link.STL'
+  - 'UnitreeG1/assets/left_hand_index_1_link.obj'
   - 'UnitreeG1/assets/left_hand_index_1_link.STL'
+  - 'UnitreeG1/assets/left_hand_middle_0_link.obj'
   - 'UnitreeG1/assets/left_hand_middle_0_link.STL'
+  - 'UnitreeG1/assets/left_hand_middle_1_link.obj'
   - 'UnitreeG1/assets/left_hand_middle_1_link.STL'
+  - 'UnitreeG1/assets/left_hand_palm_link.obj'
   - 'UnitreeG1/assets/left_hand_palm_link.STL'
+  - 'UnitreeG1/assets/left_hand_thumb_0_link.obj'
   - 'UnitreeG1/assets/left_hand_thumb_0_link.STL'
+  - 'UnitreeG1/assets/left_hand_thumb_1_link.obj'
   - 'UnitreeG1/assets/left_hand_thumb_1_link.STL'
+  - 'UnitreeG1/assets/left_hand_thumb_2_link.obj'
   - 'UnitreeG1/assets/left_hand_thumb_2_link.STL'
+  - 'UnitreeG1/assets/left_hip_pitch_link.obj'
   - 'UnitreeG1/assets/left_hip_pitch_link.STL'
+  - 'UnitreeG1/assets/left_hip_roll_link.obj'
   - 'UnitreeG1/assets/left_hip_roll_link.STL'
+  - 'UnitreeG1/assets/left_hip_yaw_link.obj'
   - 'UnitreeG1/assets/left_hip_yaw_link.STL'
+  - 'UnitreeG1/assets/left_knee_link.obj'
   - 'UnitreeG1/assets/left_knee_link.STL'
+  - 'UnitreeG1/assets/left_rubber_hand.obj'
   - 'UnitreeG1/assets/left_rubber_hand.STL'
+  - 'UnitreeG1/assets/left_shoulder_pitch_link.obj'
   - 'UnitreeG1/assets/left_shoulder_pitch_link.STL'
+  - 'UnitreeG1/assets/left_shoulder_roll_link.obj'
   - 'UnitreeG1/assets/left_shoulder_roll_link.STL'
+  - 'UnitreeG1/assets/left_shoulder_yaw_link.obj'
   - 'UnitreeG1/assets/left_shoulder_yaw_link.STL'
+  - 'UnitreeG1/assets/left_wrist_pitch_link.obj'
   - 'UnitreeG1/assets/left_wrist_pitch_link.STL'
+  - 'UnitreeG1/assets/left_wrist_roll_link.obj'
   - 'UnitreeG1/assets/left_wrist_roll_link.STL'
+  - 'UnitreeG1/assets/left_wrist_yaw_link.obj'
   - 'UnitreeG1/assets/left_wrist_yaw_link.STL'
+  - 'UnitreeG1/assets/logo_link.obj'
   - 'UnitreeG1/assets/logo_link.STL'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_LuckyCube_Geom_3O1HU3SB22CU6908KGVYEU3E4_LuckyCube_78525.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55672.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55674.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55676.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55729.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55817.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55818.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55820.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55852.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55867.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55868.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55870.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55871.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55872.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55873.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55874.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55875.