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Add sites.
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unitree_g1/g1.xml

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@@ -109,6 +109,7 @@
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<geom class="foot" pos="-0.05 -0.025 -0.03"/>
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<geom class="foot" pos="0.12 0.03 -0.03"/>
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<geom class="foot" pos="0.12 -0.03 -0.03"/>
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<site name="left_foot"/>
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</body>
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</body>
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</body>
@@ -154,6 +155,7 @@
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<geom class="foot" pos="-0.05 -0.025 -0.03"/>
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<geom class="foot" pos="0.12 0.03 -0.03"/>
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<geom class="foot" pos="0.12 -0.03 -0.03"/>
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<site name="right_foot"/>
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</body>
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</body>
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</body>

unitree_g1/g1_with_hands.xml

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@@ -123,6 +123,7 @@
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<geom class="foot" pos="-0.05 -0.025 -0.03"/>
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<geom class="foot" pos="0.12 0.03 -0.03"/>
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<geom class="foot" pos="0.12 -0.03 -0.03"/>
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<site name="left_foot"/>
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</body>
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</body>
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</body>
@@ -168,6 +169,7 @@
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<geom class="foot" pos="-0.05 -0.025 -0.03"/>
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<geom class="foot" pos="0.12 0.03 -0.03"/>
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<geom class="foot" pos="0.12 -0.03 -0.03"/>
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<site name="right_foot"/>
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</body>
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</body>
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</body>

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