How to experiment with the human dressing task

[Minyoung1005]

Hi, it's really nice that you developed a simulator that supports HRI.
I have two suggestions and one question.

I'd like to experiment with the human dressing task, which is described in Figure 6. (b) in the proposed paper.
However, I can't find related roslaunch files in rbpi_examples.
I would appreciate it if the human dressing task model is also provided.

Can you add UR5 models? A lot of researchers use UR5 manipulators, so it would be great if UR5 models are also supported. It's also convenient to extend the simulation experiments to the real world!

When launching run_pose_.launch files, the simulator is loaded but I get errors as below.
[ERROR] [1669698594.253839]: ------- joint limit violation for robot
Does this error affect future experiments?

Thanks,
Minyoung