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55902.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55903.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55904.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55905.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_0_SM_Template_Map_Floor_Geom_5G8106JNGWGV4KE7ASN9Q5ELP_SM_Template_Map_Floor_55952.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_1_floor_Mujoco_Geom_9PF504YOILC6HJDCX9E6MVLVU_floor_Mujoco_54913.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_1_floor_Mujoco_Geom_9PF504YOILC6HJDCX9E6MVLVU_floor_Mujoco_54914.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_1_floor_Mujoco_Geom_9PF504YOILC6HJDCX9E6MVLVU_floor_Mujoco_54916.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_1_floor_Mujoco_Geom_9PF504YOILC6HJDCX9E6MVLVU_floor_Mujoco_77180.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_1_floor_Mujoco_Geom_9PF504YOILC6HJDCX9E6MVLVU_floor_Mujoco_77182.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_2_SM_Template_Map_Floor_Mujoco_Geom_AKSM8X6687M05SUMYZ4VVO5OY_SM_Template_Map_Floor_Mujoco_54740.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_2_SM_Template_Map_Floor_Mujoco_Geom_AKSM8X6687M05SUMYZ4VVO5OY_SM_Template_Map_Floor_Mujoco_54820.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_2_SM_Template_Map_Floor_Mujoco_Geom_AKSM8X6687M05SUMYZ4VVO5OY_SM_Template_Map_Floor_Mujoco_54889.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_2_SM_Template_Map_Floor_Mujoco_Geom_AKSM8X6687M05SUMYZ4VVO5OY_SM_Template_Map_Floor_Mujoco_54891.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_2_SM_Template_Map_Floor_Mujoco_Geom_AKSM8X6687M05SUMYZ4VVO5OY_SM_Template_Map_Floor_Mujoco_54893.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_2_SM_Template_Map_Floor_Mujoco_Geom_AKSM8X6687M05SUMYZ4VVO5OY_SM_Template_Map_Floor_Mujoco_54900.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_2_SM_Template_Map_Floor_Mujoco_Geom_AKSM8X6687M05SUMYZ4VVO5OY_SM_Template_Map_Floor_Mujoco_54905.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_2_SM_Template_Map_Floor_Mujoco_Geom_AKSM8X6687M05SUMYZ4VVO5OY_SM_Template_Map_Floor_Mujoco_82367.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_2_SM_Template_Map_Floor_Mujoco_Geom_AKSM8X6687M05SUMYZ4VVO5OY_SM_Template_Map_Floor_Mujoco_83278.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_2_SM_Template_Map_Floor_Mujoco_Geom_AKSM8X6687M05SUMYZ4VVO5OY_SM_Template_Map_Floor_Mujoco_83288.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_2_SM_Template_Map_Floor_Mujoco_Geom_AKSM8X6687M05SUMYZ4VVO5OY_SM_Template_Map_Floor_Mujoco_83294.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_2_SM_Template_Map_Floor_Mujoco_Geom_AKSM8X6687M05SUMYZ4VVO5OY_SM_Template_Map_Floor_Mujoco_83310.obj'
+  - 'UnitreeG1/assets/MujocoStaticMeshActor_2_SM_Template_Map_Floor_Mujoco_Geom_AKSM8X6687M05SUMYZ4VVO5OY_SM_Template_Map_Floor_Mujoco_84862.obj'
+  - 'UnitreeG1/assets/pelvis.obj'
   - 'UnitreeG1/assets/pelvis.STL'
+  - 'UnitreeG1/assets/pelvis_contour_link.obj'
   - 'UnitreeG1/assets/pelvis_contour_link.STL'
+  - 'UnitreeG1/assets/right_ankle_pitch_link.obj'
   - 'UnitreeG1/assets/right_ankle_pitch_link.STL'
+  - 'UnitreeG1/assets/right_ankle_roll_link.obj'
   - 'UnitreeG1/assets/right_ankle_roll_link.STL'
+  - 'UnitreeG1/assets/right_elbow_link.obj'
   - 'UnitreeG1/assets/right_elbow_link.STL'
+  - 'UnitreeG1/assets/right_hand_index_0_link.obj'
   - 'UnitreeG1/assets/right_hand_index_0_link.STL'
+  - 'UnitreeG1/assets/right_hand_index_1_link.obj'
   - 'UnitreeG1/assets/right_hand_index_1_link.STL'
+  - 'UnitreeG1/assets/right_hand_middle_0_link.obj'
   - 'UnitreeG1/assets/right_hand_middle_0_link.STL'
+  - 'UnitreeG1/assets/right_hand_middle_1_link.obj'
   - 'UnitreeG1/assets/right_hand_middle_1_link.STL'
+  - 'UnitreeG1/assets/right_hand_palm_link.obj'
   - 'UnitreeG1/assets/right_hand_palm_link.STL'
+  - 'UnitreeG1/assets/right_hand_thumb_0_link.obj'
   - 'UnitreeG1/assets/right_hand_thumb_0_link.STL'
+  - 'UnitreeG1/assets/right_hand_thumb_1_link.obj'
   - 'UnitreeG1/assets/right_hand_thumb_1_link.STL'
+  - 'UnitreeG1/assets/right_hand_thumb_2_link.obj'
   - 'UnitreeG1/assets/right_hand_thumb_2_link.STL'
+  - 'UnitreeG1/assets/right_hip_pitch_link.obj'
   - 'UnitreeG1/assets/right_hip_pitch_link.STL'
+  - 'UnitreeG1/assets/right_hip_roll_link.obj'
   - 'UnitreeG1/assets/right_hip_roll_link.STL'
+  - 'UnitreeG1/assets/right_hip_yaw_link.obj'
   - 'UnitreeG1/assets/right_hip_yaw_link.STL'
+  - 'UnitreeG1/assets/right_knee_link.obj'
   - 'UnitreeG1/assets/right_knee_link.STL'
+  - 'UnitreeG1/assets/right_rubber_hand.obj'
   - 'UnitreeG1/assets/right_rubber_hand.STL'
+  - 'UnitreeG1/assets/right_shoulder_pitch_link.obj'
   - 'UnitreeG1/assets/right_shoulder_pitch_link.STL'
+  - 'UnitreeG1/assets/right_shoulder_roll_link.obj'
   - 'UnitreeG1/assets/right_shoulder_roll_link.STL'
+  - 'UnitreeG1/assets/right_shoulder_yaw_link.obj'
   - 'UnitreeG1/assets/right_shoulder_yaw_link.STL'
+  - 'UnitreeG1/assets/right_wrist_pitch_link.obj'
   - 'UnitreeG1/assets/right_wrist_pitch_link.STL'
+  - 'UnitreeG1/assets/right_wrist_roll_link.obj'
   - 'UnitreeG1/assets/right_wrist_roll_link.STL'
+  - 'UnitreeG1/assets/right_wrist_yaw_link.obj'
   - 'UnitreeG1/assets/right_wrist_yaw_link.STL'
+  - 'UnitreeG1/assets/torso_link_rev_1_0.obj'
   - 'UnitreeG1/assets/torso_link_rev_1_0.STL'
+  - 'UnitreeG1/assets/waist_roll_link_rev_1_0.obj'
   - 'UnitreeG1/assets/waist_roll_link_rev_1_0.STL'
+  - 'UnitreeG1/assets/waist_yaw_link_rev_1_0.obj'
   - 'UnitreeG1/assets/waist_yaw_link_rev_1_0.STL'
-  - 'UnitreeG1/CHANGELOG.md'
   - 'UnitreeG1/g1.png'
   - 'UnitreeG1/g1.xml'
   - 'UnitreeG1/g1_mjx.xml'
   - 'UnitreeG1/g1_mjx_colliders.png'
   - 'UnitreeG1/g1_with_hands.png'
   - 'UnitreeG1/g1_with_hands.xml'
-  - 'UnitreeG1/LICENSE'
-  - 'UnitreeG1/README.md'
+  - 'UnitreeG1/Locomotion/Anim/Crouch_End.hanim'
+  - 'UnitreeG1/Locomotion/Anim/Crouch_Idle.hanim'
+  - 'UnitreeG1/Locomotion/Anim/Crouch_Start.hanim'
+  - 'UnitreeG1/Locomotion/Anim/idle.hanim'
+  - 'UnitreeG1/Locomotion/Anim/Jog_BackwardLeft.hanim'
+  - 'UnitreeG1/Locomotion/Anim/Jog_BackwardRight.hanim'
+  - 'UnitreeG1/Locomotion/Anim/Jog_Backward_1.6.hanim'
+  - 'UnitreeG1/Locomotion/Anim/Jog_ForwardLeft.hanim'
+  - 'UnitreeG1/Locomotion/Anim/Jog_ForwardRight.hanim'
+  - 'UnitreeG1/Locomotion/Anim/Jog_Forward_1.6.hanim'
+  - 'UnitreeG1/Locomotion/Anim/Jog_Left.hanim'
+  - 'UnitreeG1/Locomotion/Anim/Jog_Right.hanim'
+  - 'UnitreeG1/Locomotion/Anim/RootLeftRotate_15.hanim'
+  - 'UnitreeG1/Locomotion/Anim/RootLeftRotate_45.hanim'
+  - 'UnitreeG1/Locomotion/Anim/RootRightRotate_15.hanim'
+  - 'UnitreeG1/Locomotion/Anim/RootRightRotate_45.hanim'
+  - 'UnitreeG1/Locomotion/Anim/RootWalkBackward.hanim'
+  - 'UnitreeG1/Locomotion/Anim/RootWalkForward.hanim'
+  - 'UnitreeG1/Locomotion/Anim/root_left_walk.hanim'
+  - 'UnitreeG1/Locomotion/Anim/root_right_walk.hanim'
+  - 'UnitreeG1/Locomotion/Anim/root_walk_start.hanim'
+  - 'UnitreeG1/Locomotion/Anim/Run_Backward_3.hanim'
+  - 'UnitreeG1/Locomotion/Anim/Run_Forward_3.hanim'
+  - 'UnitreeG1/Locomotion/Anim/UnitreeG1_Calibration.hanim'
+  - 'UnitreeG1/Locomotion/CalibrationGraph.hanimgraph'
+  - 'UnitreeG1/Locomotion/LocomotionGraph.hanimgraph'
+  - 'UnitreeG1/Locomotion/src/Crouch_End.fbx'
+  - 'UnitreeG1/Locomotion/src/Crouch_Idle.fbx'
+  - 'UnitreeG1/Locomotion/src/Crouch_Start.fbx'
+  - 'UnitreeG1/Locomotion/src/idle.fbx'
+  - 'UnitreeG1/Locomotion/src/Jog_BackwardLeft.fbx'
+  - 'UnitreeG1/Locomotion/src/Jog_BackwardRight.fbx'
+  - 'UnitreeG1/Locomotion/src/Jog_Backward_1.6.fbx'
+  - 'UnitreeG1/Locomotion/src/Jog_ForwardLeft.fbx'
+  - 'UnitreeG1/Locomotion/src/Jog_ForwardRight.fbx'
+  - 'UnitreeG1/Locomotion/src/Jog_Forward_1.6.fbx'
+  - 'UnitreeG1/Locomotion/src/Jog_Left.fbx'
+  - 'UnitreeG1/Locomotion/src/Jog_Right.fbx'
+  - 'UnitreeG1/Locomotion/src/RootLeftRotate_15.fbx'
+  - 'UnitreeG1/Locomotion/src/RootLeftRotate_45.fbx'
+  - 'UnitreeG1/Locomotion/src/RootRightRotate_15.fbx'
+  - 'UnitreeG1/Locomotion/src/RootRightRotate_45.fbx'
+  - 'UnitreeG1/Locomotion/src/RootWalkBackward.fbx'
+  - 'UnitreeG1/Locomotion/src/RootWalkForward.fbx'
+  - 'UnitreeG1/Locomotion/src/root_left_walk.fbx'
+  - 'UnitreeG1/Locomotion/src/root_right_walk.fbx'
+  - 'UnitreeG1/Locomotion/src/Run_Backward_3.fbx'
+  - 'UnitreeG1/Locomotion/src/Run_Forward_3.fbx'
+  - 'UnitreeG1/Locomotion/src/UnitreeG1_Calibration.fbx'
+  - 'UnitreeG1/Locomotion/src/UnitreeG1_Mesh.fbx'
+  - 'UnitreeG1/Locomotion/UnitreeController.cs'
+  - 'UnitreeG1/Locomotion/UnitreeG1_Mesh.hmesh'
+  - 'UnitreeG1/Locomotion/UnitreeTest.hscene'
+  - 'UnitreeG1/MoGraphs/Animated Unitree.hmograph'
+  - 'UnitreeG1/MoGraphs/MG_Tracking.hmograph'
   - 'UnitreeG1/scene.xml'
   - 'UnitreeG1/scene_mjx.xml'
   - 'UnitreeG1/scene_with_hands.xml'